CN102602538B - Magnetic levitation self-driven double-spiral-wing flying saucer - Google Patents
Magnetic levitation self-driven double-spiral-wing flying saucer Download PDFInfo
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- CN102602538B CN102602538B CN201210043898.1A CN201210043898A CN102602538B CN 102602538 B CN102602538 B CN 102602538B CN 201210043898 A CN201210043898 A CN 201210043898A CN 102602538 B CN102602538 B CN 102602538B
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- wing wheel
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Abstract
The invention relates to a magnetic levitation self-driven double-spiral-wing flying saucer, which consists of a saucer housing, a saucer cabin, a double-spiral-wing system, an excitation system and a spiral wing positioning system. Upper and lower magnetic levitation spiral wing wheels in the double-spiral-wing system rotate relatively through interactive magnetic forces generated by a magnetic field generated by -inductive current in inductive coils to realize self-driven rotation. An excitation controller in the excitation system controls the speed of the self-driven rotation by measuring relative position change of a positioned magnetic field on the upper and lower magnetic levitation spiral wing wheels and changes the direction of -control current in a control circuit -to change the direction of the inductive magnetic field in the spiral wing wheels so as to control steering of the self-driven rotation. The magnetic levitation self-driven double-spiral-wing flying saucer has the advantages of compact design structure, reasonable layout, light weight, and high power conversion efficiency, overcomes the reverse torque deficiency of the spiral wing flying saucer at the same time, and realizes positioning control of the spiral wing and guarantees safe operation of the flying saucer.
Description
Technical field
The invention belongs to aviation aircraft field, be specifically related to the self-driven DCB Specimen flying saucer of a kind of magnetic suspension.
Technical background
The lift of rotary aircraft and thrust are formed by the rotor of High Rotation Speed, and the power of rotor wing rotation comes from engine and other electromagnetic motive devices.Existing rotary aircraft, comprise various gyrodyne, its rotor drives by engine or other electromagnetic motive devices and rotates, the reactive torque power of rotor all reacts on engine or electromagnetic power actuating device, and finally act on body, body affects by this reactive torque, often needs auxiliary mechanism to offset this twisting action to ensure body attitude.
Compared with general rotary aircraft, the particularity of rotary wing type flying disk is: the rotor system of rotary wing type flying disk and power system thereof need to be arranged in dish shell.Dish shell inner space is limited, limits the structure and layout of rotor system and power system thereof.Therefore, how to utilize the space that dish shell is inner limited fully, project organization is compact, rationally distributed, lightweight, power conversion efficiency is high, and being easy to rotor system and the power system thereof of manipulation and control, is the matter of utmost importance of rotary wing type flying disk design.
Similar with general rotary aircraft, reactive torque can be produced during flying saucer rotor wing rotation and act on body, refer to patent CN1114279A, there is the problem that flying saucer dish body is subject to uncontrollable reactive torque, therefore, how overcoming the reactive torque that rotary wing type flying disk dish body bears also is one of major issue of rotary wing type flying disk design, the mode that conventional rotary aircraft adopts moment of torsion to cancel out each other usually overcomes the reactive torque that body bears, often depend on a set of active control system, both additional energy was increased, there is again control accuracy and safety issue, the self-driven rotor power system that design does not produce reactive torque to body is then the optimal case overcoming rotary wing type flying disk reactive torque problem.
Rotor in dish shell during High Rotation Speed, due to the flexibility of pneumatic eddy current, rotor, and the factor such as the maneuvering flight of flying saucer, the touching of rotor and dish shell may be there is, produce fault, even cause serious accident, refer to special CN1120008A, there is shortcoming as above.Therefore, in finite space, how to utilize ingenious compact location structure to realize controlling the space orientation of rotor, avoid rotor when High Rotation Speed with the contact of dish shell inside and friction, noise during minimizing rotor High Rotation Speed and the vibration in dish shell and dish cabin, simultaneously, ensureing the safe in operation of rotor and flying saucer, is another major issue of rotary wing type flying disk design.
