Field of the Invention

[0001] The invention relates to electric motors, particularly brushless AC (alternating current) or brushless DC (direct current) motor devices, reluctance motors and stepper motors which use a sensor or sensors and a control system or computer. Electric motors are used for a variety of purposes, from industrial applications to powering electric vehicles and there are many different configurations.

Background

[0002] Any discussion of the prior art throughout the specification should in no way be considered as an admission that such prior art is widely known or forms part of common general knowledge in the field.

[0003] Existing brushless motors, or stepper motors, suffer from inherent problems, in particular: vibration, low RPM (revolutions per minute) and flux leakage, which can translate to low power efficiency. While many stepper motors are excellent for positioning applications such as disk drives or robotics, they are unsuitable for medium-speed applications where power efficiency is required, such as in electric vehicle applications or in driving other machinery.

[0004] Furthermore, another drawback with existing electric motors in general, both AC (alternating current) or DC (direct current) devices which utilize windings which act as electromagnets in order to generate magnetic fields which translates into rotational torque, is that a notable portion of the electrical energy required to generate the needed magnetic fields is wasted as heat, vibration and external magnetic flux leakage.

[0005] Example prior art electric motors can be found in US Patent 5,258,697 to Ford et al.

Summary [0006] It is an object of the present invention to provide an improved electric motor.

[0007] In accordance with a first aspect of the present invention, there is provided an electric motor driven by the attraction and/or repulsion of magnetic materials, the motor including: a rotor mounted on an axis and being substantially circular, having a first series of circumferentially arranged rotor magnets; a stator having a second series of stator magnets arranged around the rotor and designed to engage with the rotor magnets in use; at least one of the first or second series of magnets being variable magnets having a variable magnetic field strength in a controlled manner; a driving means interconnected to the variable magnets for varying the magnetic field strength of the variable magnets; wherein the stator magnets and rotor magnets can include magnetically opposed poles located substantially adjacent one another, with the opposed poles of the stator magnets interacting with the opposed poles of the rotor magnets to provide rotational torque to the motor.

[0008] The stator magnets and rotor magnets are preferably non-symmetrical in number. The variable magnets are preferably driven in repulsion and attraction mode so as to repel and attract other magnets so as to provide rotational torque to the motor. In some embodiments, the stator can be positioned asymmetrically relative to the rotor.

[0009] Preferably, there is also included a monitoring means for monitoring the relative position of the rotor and the stator, the monitoring means interconnected to the driving means for driving the variable magnets in accordance with a predetermined sequence dependant on the current relative position of the rotor and stator. The predetermined sequence can be selected from one of a series of sequences depending on the external environment of the motor.

[0010] In some embodiments, one of the rotor or the stator contains a series of permanent magnets and the other of the rotor or stator contains a series of variable magnets in the form of electromagnets. In other embodiments, the motor can be utilized in a regenerative braking mode, generating energy via the variable magnet devices.

[0011] In some embodiments, the magnetically opposed poles are located spaced apart circumferentially around the rotor or stator. In some embodiments, the variable magnet devices can include superconducting magnetic devices. In some embodiments, a series of rotors are mounted on said rotor axis, with each rotor being circumferentially offset from an adjacent rotor. In other embodiments the monitoring means includes a rotational sensor outputting a sine or square wave signal, with the level of the signal being dependant on the current rotational position of the rotor relative to the stator.

Brief Description of the Drawings

[0012] Benefits and advantages of the present invention will become apparent to those skilled in the art to which this invention relates from the subsequent description of exemplary embodiments and the appended claims, taken in conjunction with the accompanying drawings, in which:

Fig. 1 illustrates a plan view of a first embodiment;

Fig. 2 illustrates a side perspective of the rotor portion of an electric motor having multiple rotors;

Fig. 3 and Fig. 4 illustrates an alternative embodiment; Fig. 5 to Fig. 13 illustrate the driving sequence for the alternative embodiment; Fig. 14 to Fig. Fig. 20 illustrate a further alternative embodiment; Fig. 22 illustrates a further alternative embodiment; Fig. 23 to Fig. 26 illustrate a further alternative embodiment; Fig. 27 illustrates a further alternative embodiment; Fig. 28 illustrates a further alternative embodiment; Fig. 29 illustrates a sectional view of a further alternative embodiment; Fig. 30 illustrates a side view and Fig. 31 illustrates a plan view of an alternative embodiment;

Fig. 32 illustrates schematically the drive control circuitry of one embodiment; Fig. 33 illustrates schematically one form of drive control circuitry; Fig. 34 illustrates a control plate utilised in sensing control in embodiments; Fig. 35 illustrates a side perspective of one embodiment; Fig. 36 illustrates one form of control circuitry; Fig. 37 illustrates an alternative form of control circuitry;

Fig. 38 and Fig. 39 illustrate one form of implementation of an embodiment in a wheel.

