CN102322481B - Radial decoupling taper magnetic bearing with three degree of freedom - Google Patents
Radial decoupling taper magnetic bearing with three degree of freedom Download PDFInfo
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- CN102322481B CN102322481B CN 201110254339 CN201110254339A CN102322481B CN 102322481 B CN102322481 B CN 102322481B CN 201110254339 CN201110254339 CN 201110254339 CN 201110254339 A CN201110254339 A CN 201110254339A CN 102322481 B CN102322481 B CN 102322481B
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Abstract
The invention discloses a radial decoupling taper magnetic bearing with three degree of freedom, comprising an upper taper stator, a lower taper stator , an upper taper rotor, a lower taper rotor, radial stators, a radial rotor iron core, a field coil, a permanent magnet, a stator magnetic conductive ring and a rotor magnetic conductive ring, wherein, the taper stators and the taper rotors are the structure of integral ring, the suction generated between the taper stator and the taper rotor passes through the rotor barycenter to control the translation in the direction z of the rotor; the tworadial stators comprise stator teeth and stator magnet yokes, the two radial stators are arranged orthogonally when being installed, and a radial stator magnetic isolated ring is arranged between thetwo stators to let the magnetic circuit between the two radial channels be mutually decoupling; the suction generated between the radial stator and the radial rotor iron core is used to control the translation in the direction x and y of the rotor. According to the invention, the suction generated between the taper stator and the taper rotor passes through the rotor barycenter, when the rotor rotates, the length of the arm of force of negative stiffness is reduced, so that negative torsion moment is reduced; simultaneously, the two radial channels are decoupling, so that the radial bearing capacity is increased.
Description
Technical field
The present invention relates to the radially permanent magnet bias taper magnetic bearing of decoupling zero of a kind of non-contact magnetically suspension bearing, particularly a kind of Three Degree Of Freedom, can be used as the contactless support of the astrovehicle inertia actuator rotor parts such as magnetically levitated flywheel.
Background technique
Along with the diversified development of satellite task, satellite is more and more higher to the requirement of attitude control system, magnetically levitated flywheel is as a kind of Spacecraft Attitude Control actuator, not only need to rely on the moment of acceleration and deceleration output axial direction, also need it to possess the function of radially reversing output torque, therefore require its spring bearing in the situation that flywheel rotor reverses, still to possess than large bearing capacity, and the impact that can not produce on flywheel rotor negative moment.In existing magnetically levitated flywheel structure, generally adopt single-degree-of-freedom axial magnetic bearing+two a two-freedom radial direction magnetic bearing structure, or Three Degree Of Freedom axial magnetic bearing+one a two-freedom radial direction magnetic bearing structure.No matter adopt which kind of structure, under the requirement of satisfying bearing capacity, design, axial magnetic bearing is all larger in the span of axial direction at span and the radial direction magnetic bearing of radial direction, thereby form larger arm of force of power with respect to rotor centroid, like this when flywheel when radially one party is to large angle torsion, the power that radially reaches the generation of axial displacement negative stiffness can produce the larger negative moment of reversing under larger arm of force effect, thus the load that has increased the flywheel torsion bearing.Simultaneously, the existing general stationary part of radial direction magnetic bearing is divided into four magnetic poles, and permanent magnetic circuit and electric magnetic excitation circuit be mutually coupling between each magnetic pole, all including four magnet radial poles that intercouple such as the permanent magnet bias outer rotor radial mixed magnetic bearing with redundancy structure in patent 200510011690.1 described permanent magnet offset external rotor radial magnetic bearings and the patent 200710063272.6 forms, if be applied in the magnetic suspension reaction fly-wheel of large angle torsion, when flywheel torsion, radially the size of gaps under four magnetic poles is no longer equal, when if radially a certain passage load-bearing applies electric current, be subjected to the passage coupling influence, electric current can produce an extra additional force at another passage, and the excitation of passage own reduces, and the bearing capacity of load-bearing passage is reduced.Owing to there is a defects, existing magnetic bearing exists in the application of large angle torsion magnetic suspension reaction fly-wheel and reverses that negative moment is large, the radial passage is coupled serious shortcoming.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of and reverse that negative moment is little, the little large bearing capacity radial decoupling taper magnetic bearing with three degree of freedom of radial passage coupling.