Summary of the invention
The object of the invention is to the space utilizing dish shell inner limited fully, a kind of rotary wing type flying disk of design and structure, it has compact conformation, rationally distributed, be easy to the self-driven twin rotor system of magnetic suspension handled and control, this self-driven twin rotor system overcomes the adverse effect that conventional rotary aircraft antitorque of rotor acts on body, realize self-driven rotation and reactive torque do not produced to body, this self-driven twin rotor system has ingenious compact location structure and realizes controlling the space orientation of rotor, avoid rotor when High Rotation Speed with the contact of dish shell inside and friction.
1, the self-driven DCB Specimen flying saucer of a kind of magnetic suspension, it is characterized in that, contain: comprise dish shell (1), dish cabin (2), the twin rotor system (3) being positioned at described dish shell (1), field system (4) and rotor position fixing system (5), wherein:
Dish shell (1), in the circumferential direction, upper housing part has into head piece (10), and lower housing part has out head piece (11);
Dish cabin (2), cabin, top is coaxially connected with the upper housing part of described dish shell (1), and lower cabin is coaxially connected with the lower housing part of described dish shell (1), and the diameter of lower cabin is greater than the diameter in cabin, top;
Twin rotor system (3), it is the self-driven system of a magnetic suspension, jointly form with the upper magnetic suspension rotary wing wheel (30) of the coaxial arrangement of described dish shell (1) and lower magnetic suspension rotary wing wheel (31) by along on dish body ordinate, wherein:
Upper magnetic suspension rotary wing wheel (30), contain: the positioning disc (304) that on upper magnetic suspension rotary wing wheel blade (300), upper magnetic suspension rotary wing wheel induction coil (301), upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302), upper magnetic suspension rotary wing wheel blade tip annulus (303), upper magnetic suspension rotary wing wheel, vertical section is Z-shaped and upper magnetic suspension rotary wing wheel wheel hub (305), wherein:
Described upper magnetic suspension rotary wing wheel blade (300), is at least 2, and is uniformly distributed formula with described upper magnetic suspension rotary wing wheel wheel hub (305) radial direction and is connected on described upper magnetic suspension rotary wing wheel wheel hub (305);
Described upper magnetic suspension rotary wing wheel blade tip annulus (303), is along the circumferential direction fixedly connected with the end of described each upper magnetic suspension rotary wing wheel blade (300);
The positioning disc (304) that vertical section on described upper magnetic suspension rotary wing wheel is Z-shaped, circumferentially be connected with the bottom of described upper magnetic suspension rotary wing wheel blade tip annulus (303) periphery, form the spatial accommodation of the annular arrangement of an opening upwards;
Described upper magnetic suspension rotary wing wheel induction coil (301), quantitatively be at least the multiple of 4, be evenly distributed in the annular arrangement spatial accommodation of described opening upwards along annular direction, described in each, upper magnetic suspension rotary wing wheel induction coil (301) is in three dimensions in the figure of eight, upper half toroid winding (3010) and lower half toroid winding (3011) are embedded in the annular arrangement spatial accommodation of described opening upwards orthogonally, and lower half toroid winding (3011) pressure is embedded on the bottom surface of annular arrangement spatial accommodation of described opening upwards;
Described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302), be embedded in the anchor ring of described Z-type positioning disc (304) upper end, quantitatively be at least the multiple of 4, and identical with the number of described upper magnetic suspension rotary wing wheel induction coil (301);
Lower magnetic suspension rotary wing wheel (31), contain: on lower magnetic suspension rotary wing wheel blade (310), lower magnetic suspension rotary wing wheel induction coil (311), lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312), lower magnetic suspension rotary wing wheel blade tip annulus (313), lower magnetic suspension rotary wing wheel, vertical section is the positioning disc (314) of Z-type and lower magnetic suspension rotary wing wheel wheel hub (315), wherein:
Described lower magnetic suspension rotary wing wheel blade (310), quantitatively equal with described upper magnetic suspension rotary wing wheel blade (300), and radial direction is uniformly distributed formula is connected on described lower magnetic suspension rotary wing wheel wheel hub (315), the equal and opposite in direction of blade angle and upper magnetic suspension rotary wing wheel blade (300), direction is contrary;