Detailed Description

[0013] Preferred embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings.

[0014] The preferred embodiments are concerned with minimizing the electromagnetic force required and magnetic flux leakage which is produced by an electric motor, using a magnetic field alignment that produces a concentrated magnetic flux which is delivered by windings acting as electromagnets or solenoids, in conjunction with permanent magnets, in a specific smooth programmed pulse sequence.

[0015] The preferred embodiments relates to a brushless electric motor and a method of controlling such an electric motor, comprising: a rotor consisting of a plurality of permanent magnets, a stator having a plurality of windings acting as electromagnets or solenoids, while the stator is positioned asymmetrically relative to the rotor with the magnetic poles of both rotor and stator aligned in the direction of the shaft's rotation. The embodiment can also utilize a symmetrical arrangement clustered with other versions of this symmetric design, and working in unison, these embodiments can attain an asymmetric relationship to achieve rotation. [0016] The device utilizes a power supply for providing the current flow to the windings, together with a sensor arrangement for detecting the exact angular position of the shaft or inner section at any instant and a digital control system that triggers the timed activation of the electromagnets in a specific pulsed sequence to produce rotational torque.

[0017] Alternative embodiments also provide for the inverse design, whereby a method of controlling such an electric motor, comprising: a rotor consisting of a plurality of windings acting as electromagnets or of windings acting as yokeless solenoids, a stator having a plurality of permanent magnets. This configuration has a stationary rotor and a rotating stator. The same asymmetric relationship is attained, either using the asymmetric configuration or employing multiple symmetric models working in unison and displaced by a angular separation, by a timed degree of rotation.

[0018] The preferred embodiments also include a feedback loop in a closed system and functions as a robotic electric rotational torque convertor. Additionally, this system is controlled by a digital controller or computer or microprocessor, which allows for the activation of the said windings acting as electromagnets to produce a force of magnetic attraction or force of magnetic repulsion in order to achieve rotation, while single or multiple windings can be activation at one time, in a step sequence to create rotational force vectors.

[0019] The digital control system or computer control, uses an algorithm which is dependent on the position of the rotor's angular displacement. This can be determined using a senor array or rotational sensor or optical sensor plate. The rotational displacement activates predetermined steps in the algorithm to activate the windings in response to the shaft's rotational displacement. The algorithm can advance or retard the sequencing which is dependent on the RPM (revolutions per minute). The programming steps can be sequentially processed or processed in a parallel manner as required. New programming steps can be added at any stage, which can upgrade the performance of the device as required in changing circumstances - this type of firmware upgrade can exist on the control system and be called into play when required, such as in an electric vehicle when entering wet conditions. Additionally, firmware upgrades can be released and download into the control system as they become available.

[0020] A first embodiment provides an electric motor which comprises a stationary housing part which has a plurality of windings that function as electromagnets which are positioned asymmetrically relative to the rotor. The rotatable central section consists of a plurality of permanent magnets supported by a bearing or bearings which allow rotation of a central area about a shaft to produce rotational movement and thus torque. The magnetic poles of both rotor and stator windings are aligned in the direction of the shaft rotation. The outer windings which function as electromagnets are controlled by a switching unit that is further controlled by a computer or microprocessor, so that one or more electromagnets are powered at a given time interval based on data related to the rotor's angular displacement which is obtained by means of a sensor or sensors. It is the alignment of the magnetic poles in the direction of the shaft's rotation and the concentrated magnetic fields, together with the switching sequence which make this embodiment attain stable rotation.

[0021] This embodiment provides an electric motor that is a closed system that can be powered by either AC (alternating current) or DC (direct current) through which control of the pulsing of the outer section windings is triggered by a switch unit that is controlled by a computer or microprocessor, while the triggering sequence is based on the relative position of the central rotor to the stator windings at any given instant is determined by a sensor array, Hall effect transducer, rotary encoder, robotic encoder or optical sensor array.