Technical solution of the present invention is: radial decoupling taper magnetic bearing with three degree of freedom, formed by stationary part and rotor portion, wherein stationary part comprises the stator magnetic guiding loop, upper conical stator, the stator magnetism resistent ring, axial upper coil, permanent magnet, radial stator, the radial stator magnetism resistent ring, radial coil, inferior pyramidal stator and axial inner coil, rotor portion comprises upper conical rotor, the rotor magnetic guiding loop, radial rotor is unshakable in one's determination, rotor magnetism-isolating loop, the inferior pyramidal rotor, wherein the outside of permanent magnet is radial stator, radial stator has two, along the circumferential direction quadrature is placed, between two radial stators the radial stator magnetism resistent ring is arranged, each radial stator forms by stator tooth and stator conductive magnetic yoke, all be wound with radial coil on the radial stator tooth, the axial up and down both sides of permanent magnet are the stator magnetism resistent ring, the radially inner side of permanent magnet and stator magnetism resistent ring is the stator magnetic guiding loop, the up and down two ends of stator magnetic guiding loop are respectively upper conical stator and inferior pyramidal stator, the outside of radial stator is that radial rotor is unshakable in one's determination, be magnetic air gap radially between radial stator and the radial rotor iron core, radial rotor iron core up and down both sides is rotor magnetism-isolating loop, the rotor magnetic guiding loop is installed in the radial outside of radial rotor iron core and rotor magnetism-isolating loop, and upper conical rotor and inferior pyramidal rotor linked up, form flux path, the outside of upper conical stator is upper conical rotor, be upper conical air gap between upper conical stator and the upper conical rotor, the outside of inferior pyramidal stator is the inferior pyramidal rotor, be the inferior pyramidal air gap between inferior pyramidal stator and the inferior pyramidal rotor, upper conical stator and inferior pyramidal stator along the circumferential direction are domain structure, and axially upper coil and axial inner coil are enclosed within respectively the inboard of upper conical stator and inferior pyramidal stator.
The conical surface tilt angle of described upper conical stator and inferior pyramidal stator is 40～60 °, and it is parallel to make conical surface Normal direction and the sub-barycenter that rotates reverse arm of force direction.
The thickness of described radial stator magnetism resistent ring is 2mm～4mm.Permanent magnet is divided into disjunct four mutually along circumferential direction, each permanent magnet blocks is radially and magnetizes, lay respectively at the radially inner side of four stator tooths of radial stator, and the circumferential span of each permanent magnet is identical with the circumferential span of the stator tooth of radial stator, is 60 °～80 ° central angles.
Described radially magnetic air gap size is 0.3mm～0.8mm, and the size of upper conical air gap and inferior pyramidal air gap is 0.4mm～0.85mm.
Described radial rotor is unshakable in one's determination to be adopted in 1J50 or the amorphous any one to laminate to make, and stator magnetic guiding loop and rotor magnetic guiding loop all adopt in 1J22 bar or the electrical pure iron any one to make.
Described radial rotor stalk is to the large 3～6mm of Length Ratio radial stator tooth axial length, the large 5～8mm of axial length of upper conical rotor and the upper conical stator of inferior pyramidal rotor axial Length Ratio and inferior pyramidal stator.