Described lower magnetic suspension rotary wing wheel blade tip annulus (313), along the circumferential direction goes up and is fixedly connected with the end of described lower magnetic suspension rotary wing wheel blade (310);
On described lower magnetic suspension rotary wing wheel, vertical section is the positioning disc (314) of Z-type, along the circumferential direction be connected with described lower magnetic suspension rotary wing wheel blade tip annulus (313) top, periphery, form an annular arrangement spatial accommodation that Open Side Down;
Described lower magnetic suspension rotary wing wheel induction coil (311), quantitatively, along all identical with described upper magnetic suspension rotary wing wheel induction coil (301) in the position distribution of annular direction, in three dimensions also in the figure of eight, on, lower two toroid windings (3110, 3111) be evenly embedded in mutual vertically in the described annular arrangement spatial accommodation that Open Side Down, and lower half toroid winding (3111) pressure is embedded on the bottom surface of annular arrangement spatial accommodation of described opening upwards, make described on, lower two magnetic suspension rotary wing wheels (30, 31) rotation direction is contrary, described lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312) is embedded in the anchor ring of the described positioning disc of falling Z-type (314) upper end, quantitatively, position distribution is all located permanent magnetism sheet (302) with described upper magnetic suspension rotary wing wheel identical,
Field system (4), contains: excitation guide rail and excitation control loop, wherein:
Described excitation guide rail, contains: upper excitation guide rail (40) and lower excitation guide rail (41), wherein:
Upper excitation guide rail (40), be embedded in the annular arrangement spatial accommodation of the positioning disc (304) that vertical section is Z-shaped on described upper magnetic suspension rotary wing wheel, described upper excitation guide rail (40) is radially evenly embedded with the upper excitation guide rail coil winding (400) of the multiple number of 4, and on this, excitation wire guide rail circle winding (400) and described upper magnetic suspension rotary wing wheel induction coil (301) are along magnetic suspension rotary wing wheel diametrically;
Lower excitation guide rail (41), being embedded into vertical section on described lower magnetic suspension rotary wing wheel is fall in positioning disc (314) spatial accommodation that Open Side Down of Z-type, described lower excitation guide rail (41) is radially evenly embedded with quantitatively equal, uniform with described upper excitation guide rail coil winding (400) lower excitation guide rail coil winding (410), but described lower excitation guide rail coil winding (410) spatially on upper/lower positions with described upper excitation guide rail coil winding (400) evenly nested type distribute;
Described upper excitation guide rail (40), lower excitation guide rail (41) are fixed by the mount pad (6) of the quantity multiple that is 4 separately, mount pad described in each (6) is screwed on described dish shell (1), make upper and lower two excitation guide rails (40,41) and described dish shell (1) geo-stationary;
Described excitation control loop, comprises rotor Hall element (440), lower rotor Hall element (441), excitation controller (42) and excitation amplifier (43);
Rotor position fixing system (5), is made up of positioning guide rail and position control loop, wherein:
Positioning guide rail, comprising: according to the upper positioning guide rail (50) stacked successively from top to bottom, permanent magnetic guideway (51) and lower positioning guide rail (52), wherein:
Described upper positioning guide rail (50), upside down be positioned on described upper magnetic suspension rotary wing wheel (30) in the axial direction, upper positioning guide rail set winding winding (500) is placed in described upper positioning guide rail (50) upper surface with upper positioning guide rail location permanent magnet (501) is evenly nested, and described upper positioning guide rail set winding winding (500) and upper positioning guide rail location permanent magnet (501) quantitatively equal the half of described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302) separately;
Described permanent magnetic guideway (51), be fixed on described mount pad (6), evenly be embedded with permanent magnetic guideway location permanent magnet (510) in upper surface, quantitatively equal the number of described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302);