[0022] The outer section provides a housing enclosure to contain the electromagnets and also contains one or more rotational positioning sensors, which are used to determine the exact angle of rotation of the central unit or rotor. This can be achieved using a sensor array, Hall Effect transducer, rotary encoder, robotic encoder or optical sensor array. The precise angular displacement of the shaft is fed back to the switch and then onto the computer or microprocessor for calculation of the triggering timing and correct pulse strength and duration, for activation of various electromagnet windings, to attract or repel the inner permanent magnet and thus cause the rotor section to obtain stable rotation.

[0023] The outer section or housing can be made of any magnetic, non-magnetic or diamagnetic materials, that is, metal, alloy or other compounds, while the windings contained in the stator housing must be constructed of metal or other materials that can produce magnetic fields when a suitable current is applied. The number of windings that act as electromagnets in the outer section can vary depending on the requirement and the position of the windings relative to each other, that is, they can be placed equidistant or non-equidistant relative to the centre section of the unit. The number of sensors in the outer housing may also vary depending on the requirement and the number of windings used.

[0024] The rotor or inner rotatable section may include a hub or disk area, or simply a shaft. The magnets are placed on a central area with their magnetic alignment in the direction of rotation, while the placement of these permanent magnets is placed equidistant relative to each other permanent magnet, and are equidistant from the centre of the rotor. The preferred type of permanent magnet for the preferred embodiment are rare earth magnets because of their high magnetic field properties: such as Samarium-Cobalt or Neodymium rare earth magnets. However, any permanent magnet can be used with the embodiment of this invention.

[0025] In some embodiments of the invention, the rotor or inner rotatable section which holds the magnets may consist of metal alloy, metal or steel in a conventional manner, such as aluminium alloy. However, it would be preferable to use a thin layer of diamagnetic material between the permanent magnets and the central shaft of hub area to minimize magnetic flux leakage, but this is not essential.

[0026] In this embodiment, the number of windings acting as electromagnets or solenoids used must be greater than or less than the number of permanent magnets utilised. However, if this unit is mounted with other embodiments of this invention of the same configuration, then the number of windings acting as electromagnets or solenoids used can be equal to the number of permanent magnets utilised, provided that the angular displacement of each embodiment is displaced by some angular degree, which allows for the units to function in concert and be controlled asymmetrically.

[0027] A SECOND embodiment the present invention provides an electric motor which comprises a stationary inner rotor part which has a plurality of windings that function as electromagnets which are positioned symmetrically relative to the rotor. The rotatable outer section consists of a plurality of permanent magnets supported by a bearing or bearings which allow rotation of the outer area about the inner section to produce rotational movement and thus torque. The magnetic poles of both rotor and stator windings are aligned in the direction of the shaft rotation. The inner windings which function as electromagnets are controlled by a switching unit that is further controlled by a computer or microprocessor, so that one or more electromagnets are powered at a given time interval based on data related to the rotor's angular position which is obtained by means of a sensor or sensors. It is the alignment of the magnetic poles in the direction of the shaft's rotation and the concentrated magnetic fields, together with the switching sequence which also make this embodiment attain rotation.

[0028] This embodiment provides an electric motor that is a closed system and is powered by either AC (alternating current) or DC (direct current) through which control of the pulsing of the outer section windings is triggered by a switch unit that is controlled by a computer or microprocessor, while the triggering sequence is based on the relative position of the central rotor to the stator windings at any given instant is determined by a sensor array, Hall effect transducer, rotary encoder, robotic encoder or optical sensor array.

[0029] This particular embodiment provides an outer section of the invention, being a rotatable housing enclosure to contain the permanent magnets, while the stationary inner section contain a polarity of winding acting as electromagnets or solenoids and also contains one or more rotational positioning sensors, which are used to determine the exact angle of rotation of the outer section around the inner central stationary section. This is achieved using sensor array, Hall Effect transducer, robotic encoder or optical sensor array. The precise angular displacement of the outer section around the central section is fed back to the switch and then onto the computer or microprocessor for calculation of the triggering timing and correct pulse strength and duration, for activation of various electromagnet windings, to attract or repel the outer permanent magnet section.

[0030] The outer rotatable section or rotatable housing can be made of any magnetic, nonmagnetic or diamagnetic material, that is, metal, alloy or other compounds such as aluminium alloy, while the permanent magnets within the outer section can be made or magnetic material, such as ferrite, or any rare earth magnets: such as Samarium-Cobalt or Neodymium.