Principle of the present invention is: the radial decoupling taper magnetic bearing with three degree of freedom among the present invention is a kind of of the axial integrated magnetic bearing in Three Degree Of Freedom footpath, can control radially x of rotor, the translation of y direction and the vertically translation of z direction, namely utilize the interaction force between taper stator and the cone rotor to come Control Shaft to translation, utilize the interaction force between radial stator and the radial rotor to control radially translation, permanent magnet simultaneously for the conical surface magnetic air gap and radially magnetic air gap the biasing magnetic flux is provided, shown in solid arrow direction among Fig. 1, the permanent magnet flux path that permanent magnet produces is: magnetic flux is from the permanent magnet N utmost point, pass through respectively x direction and y direction radial stator, x and y direction radial air gap are to rotor core, then it is upper to divide two-way to pass through respectively via rotor magnetic guiding loop magnetic flux, the inferior pyramidal rotor, tapered air gap up and down, arrive up and down taper stator, get back to the permanent magnet S utmost point through the stator magnetic guiding loop again.Shown in dotted arrow direction among Fig. 1, the electromagnetic circuit path that produces after the axial upper and lower layer line circle energising is: the electromagnetism magnetic flux is from upper conical stator, through the stator magnetic guiding loop to the inferior pyramidal stator, pass afterwards the inferior pyramidal air gap to inferior pyramidal rotor, rotor magnetic guiding loop, upper conical rotor, upper conical air gap, finally get back to upper conical stator.Radially x direction electromagnetic circuit path is shown in dotted arrow direction among Fig. 2: the radial stator tooth of electromagnetism magnetic flux on+x direction, warp+x direction magnetic air gap, radial rotor be unshakable in one's determination ,-x direction magnetic air gap ,-x direction radial stator tooth, then through x direction stator conductive magnetic yoke, get back to+stator tooth on the x direction forms the loop.Radially y direction electromagnetic circuit is similar to the x direction, set out by the radial stator tooth the on+y direction, warp+y direction magnetic air gap, radial rotor be unshakable in one's determination ,-y direction magnetic air gap ,-y direction radial stator tooth, then through y direction stator conductive magnetic yoke, get back to+stator tooth on the y direction forms the loop.Because the existence of stator magnetism resistent ring, radially the permanent magnetic circuit of x direction and y direction is not coupled mutually, electromagnetic circuit is not coupled mutually yet, therefore when x direction air gap generation notable change, or the x passage applies control during electric current, and the permanent magnetism of y direction and electromagnetic are close all can not to change, and the magnetic pressure that produces of x directional current only fall drop to+x and-x direction magnetic air gap on, therefore this electric current can be close at the larger electric excitation magnetic of x direction generation, thereby can increase exerting oneself of x direction.
Taper stator all adopts domain structure up and down, axial passage relies on the interaction between taper stator and the cone rotor to control, and the normal of conical rotor face is along the barycenter direction, then no matter where rotor is in, the suction direction that each point produces on the cone rotor face is along barycenter direction (as shown in Figure 6), like this when rotor reverses output torque, close the changing of magnetic at the air gap place of different sizes on the conical surface, produce different negative stiffness power, rotor there is the trend that produces negative moment, but because each point suction direction is all along the barycenter direction, so that the warping force arm lengths is 0, then the moment size of the negative stiffness power at conical surface each point place generation is 0, thus the impact that the moment of having avoided bearing negative rigidity power to produce is reversed rotor.
The present invention's advantage compared with prior art is: a kind of radial decoupling taper magnetic bearing with three degree of freedom of the present invention, adopt the conical magnet poles Control Shaft to translation, and conical surface is designed to normal along the barycenter direction, the suction of each point is 0 to the arm of force length that rotor centroid forms on the conical surface, though there is the negative stiffness power that varies in size in the rotor diverse location when rotor reverses output torque, but be can not produce under 0 the arm of force effect to reverse negative moment in length, therefore compare with existing magnetic bearing, have the little characteristics of the negative moment reversed when rotor reverses.Simultaneously, radial structure adopts x, the form of y direction passage decoupling zero, permanent magnetic circuit and electric magnetic excitation circuit all are independent of each other between the passage of x direction passage and y direction, when rotor reverse make one party to passage size of gaps when changing, the permanent magnet bias magnetic of other direction passage is close can not to change, therefore still can keep larger maximum load capacity reversing in the situation, and electric magnetic excitation circuit is not coupled mutually, the magnetic pressure that all directions channel current is produced is fallen on the magnetic air gap that only drops to its place direction passage, thereby it is close to produce larger electric excitation magnetic, increases exerting oneself of this passage.Therefore, compare with existing structure, it is little that the present invention has the negative moment of reversing, the large advantage of maximum load capacity when reversing.