Described lower positioning guide rail (52), just with putting be positioned under described lower magnetic suspension rotary wing wheel (31) in the axial direction, lower positioning guide rail set winding winding (520) is arranged in described lower positioning guide rail (52) upper surface with lower positioning guide rail location permanent magnet (521) is evenly nested, and described lower positioning guide rail set winding winding (520) and lower positioning guide rail location permanent magnet (521) quantitatively equal the half of described lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312) separately;
Described upper positioning guide rail (50), permanent magnetic guideway (51) and lower positioning guide rail (52) position diametrically correspond respectively to described upper and lower two magnetic suspension rotary wing wheels (30,31) go up on the position at each self-align permanent magnet place, common formation hybrid magnets type magnetic suspension position fixing system;
Described upper positioning guide rail (50), permanent magnetic guideway (51) and lower positioning guide rail (52) are all fixed jointly by the mount pad (6) described in each, keep geo-stationary with described dish shell (1);
Described position control loop is made up of upper rotor laser distance sensor (550), lower rotor laser distance sensor (551), register control (53) and positioning amplifier (54), upper rotor laser distance sensor (550) is fixed on positioning guide rail (50), magnetic suspension rotary wing wheel (30) end displacement (d in the axial direction in detection
0), lower rotor laser distance sensor (551) is fixed on lower positioning guide rail (52), detects lower magnetic suspension rotary wing wheel (31) end displacement (d in the axial direction
1), and produce corresponding two path signal, this two path signal is after the control algorithm process of register control (53), generate the analog current expected, after positioning amplifier (54) further power gain, output to positioning guide rail set winding winding (500) and lower positioning guide rail set winding winding (520) respectively, produce corresponding magnetic field, the magnetic force (f with joint efforts that upper positioning guide rail set winding winding (500) and upper positioning guide rail location permanent magnet (501), guide rail location permanent magnet (510) produce
0) magnetic suspension rotary wing wheel longitudinal travel (d in change
0), the magnetic force (f with joint efforts that lower positioning guide rail set winding winding (520) and lower positioning guide rail location permanent magnet (521), permanent magnetic guideway location permanent magnet (510) produce
1) change lower magnetic suspension rotary wing wheel longitudinal travel (d
1), form two thus and realize pinpoint close loop control circuit;
Excitation control loop in described field system is embedded in the upper rotor Hall element (440) on described upper positioning guide rail (50) lower surface by pressure, lower rotor Hall element (441) on lower positioning guide rail (52) upper surface, relatively jointly form with the excitation controller (42) on the medial surface of described upper positioning guide rail (50) side and excitation amplifier (43) in dish shell (1), described upper rotor Hall element (440) detect described upper magnetic suspension rotary wing wheel (30) rotate or static time described on magnetic suspension rotary wing wheel location permanent magnetism sheet (302) rotation change, described lower rotor Hall element (441) detect described lower magnetic suspension rotary wing wheel (31) rotate or static time described on, lower magnetic suspension rotary wing wheel (30, 31) position and velocity information, and send into by described mount pad (6) the described excitation controller (42) be fixed on described dish shell (1) medial surface, generate the analog current expected, after being also fixed on the further power gain of the excitation amplifier (43) on described dish shell (1) medial surface, be converted into and control electric current (I), and output to described upper excitation guide rail coil winding (400) and lower excitation guide rail coil winding (410) respectively by described mount pad (6), produce expectancy changes magnetic field, described upper magnetic suspension rotary wing wheel induction coil (301) and lower magnetic suspension rotary wing wheel induction coil (311) is encouraged to produce inducing current (i) respectively, and induced field, make described on, lower two magnetic suspension rotary wing wheels (30, 31) magnetic field force (f between
i) synchronously change rotating speed under effect, rotation speed change information is detected by described upper and lower two rotary wing wheel Hall elements (440,441), realize speed closed loop to control, simultaneously by changing the direction of current on two-way control circuit Zhong mono-tunnel that described excitation controller (42) exports, to realize the course changing control to magnetic suspension rotary wing wheel.