[0031] The inner section can be made from magnetic, non-magnetic or diamagnetic materials, that is, metal, alloy or other compounds, while the windings contained within the central section must be constructed of metal or other materials that can produce magnetic fields when a suitable current is applied, acting as an electromagnet or solenoid. The number of windings that act as electromagnets in the outer section can vary depending on the requirement and the position of the windings relative to each other, that is: they can be placed in equidistant or non-equidistant positions relative to the centre on the unit. The number of sensors in the inner section may also vary depending on the requirement and the number of windings used.

[0032] The inner stationary section may include a hub or disk area, or simply fixed section which is mounted in a stable fashion. The windings are placed on stationary inner section with their magnetic alignment in the direction of rotation, while the placement of these windings is placed equidistant relative to each other winding and are equidistant from the centre of the inner section.

[0033] In a preferred embodiment of the invention, the outer rotatable section which holds the permanent magnets may consist of metal alloy, metal or steel in a conventional manner. However, it would be preferable to use a thin layer of diamagnetic material between the permanent magnets and the central shaft of hub area to minimize magnetic flux leakage, but this is not essential.

[0034] In this embodiment, the number of windings acting as electromagnets or solenoids used must be greater than or less than the number of permanent magnets utilised. However, if this unit is mounted with other embodiments of this invention of the same configuration, then the number of windings acting as electromagnets or solenoids used can be equal to the number of permanent magnets utilised, provided that the angular displacement of each embodiment is displaced by some angular degree, which allows for the units to function in concert and be controlled asymmetrically.

[0035] The FIRST and SECOND embodiments can be connected to a power supply, which can be either AC (alternating current) or DC (direct current). Depending on the switching method used, the embodiments can accept AC (alternating current) input directly into the windings, providing the RPM of the embodiment is proportional to the timed sequenced pulse, which switches from attraction to repulsion, and thereby producing a constant RPM. The preferred method of applying AC (alternating current) to this invention would require conversion to DC (direct current) by use of a Wheatstone bridge or other circuitry in order for the device to function with variable RPM. Other embodiments can provide a direct mechanism for translating DC (direct current) into rotational torque, using a precise switching method.

[0036] The switching method, which essentially obeys a series of programmed steps, is delivered by the computer or microprocessor which are executed sequentially or in parallel. These programming steps are executed in a given order and are dependent on sensor input, and based on the rotor's exact position or angular displacement. The programming provided by the microprocessor or computer can take the form of hardware, software or both and utilize any programming language as the requirements dictate. The electric motor device in this invention can be scalable and an array of units can aligned together on the same shaft and all units can then be controlled by a single switch and computer system or microprocessor.

[0037] In the embodiment where the number of windings acting as electromagnets is less than or greater than the number of permanent magnets, the units can be operated in parallel so that each winding, in each unit, triggers at the same instant, providing the units are perfectly aligned, and then each unit essentially functions as a copy unit.

[0038] A number of methods for triggering the activation of the electromagnets are possible. A first processing method used is iterative and may require multiple relays and switches to function, or simply a smart switch interface. The system is controlled by a computer system or microprocessor in the following manner. In the following example an optical sensor array provides a simple on/off current, which is input into the control system:

Algorithm for single winding activation: start

rem: check number of electromagnets present read k

rem: check number of permanent magnets present read n

rem: processing commences rem: direct current sequential processing module begin current check

rem: current: i read i if />0 then continue, else end

begin recursion and do while />0

begin k electromagnet rem: k number of electromagnets

rem: reading position, p, of the magnet at k read p for k rem: relay switch: s if p =1 then continue, else s =0 and next if s = 1 then continue, else s=l

next electromagnet next recursion

next current check

stop

send message of program termination, "Motor is offline" end 9] A second example processing method used is also iterative and may require multiple relays and switches to function, or simply a smart switch interface. The system is controlled by a computer system or microprocessor in the following manner. In the following example a rotational sensor provides a sine wave current, which is input into the control system, and is compared against a predetermined table of values and winding activations that are required:

Algorithm for multiple winding activation: start

rem: check number of electromagnets present read k rem: check number of permanent magnets present read n

rem: when the number of k and n are known the corresponding table can be activated

rem: processing commences rem: direct current sequential processing module begin current check

rem: current: i

if />0 then continue, else end

begin recursion and do while />0

read sine i= angle rem: angle comparison read angle from rotational sensor check angle in table activate windings in accordance with tabled sequence

next: recursion next: current check stop send message of program termination, "Motor is offline" end

[0040] In respect to the table specified, this can be hardcoded as a memory component of the before mentioned program or can be written on the fly using ancillary sensors. In any respect, the algorithm executes either an attractive or repulsive winding to act against a permanent magnet which is in the correct angular alignment. The activation sequence, or table of activations, can be finetuned as the motor achieves increasing RPM, or as more power is supplied to the electromagnets for higher RPM. One aspect of the sensor system, for any embodiments of the invention is to provide the computer or control system with an exact RPM and also a speed count, namely, RPM over time. Advancing the timed sequence or retardation of the time sequence may be provided by a subroutine, which operates in concert with the main program, when accelerating or decelerating as determined by the tachometer input.

