Disclosed in the present invention is a Halbach cylindrical arc permanent-magnet motor for a large-size astronomical telescope. The motor is in an annular shape and comprises three rotors (1) and a stator (2). The three rotors (1) are located at the periphery of the annular stator (2); each rotor (1) is cylindrical and comprises armature windings (1.1), armature iron core teeth (1.2), and a rotor yoke (1.3); the armature iron core teeth (1.2) are disposed at the inner circle of the rotor yoke (1.3) to form half-closed pear-shaped recesses (3); the armature windings (1.1) are placed in the half-closed pear-shaped recesses (3); the stator (2) comprises a stator iron core (2.1) and an Halbach permanent-magnet annular array (2.2) surface-mounted on the stator iron core. Use of the Halbach permanent-magnet annular array (2.32) can effectively improve the sinusoidal property of air-gap magnetic flux while the electromagnetic performance of the motor is not affected and reduce the torque ripple; according to the motor, the space is fully utilized, and the power density is improved; the magnetic field intensity of a single side can be substantially improved, the sinusoidal property of the air-gap magnetic flux density is improved, and high-precision servo control of the motor is facilitated.
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