Magnetic suspension designed by the present invention self-driven DCB Specimen flying saucer makes full use of the inner limited space of dish shell, design has compact conformation, rationally distributed, be easy to the self-driven twin rotor system of magnetic suspension handled and control, this self-driven twin rotor system overcomes the adverse effect that conventional rotary aircraft antitorque of rotor acts on body, realize the self-driven rotation of DCB Specimen and reactive torque do not produced to body, avoid using conventional rotor craft to be overcome the active control system that reactive torque adopts, thus overcome its increase additional energy, there is the shortcoming of control accuracy and safety issue, this self-driven twin rotor system has ingenious compact location structure and realizes the accurate positioning control in the space of rotor, avoid rotor when High Rotation Speed with the contact of dish shell inside and friction, the labile factors such as noise during minimizing rotor High Rotation Speed and the vibration in dish shell and dish cabin, meanwhile, the safe in operation of rotor and flying saucer is ensured.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Accompanying drawing mark used is described as follows:
1-dish shell; 10-enters head piece; 11-goes out head piece
2-dish cabin
3-DCB Specimen wheel system; The upper magnetic suspension rotary wing wheel of 30-; Magnetic suspension rotary wing wheel under 31-; 300-upper magnetic suspension rotary wing wheel blade; 301-upper magnetic suspension rotary wing wheel induction coil; 302-upper magnetic suspension rotary wing wheel location permanent magnetism sheet; 303-upper magnetic suspension rotary wing wheel blade tip annulus; 304-upper magnetic suspension rotary wing wheel Z-type positioning disc; 305-upper magnetic suspension rotary wing wheel wheel hub; Magnetic suspension rotary wing wheel blade under 310-; Magnetic suspension rotary wing wheel induction coil under 311-; Magnetic suspension rotary wing wheel location permanent magnetism sheet under 312-; Magnetic suspension rotary wing wheel blade tip annulus under 313-; Magnetic suspension rotary wing wheel Z-type positioning disc under 314-; Magnetic suspension rotary wing wheel wheel hub under 315-; Annulus on 3010-upper magnetic suspension rotary wing wheel induction coil; Annulus under 3011-upper magnetic suspension rotary wing wheel induction coil; Annulus on magnetic suspension rotary wing wheel induction coil under 3110-; Annulus under magnetic suspension rotary wing wheel induction coil under 3111-; Annulus under the upper magnetic suspension rotary wing wheel induction coil that 3011a-and upper excitation guide rail excitation coil are radial just right; Annulus under the lower magnetic suspension rotary wing wheel induction coil that 3111a-and lower excitation guide rail excitation coil are radial just right
4-field system; The upper excitation guide rail of 40-; Excitation guide rail under 41-; 42-excitation controller; 43-excitation amplifier; 44-Hall element; 400-upper excitation guide rail excitation coil winding; Excitation guide rail excitation coil winding under 410-; The upper rotor Hall element of 440-; Rotor Hall element under 441-
5-rotor position fixing system; The upper positioning guide rail of 50-; 51-permanent magnetic guideway; Positioning guide rail under 52-; 53-register control; 54-positioning amplifier; 55-laser distance sensor; 500-upper positioning guide rail set winding winding; 501-upper positioning guide rail location permanent magnet; 510-permanent magnetic guideway location permanent magnet; Positioning guide rail set winding winding under 520-; Positioning guide rail location permanent magnet under 521-; The upper rotor laser distance sensor of 550-; Rotor laser distance sensor under 551-
6-mount pad; 60,61,62,63,64,65,66,67,8 mount pads of 68-circumference array
70-excitation field; Annulus induced field on 71-induction coil; Annulus induced field under 72-induction coil