[0041] The control system can also be connected to other electronic functions of a machine in which the invention is fitted to, for synchronisation, such as in an electric vehicle for use with other devices. Additionally, the control system can output parameters for display purposes of the invention to the user, such as mode (number of electromagnets functioning at one time), RPM, speed, temperature etc., or any other functional or statistically data that is required.

[0042] The before stated algorithms are simplistic models to provide an illustrative example. Any production algorithm can be made more complex and can be thousands of line of code, acting sequentially or in parallel, either in an automated processor or processors and or a computer system or computer systems.

[0043] Alternatively, if multiple units of the same embodiment of this invention are attached together in an array, the windings in those units can be executed in sequence, so that each additional unit is rotated to a different angular displacement on the shaft and held in a fixed position relative to each other unit for firing of different windings at the same instant or at different times. This is particularly important for an embodiment of multiple units in an array, whereby the number of windings are equal to the permanent magnets, and thus one section of each unit, either the inner part of the outer part, must be positioned at some angular displacement relative to the other units, in order to achieve asymmetric activation. [0044] However, if an array of embodiments of this invention, of the same configuration are deployed together, providing the number of electromagnets used is less than or great than the number of permanent magnets, then the units in the array can be aligned in the same manner and each unit can be triggered with the same activation, from the control system, so that all units in the array act as one. Furthermore, this mutual array can also function, in the same manner as stated above, where each unit is displaced about the central section by a certain angular displacement, in order to minimise vibration or torque ripple, provided each unit has its own sequenced timing.

[0045] In embodiments whereby the number of windings equals the number of permanent magnets, there is a limiting factor according to Earnshaw's theorem, namely that the total magnetic flux through a surface integral of a system, where all magnets enclosed a 2 dimensional space with only one degree of freedom (i.e. a rotating shaft), will be found to be zero. As a consequence, if all the windings trigger at the same moment, as in the embodiment where the numbers of windings is equal to the permanent magnets, the net rotational torque at one instance will drop to zero. This is represented by the following simple relationship, where F _mag is the magnetic force (2-D version) between the electromagnets and permanent magnets, around a 360 degree central section, where TDC (top dead centre) is the position where any electromagnet is perfectly aligned with a permanent magnet and r is the angular displacement:

Total Force = F = \im _^TDC ∑ _Fmag PJ°) ≥ 0

[0046] However, in order to avoid Earnshaw's zero force result, an embodiment of the invention can be employed which has the windings and the permanent magnets tilted at a given angle to the axis of rotation, θ, while keeping the magnetic alignment in the direction of the rotation. Using such an angled embodiment the total magnetic force F, can then represented by an amended relationship, where θ is the angle of tilt away from the axis of rotation:

Total Force = F = Iinv _→roc ∑ Cvs Q ^ °

[0047] A conservative estimate can be averaged at θ being optimised at 45 to 60 degrees but using different permanent magnets and an asymmetric configuration, different values may be obtained and thus different force vectors as well.

[0048] Additionally, when using designs having multiple units, there is no limit to the number of units that can be activated at one time, as the force vectors is projected in three dimensional space, and there is one axis of freedom, namely the shaft rotation, and so this does not violate Earnshaw's theorem. Volitation only occurs in the embodiment stated above and does not apply to the array as a whole, unless the array is made up of the embodiment, whereby the number of windings directly equals the number of permanent magnets.

[0049] For an array, which utilizes multiple units, along a given shaft or central section, there is no limit to the number of units that can be used in parallel, aligned in order along a given shaft. This array building method can be an excellent way of up-scaling applications of this invention as the specific requirement demands due to torque requirements for that application. Different units may prove effective in combinations of sequence and parallel units, working together under a specific arrangement, such as industrial applications. This type of up-scaling, using the array method is referred to herein as the platter style configuration.

[0050] Additionally, the embodiments can used in reverse to act as a dynamic braking system, to slow the rotation of the central area at a given deceleration, as predetermined by the control system, which has been instructed by an operator, such as a driver of an electric vehicle. This method of reverse triggering to provide a dynamic braking system, and the platter shape of the device, makes the embodiments suitable for incorporation in EVs (electric vehicles), or applications where medium to low variable RPM with high torque is required.