Description of drawings
Fig. 1 is that the present invention is along the axial, cross-sectional view of x and the incision of y direction.
Fig. 2 is the longitudinal section view of radially x direction passage of the present invention.
Fig. 3 is radial stator assembly stereogram of the present invention.
Fig. 4 is radial stator assembly explosive view of the present invention.
Fig. 5 is the explosive view of the single radial passage of the present invention stator module.
Fig. 6 is that rotor of the present invention is subjected to force direction and barycenter to concern schematic representation.
Embodiment
Such as Fig. 1, shown in Figure 2, the present invention totally is comprised of stationary part and rotor portion, wherein stationary part comprises stator magnetic guiding loop 1, upper conical stator 2, stator magnetism resistent ring 3, axial upper coil 4, permanent magnet 5, radial stator 6, radial stator magnetism resistent ring 7, radial coil 8, inferior pyramidal stator 9 and axial inner coil 10, rotor portion comprises upper conical rotor 11, rotor magnetic guiding loop 12, radial rotor iron core 13, rotor magnetism-isolating loop 14, inferior pyramidal rotor 15, wherein the outside of permanent magnet 5 is radial stator 6, radial stator 6 has two, along the circumferential direction quadrature is placed, between two radial stators radial stator magnetism resistent ring 7 is arranged, each radial stator forms by stator tooth and stator conductive magnetic yoke, all be wound with radial coil 8 on the radial stator tooth, the axial up and down both sides of permanent magnet 5 are stator magnetism resistent ring 3, permanent magnet 5 is stator magnetic guiding loop 1 with the radially inner side of stator magnetism resistent ring 3, the up and down two ends of stator magnetic guiding loop 1 are respectively upper conical stator 2 and inferior pyramidal stator 9, the outside of radial stator 6 is radial rotor iron core 13, be magnetic air gap 16 radially between radial stator 6 and the radial rotor iron core 13, radial rotor unshakable in one's determination about in the of 13 both sides be rotor magnetism-isolating loop 14, rotor magnetic guiding loop 12 is installed in the radial outside of radial rotor unshakable in one's determination 13 and rotor magnetism-isolating loop 14, and upper conical rotor 11 and inferior pyramidal rotor 15 linked up, form flux path, the outside of upper conical stator 2 is upper conical rotor 11, it is upper conical air gap 17 between upper conical stator 2 and the upper conical rotor 11, the outside of inferior pyramidal stator 9 is inferior pyramidal rotor 15, be inferior pyramidal air gap 18 between inferior pyramidal stator 9 and the inferior pyramidal rotor 15, upper conical stator 2 and inferior pyramidal stator 9 along the circumferential direction are domain structure, and axially upper coil 4 and axial inner coil 10 are enclosed within respectively the inboard of upper conical stator 2 and inferior pyramidal stator 9.
As shown in Figure 6, the conical surface inclined angle alpha of upper conical stator 2 and inferior pyramidal stator 9 is 40～60 °, and it is parallel to make conical surface Normal direction and the sub-barycenter that rotates reverse arm of force direction.
Radial stator of the present invention 6 is at x, the y direction respectively has one, two radial stators and adjacent stator magnetism resistent ring 3, permanent magnet 5, radial stator magnetism resistent ring 7 has formed the radial stator assembly as shown in Figure 3 jointly, x when mounted, two radial stator quadratures of y direction are placed, radial stator magnetism resistent ring 7 is between two passage stators, the permanent magnetic circuit and the electromagnetic circuit that are used for two passages of isolation, the explosive view of radial stator assembly as shown in Figure 4, the radial stator assembly of single passage comprises radial stator 6, permanent magnet 5, radial stator magnetism resistent ring 7, its explosive view as shown in Figure 5, each radial stator 6 forms by stator tooth 61 and stator conductive magnetic yoke 62, the stator module of two radial stator formation is distributed with four stator tooths 61 along even circumferential, each stator tooth along the circumferential direction span β is 60 °～80 ° central angles, the thickness of radial stator magnetism resistent ring 7 is 2mm～4mm, is not coupled mutually to guarantee x passage and y passage magnetic circuit.