Fig. 1: magnetic suspension self-driven DCB Specimen flying saucer structure diagram, wherein (1b) is birds-eye view, and (1a) is A-A face cutaway view in (1b);
Fig. 2: magnetic suspension self-driven DCB Specimen flying saucer inner structure birds-eye view;
Fig. 3: magnetic suspension self-driven DCB Specimen flying saucer twin rotor system, wherein (3a) is birds-eye view, and (3b) is A-A face cutaway view in (3a);
Fig. 4: magnetic suspension self-driven DCB Specimen flying saucer field system;
Fig. 5: magnetic suspension self-driven DCB Specimen flying saucer rotor position fixing system;
Fig. 6: ' 8 ' font induction coil sketch, wherein (6a) is front elevation, and (6b) is right elevation;
Fig. 7: magnetic suspension self-driven DCB Specimen flying saucer magnetic circuit system schematic diagram, wherein (7a) is excitation coil winding and induction coil magnetic fields schematic diagram, and (7b) is induction coil magnetic fields schematic diagram in upper magnetic suspension rotary wing wheel and lower magnetic suspension rotary wing wheel;
Fig. 8: magnetic suspension self-driven DCB Specimen flying saucer Circuits System schematic diagram, wherein (8a) is excitation control circuit schematic diagram, and (8b) is positioning control circuit schematic diagram;
Fig. 9: magnetic suspension self-driven DCB Specimen flying saucer control flow chart, wherein (9a) is positioning control diagram of circuit, and (9b) is rotating speed control flow chart
Detailed description of the invention
The self-driven DCB Specimen flying saucer of a kind of magnetic suspension of the present invention, comprise: comprise dish shell 1, dish cabin 2, twin rotor system 3, field system 4 and rotor position fixing system 5, it is characterized in that described twin rotor system 3 is magnetic suspension self actuating system, by having on analog structure along two of coaxial arrangement in dish body system of axes vertical direction, lower magnetic suspension rotary wing wheel 30, 31 are formed, wherein go up magnetic suspension rotary wing wheel 30 by upper magnetic suspension rotary wing wheel blade 300, upper magnetic suspension rotary wing wheel induction coil 301/311, upper magnetic suspension rotary wing wheel location permanent magnetism sheet 302/312, upper magnetic suspension rotary wing wheel blade tip annulus 303, upper magnetic suspension rotary wing wheel Z-type positioning disc 304 and upper magnetic suspension rotary wing wheel wheel hub 305 form, lower magnetic suspension rotary wing wheel 31 is located permanent magnetism sheet 312, lower magnetic suspension rotary wing wheel blade tip annulus 313, lower magnetic suspension rotary wing wheel Z-type positioning disc 314 and lower magnetic suspension rotary wing wheel wheel hub 315 formed by lower magnetic suspension rotary wing wheel blade 310, lower magnetic suspension rotary wing wheel induction coil 311, lower magnetic suspension rotary wing wheel, the magnetic field interaction that upper and lower magnetic suspension rotary wing wheel 30,31 is produced by inducing current in each self-induction coil 301/311,311, mutual magnetic action is relied on to relatively rotate, complete the self-driven rotation of DCB Specimen, and drive blade 300 to rotate to generate flying saucer and to fly the aerodynamic force relied on, in this process, upper and lower magnetic suspension rotary wing wheel 30,31 forms the self-driven power system of magnetic suspension force, the reactive torque power of the two is cancelled out each other, reactive torque no longer acts on body as traditional rotor aircraft, ensure that the attitude stability in dish shell 1 and dish cabin 2, rotor position fixing system 5 is made up of positioning guide rail and position control loop, it is a kind of Hybrid mode type magnetic suspension position fixing system, positioning guide rail comprises positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52, positioning guide rail location permanent magnet 501 and upper positioning guide rail set winding winding 500 is embedded with in upper positioning guide rail 50, lower positioning guide rail location