[0051] In alternative embodiments, using additional subroutines within the control system's program, can allow for decelerating enabling the switch to activate a secondary switching method that can utilize the system as a generator when deceleration is occurring. This energy generation can recharge batteries or the capacitor array. This method of advanced switching can be used in any form of the embodiment and is particularly useful in electric vehicle or mobility applications.

[0052] Turning initially to Fig. 1, there is illustrated a cross sectional side view of the simplest form of an embodiment 1 with a single electromagnet 2 a single permanent magnet 5 poised in the ready position. This example will only achieve an arc rotation and not full rotation, but the principle is well depicted. The shaft section is at 90 degree to the page and the rotation is anti-clockwise. The electromagnet 4 is shown, with the power supply to the coil at 3. While 5 is the position of the rotor before power is applied to the winding, and 6 is the position of the rotor after power is supplied. [0053] Turning to Fig. 2, there is illustrated a side perspective of an array 10 of this single electromagnet and single permanent magnet device, with only the central rotatable section shown. Where 11 is the permanent magnet and 10 are the platters of each in the array.

[0054] Turning now to Fig. 3, there is illustrates an end of view of one form of mounting of a simple series of electromagnets 23-27 and single permanent magnet 22, with various platters 21 mounted onto the shaft 28 in an array with the shaft at 90 degree to the page. Whereby, each electromagnet 23-27 are mounted on each separate platter.

[0055] Turning now to Fig. 4, there is illustrated a plan view of an initial embodiment of the invention, with 4 electromagnets 31-34 mounted on a single stator, and with 5 permanent magnets 35-39 mounted on a single rotor or central rotatable section 40. The rotor 41 includes the permanent magnets e.g. 38 mounted in an equidistant arrangement. A mounting hole 42 is provided to attach the stator to some fixed point for installation, while 31 is one such electromagnet, and 43 shows the housing or stator or outer section.

[0056] Fig 5 provides for an embodiment that is the inverse of the arrangement of Fig. 4. In this instance, the outer section rotates, while the inner part is fixed. It is an inverse to the preceding embodiment.

[0057] Turning now to Fig. 6 and Fig. 7, there is illustrated the drive control arrangement of the preferred embodiment. Initially in Fig. 6, there is illustrated a cross sectional view of the initial position of the first embodiment, and subsequently provides the simplest steps towards gaining rotation through the use of the control system described above. Initially, in Fig. 6, in STEP 1, the permanent magnet 56 is in the correct position for the activation, in the attractive from, of electromagnet 57. Upon activation in Step 2 of Fig. 7, the shaft has rotated anticlockwise, to this position 58 and the electromagnet at 57 is deactivated.

[0058] Fig. 8 illustrates the next step 60 in the simple model (STEP 3), where after the electromagnet 57 was deactivated, then electromagnet 61 is then activated. This results in the shaft rotation to the position as depicted in Fig. 9 (STEP 4), where in STEP 4 electromagnet 61 is also deactivated.

[0059] Fig. 10 and Fig. 11 illustrate the next two steps in the sequence. At STEP 5, the device is in the correct position to have electromagnet (o) activated, and then the shaft rotates in the anti-clockwise position to STEP 6, where electromagnet (o) is then deactivated. [0060] Fig. 12 and Fig. 13 depict the next two steps in the sequence. At STEP 7, the device is in the correct position to have electromagnet 70 activated, and then the shaft rotates in the anticlockwise position to STEP 8, where electromagnet 71 is then deactivated. This device is now back in the same position it was in Fig. 6. STEPl and is ready to begin again. Thus through to this final step the shaft has achieved one complete revolution.

[0061] Fig. 14 depicts the same FIRST embodiment as discussed the preceding figures, but this time a step sequence is provided whereby one or more than one electromagnet is activated at one time, either in magnetic attraction or magnetic repulsion. In STEP 1 of Fig. 14, the electromagnet 57 is activated, as the former model, but also electromagnet 71 is activated in the repulsive manner to assist the rotation. After some rotation, the shaft is then depicted in Fig. 15, whereby electromagnets 57 and 71 have been deactivated, and electromagnet 61 is then activated.

[0062] Fig. 16 illustrates the shaft in position as seen in STEP 3, whereby electromagnet 61 is activated in the depicted manner, rotating the shaft into STEP 4, wherein electromagnet 61 is activated in the reverse form, namely repulsion, as electromagnet 67 is then activated in the manner depicted, and providing assisted rotation.