For guaranteeing that flywheel rotor reverses that mutual collision does not occur for each stator and rotor behind the several angle, radially magnetic air gap 16 sizes are 0.3mm～0.8mm, and the size of upper conical air gap 17 and inferior pyramidal air gap 18 is 0.4mm～0.85mm.
Radial rotor unshakable in one's determination 13 adopts in 1J50 or the amorphous any one to laminate and makes, and stator magnetic guiding loop 1 and rotor magnetic guiding loop 12 all adopt in 1J22 bar or the electrical pure iron any one to make.
When flywheel rotor reverses, bearing rotor is unshakable in one's determination can be offset along being parallel to air gap direction, for guaranteeing that the rear stator span scope of skew is still within rotor span scope, radial rotor 13 axial length specific diameters unshakable in one's determination are to the large 3～6mm of stator tooth 61 axial lengths, upper conical rotor 11 and inferior pyramidal rotor 15 axial lengths make radial and axial leakage coefficient all between 1.3～1.9 than the large 5～8mm of axial length of upper conical stator 2 and inferior pyramidal stator 9.
The content that is not described in detail in the specification of the present invention belongs to the known prior art of related domain professional and technical personnel.
Claims (7)
1. radial decoupling taper magnetic bearing with three degree of freedom, it is characterized in that: formed by stationary part and rotor portion, wherein stationary part comprises stator magnetic guiding loop (1), upper conical stator (2), stator magnetism resistent ring (3), axial upper coil (4), permanent magnet (5), radial stator (6), radial stator magnetism resistent ring (7), radial coil (8), inferior pyramidal stator (9) and axial inner coil (10), rotor portion comprises upper conical rotor (11), rotor magnetic guiding loop (12), radial rotor (13) unshakable in one's determination, rotor magnetism-isolating loop (14), inferior pyramidal rotor (15), wherein the outside of permanent magnet (5) is radial stator (6), radial stator (6) has two, along the circumferential direction quadrature is placed, radial stator magnetism resistent ring (7) is arranged between two radial stators (6), radial stator (6) forms by stator tooth (61) and stator conductive magnetic yoke (62), be wound with radial coil (8) on the radial stator tooth (61), the axial up and down both sides of permanent magnet (5) are stator magnetism resistent ring (3), permanent magnet (5) is stator magnetic guiding loop (1) with the radially inner side of stator magnetism resistent ring (3), the up and down two ends of stator magnetic guiding loop (1) are respectively upper conical stator (2) and inferior pyramidal stator (9), the outside of radial stator (6) is radial rotor (13) unshakable in one's determination, be magnetic air gap (16) radially between radial stator (6) and the radial rotor (13) unshakable in one's determination, radial rotor (13) unshakable in one's determination up and down both sides is rotor magnetism-isolating loop (14), rotor magnetic guiding loop (12) is installed in the radial outside of radial rotor iron core (13) and rotor magnetism-isolating loop (14), and upper conical rotor (11) and inferior pyramidal rotor (15) linked up, form flux path, the outside of upper conical stator (2) is upper conical rotor (11), be upper conical air gap (17) between upper conical stator (2) and the upper conical rotor (11), the outside of inferior pyramidal stator (9) is inferior pyramidal rotor (15), be inferior pyramidal air gap (18) between inferior pyramidal stator (9) and the inferior pyramidal rotor (15), upper conical stator (2) and inferior pyramidal stator (9) along the circumferential direction are domain structure, and axially upper coil (4) and axial inner coil (10) are enclosed within respectively the inboard of upper conical stator (2) and inferior pyramidal stator (9).
2. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1, the conical surface tilt angle of upper conical stator (2) and inferior pyramidal stator (9) is 40～60 °, it is parallel to make conical surface Normal direction and the sub-barycenter that rotates reverse arm of force direction.
3. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1 and 2, it is characterized in that: the thickness of described radial stator magnetism resistent ring (7) is 2mm～4mm.
4. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1, it is characterized in that: described permanent magnet (5) is divided into disjunct four mutually along circumferential direction, each permanent magnet blocks is radially and magnetizes, lay respectively at the radially inner side of four stator tooths (61) of radial stator (6), and the circumferential span of each permanent magnet (5) is identical with the circumferential span of the stator tooth (61) of radial stator (6), is 60 °～80 ° central angles.
5. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1, it is characterized in that: described radially magnetic air gap (16) size is 0.3mm～0.8mm, and the size of upper conical air gap (17) and inferior pyramidal air gap (18) is 0.4mm～0.85mm.
6. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1, it is characterized in that: described radial rotor (13) unshakable in one's determination adopts in 1J50 or the amorphous any one to laminate and makes, and stator magnetic guiding loop (1) and rotor magnetic guiding loop (12) all adopt in 1J22 bar or the electrical pure iron any one to make.
7. radial decoupling taper magnetic bearing with three degree of freedom according to claim 1, it is characterized in that: described radial rotor (13) axial length specific diameter unshakable in one's determination is to the large 3～6mm of stator tooth (61) axial length, and upper conical rotor (11) and inferior pyramidal rotor (15) axial length are than the large 5～8mm of axial length of upper conical stator (2) and inferior pyramidal stator (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110254339 CN102322481B (en) | 2011-08-31 | 2011-08-31 | Radial decoupling taper magnetic bearing with three degree of freedom |
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| CN 201110254339 CN102322481B (en) | 2011-08-31 | 2011-08-31 | Radial decoupling taper magnetic bearing with three degree of freedom |
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| CN102322481A CN102322481A (en) | 2012-01-18 |
| CN102322481B true CN102322481B (en) | 2013-03-20 |
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| CN103904816B (en) * | 2014-03-25 | 2016-08-24 | 南方科技大学 | Energy accumulation device for fly wheel, wind generator system and vehicle energy regenerative braking system |
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| CN104728263B (en) * | 2015-03-30 | 2017-04-05 | 北京石油化工学院 | Dual-stator 3-freedom decouples Lorentz force magnetic bearing |
| CN106812797B (en) * | 2017-04-11 | 2019-01-22 | 华中科技大学 | A kind of double layered stator permanent magnet offset radial magnetic bearing |
| CN107165936B (en) * | 2017-04-11 | 2019-02-26 | 南京埃克锐特机电科技有限公司 | A kind of Three Degree Of Freedom mixing taper radial direction magnetic bearing |
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| CN108547867B (en) * | 2018-03-16 | 2020-09-25 | 江苏大学 | Axial self-loop three-degree-of-freedom spherical hybrid magnetic bearing |
| CN111102234B (en) * | 2019-12-30 | 2021-09-03 | 北京航空航天大学 | Permanent magnet biased magnetic suspension bearing |
| CN111173838B (en) * | 2020-01-17 | 2023-05-26 | 淮阴工学院 | Radial uncoupled three-degree-of-freedom direct current hybrid magnetic bearing |
| CN113443176B (en) * | 2021-07-02 | 2022-09-27 | 哈尔滨工业大学 | Electromagnetic actuator for nano satellite deployer |
| CN114857171B (en) * | 2022-07-07 | 2022-09-30 | 山东天瑞重工有限公司 | Outer rotor radial decoupling hybrid magnetic bearing |
| CN115059690B (en) * | 2022-07-15 | 2023-12-22 | 中国人民解放军战略支援部队航天工程大学 | Oblique three-orthogonal three-degree-of-freedom translational magnetic bearing |
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