[0063] Fig, 18 illustrates the shaft in position, where at STEP 5 electromagnet 61 is deactivated, as and so it electromagnet 67 while 71 is activated, and in Fig. 19 electromagnet 71 is still active, as electromagnet 67 is then activated in the reverse form than it was in the former step, namely in repulsion to assist in the turning the shaft ready for the next step in the sequence.

[0064] In Fig 20, at STEP 7, the motor achieved a realignment and is as depicted in Fig 14, in the assisted model using multiple electromagnets, and the device is now ready to begin the stepping procedure again.

[0065] Fig. 21 illustrates an alternative embodiment 80 with a larger number of electromagnets and permanent magnets. In this model there are 8 electromagnets and 9 permanent magnets. The model is in the first step of the sequence and it is operating in the assisted form, using multiple electromagnets at one time, using both repulsive and attractive magnetic forces. All electromagnets are activated except those shown at 81 , 82.

[0066] Fig. 22 illustrates a further alternative embodiment with an inner rotor that is non-centric, shown at 85, which is operated by a planetary gear 86. The advantage of this configuration of the FIRST embodiment of the invention is that only one permanent magnet is in the proximity of an electromagnet at one time, lessening the resistive forces that the permanent magnets experience when attracted to non-active electromagnets. Although the planetary gear does absorb some energy, this model would suit applications with low RPM with low torque requirements.

[0067] Fig. 23 and Fig. 24 illustrates a further alternative embodiment wherein the number of electromagnets is equal to the number of permanent magnets employed. This is simple type of the model, with 4 of each. A truncated elevation (Fig. 23) and a cross sectional side elevation (Fig. 24) through the line A-A' of Fig. 23 are provided for detail of the symmetric arrangement. However, this unit is preferably not operated as a standalone unit and must be deployed in an array with other units of the same configuration, to operate in concert asymmetrically.

[0068] Fig. 25 illustrates a side perspective, partly in section, of an embodiment as depicted in Fig. 23 but wherein an array of units 90-92 is provided, whereby the housing of each unit has a circumferential displacement at a given angle Theta. Note, although the housing is displaced by the depicted angle, the inner sections are all aligned in the same manner (not shown) in order to attain asymmetric functionality. Here 95, 96 is the depiction of spacers between the units, and this material should preferably be made from a diamagnetic or paramagnetic material, one such material to be employed here could be a compound that has a high Bismuth ingredient. Fig. 26 illustrates an elevation of the Bismuth spacer as employed in Fig. 25.

[0069] Fig. 27 illustrates an alternative embodiment 100 whereby the number of electromagnets are equal to the permanent magnets, but in this example there are 8 of each and the system is in the first step of a sequence, whereby the electromagnets 101 are active and polarised in the same direction, while electromagnets 102 are all activate but collectively polarised in an opposite direction to those 101. The electromagnets 103 are non-active and await activation in the next sequence step. Note this model requires array configuration and desirably cannot function as a standalone unit.

[0070] Fig. 28 illustrates a further alternative embodiment, but this model 110 has only 4 electromagnets and 4 magnets, but it displays non-equidistant arrangement of the spacing between the electromagnets. This unit will function, in an array, like others of this type, provided custom sequencing is provided to compensate for the electromagnet arrangement.

[0071] Fig. 29 illustrates a further alternative embodiment in a cross sectional side elevation. In this instance, all electromagnets are required to be activated at one time collectively, in an array, and thus to avoid Earnshaw's zero results, the electromagnets 111, 112 and permanent magnets 114, 115 are tilted towards the axis of rotation. The force vectors are altered in this example as seen in 116.

[0072] Fig. 30 illustrates a further alternative embodiment in a side plan view with Fig. 31 illustrating a section through the line B-B' of Fig. 30. The arrangement 120 is a simple 4 electromagnet form, utilizing a simple sensor array 122-125 interconnected to sensor output 126. The sensor array can be optical, infra-red, positional or Hall Effect sensors.

[0073] Fig 32 illustrates the interconnection of the arrangement 120 of Fig 30 to its associated control system setup, including a switch 130, capacitor bank 132, and computer or microprocessor 131.

[0074] Fig. 33 provides a simple optical sensor circuit diagram for the model 120 as outline in Fig. 30, with each electromagnet having its own optical emitter 140 and detector 141, additionally each electromagnet has it own fuse e.g. 142. The power supply 143 is also depicted and as is the Super-Capacitor array 144. The optical depiction can be any visible or non visible photon process, such as infra-red.

[0075] Switching can be controlled by means of a transparent optical sensor plate such as that depicted 150 in Fig. 34. This schematic provides a transparent optical sensor plate for the model depicted in 120 of Fig. 30. Each degree section enables simple switching on/off of various electromagnets in response to absolute positions of certain permanent magnets as outlined by the concentric rings 151, while the darkened area of the transparent plate and example is at 153 stops power to the optical sensor, while the clear sections, and an example is at 152 is also shown. The sensor plate allows for a simplified form of control of the electromagnets.

[0076] Fig. 35 illustrates a 3D external rendering of three units, in an array and the control system output.

[0077] Fig 36 illustrates a schematic simple, single electromagnet operation, circuit diagram for the embodiment as first introduced 30 in Fig. 4. This circuit is for 1 electromagnet and utilizes a relay, diodes, resistors, capacitors, photon emitters LEDS and photon detectors, and power supplies to provide a simple switching mechanism, without the need for a computer or processor. For each electromagnet used in a unit, there will as many of these circuits to control the operation, that is a 4 electromagnet model will thus have 4 of these circuits. [0078] Fig. 37 illustrates the arrangement of Fig 36 but including computer control. The schematic 170 provides a simple, single electromagnet operation, circuit diagram for the embodiment as first introduced in Fig. 4. This circuit is for 1 electromagnet and utilizes a relay, diodes, resistors, capacitors, photon emitters LEDS and photon detectors, and power supplies to provide a simple switching mechanism, it also provides a switch 171 to allow computer or processor control as well. For each electromagnet used in a unit, there will as many of these circuits to control the operation, that is a 4 electromagnet model will thus have 4 of these circuits.

[0079] Fig. 38 and Fig. 39 illustrate an application for the FIRST embodiment of the invention in a single unit configuration. Fig. 39 illustrates a section through the line C-C of Fig. 38. The application illustrated is the application is that of an in-wheel application for an electric vehicle. The tyre is shown at 181, while the motor is shown 183. Additionally, the mounting bars can be seen 182, while a disk brake 184 is provided to augment the dynamic breaking, if required.

[0080] It will be evident to those skilled in the art that the present invention can be practiced in many different forms and has many different applications where electric motors are normally utilized.

[0081] Further, in some of the many different forms, the permanent magnets can be replaced by electromagnets. In other arrangements, the electromagnets can be replaced with more significant superconducting magnet arrangements. Where required, this includes the utilization of an appropriate cooling system.

Interpretation

[0082] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments.

[0083] Similarly it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

[0084] Furthermore, while some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form different embodiments, as would be understood by those in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0085] Furthermore, some of the embodiments are described herein as a method or combination of elements of a method that can be implemented by a processor of a computer system or by other means of carrying out the function. Thus, a processor with the necessary instructions for carrying out such a method or element of a method forms a means for carrying out the method or element of a method. Furthermore, an element described herein of an apparatus embodiment is an example of a means for carrying out the function performed by the element for the purpose of carrying out the invention.

[0086] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In other instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0087] As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

[0088] In the claims below and the description herein, any one of the terms comprising, comprised of or which comprises is an open term that means including at least the elements/features that follow, but not excluding others. Thus, the term comprising, when used in the claims, should not be interpreted as being limitative to the means or elements or steps listed thereafter. For example, the scope of the expression a device comprising A and B should not be limited to devices consisting only of elements A and B. Any one of the terms including or which includes or that includes as used herein is also an open term that also means including at least the elements/features that follow the term, but not excluding others. Thus, including is synonymous with and means comprising.

[0089] Similarly, it is to be noticed that the term coupled, when used in the claims, should not be interpreted as being limitative to direct connections only. The terms "coupled" and "connected," along with their derivatives, may be used. It should be understood that these terms are not intended as synonyms for each other. Thus, the scope of the expression a device A coupled to a device B should not be limited to devices or systems wherein an output of device A is directly connected to an input of device B. It means that there exists a path between an output of A and an input of B which may be a path including other devices or means. "Coupled" may mean that two or more elements are either in direct physical or electrical contact, or that two or more elements are not in direct contact with each other but yet still co-operate or interact with each other.

[0090] Although the present invention has been described with particular reference to certain preferred embodiments thereof, variations and modifications of the present invention can be effected within the spirit and scope of the following claims.