permanent magnet 521 and lower positioning guide rail set winding winding 520 is embedded with in lower positioning guide rail 52, permanent magnetic guideway location permanent magnet 510 is embedded with in permanent magnetic guideway 51, these location permanent magnets and set winding winding are operationally to upper, lower magnetic suspension rotary wing wheel 30, the location permanent magnetism sheet 302/312 of 31 produces magnetic action, in ACTIVE CONTROL, lower magnetic suspension rotary wing wheel 30, 31 axially accurately locate, field system 4 is made up of excitation guide rail and excitation control loop, excitation guide rail comprises excitation guide rail 40 and lower excitation guide rail 41, the magnetic field produced by excitation control circuit control excitation guide rail 40,41, and then the inducing current controlled in magnetic suspension rotary wing wheel induction coil 301/311 and induced field, and by the mutual magnetic action of upper and lower magnetic suspension rotary wing wheel induction coil 301/311 induced field, in realization, magnetic suspension rotary wing wheel 30 and lower magnetic suspension rotary wing wheel relatively rotates 31, when working in excitation coil 400,410 and magnetic suspension rotary wing wheel induction coil 301/311 in excitation guide rail, the respective magnetic direction same sex in opposite directions simultaneously, magnetic suspension repulsion between both dependence, excitation guide rail 40,41 and magnetic suspension rotary wing wheel 30,31 is made to form passive-type axial magnetic position fixing system, realize magnetic suspension rotary wing wheel self-stabilization location diametrically, wherein:
Described twin rotor system 3 is formed by along the upper magnetic suspension rotary wing wheel 30 of coaxial arrangement in dish body system of axes vertical direction and lower magnetic suspension rotary wing wheel 31, and upper magnetic suspension rotary wing wheel 30 is located permanent magnetism sheet 302/312, upper magnetic suspension rotary wing wheel blade tip annulus 303, upper magnetic suspension rotary wing wheel Z-type positioning disc 304 and upper magnetic suspension rotary wing wheel wheel hub 305 formed by upper magnetic suspension rotary wing wheel blade 300, upper magnetic suspension rotary wing wheel induction coil 301/311, upper magnetic suspension rotary wing wheel, lower magnetic suspension rotary wing wheel 31 is located permanent magnetism sheet 312, lower magnetic suspension rotary wing wheel blade tip annulus 313, lower magnetic suspension rotary wing wheel Z-type positioning disc 314 and lower magnetic suspension rotary wing wheel wheel hub 315 formed by lower magnetic suspension rotary wing wheel blade 310, lower magnetic suspension rotary wing wheel induction coil 311, lower magnetic suspension rotary wing wheel, wherein: blade 300/310 can be designed to 2 or more according to the needs of flying saucer carrying, and getting 6 blades at this is example, induction coil 301/311/311 is ' 8 ' font design in three dimensional space, on it, annulus 3010/3110 and lower annulus 3011/3111 are in orthogonal plane respectively, induction coil 301/311/311 with magnetic suspension rotary wing wheel axle center for the center of circle is evenly embedded in the Z-type positioning disc 304/314 be connected with blade tip annulus 303/313, upper annulus 3010/3110 to be vertically embedded in the middle part of Z-type positioning disc 304/314 in vertical annulus, lower annulus 3011/3111 level to be embedded in inside Z-type positioning disc 304/314 in horizontal circular ring, in each magnetic suspension rotary wing wheel, induction coil 301/311 quantity is the multiple of 4, stability and the continuity of quantity more magnetic suspension driving are better, at this for 16, location permanent magnetism sheet 302/312 magnetic direction vertically and pole orientation is consistent, its quantity is the multiple of 4, at this for 16, outside the Z-type positioning disc 304/314 that location permanent magnetism sheet 302/312 is connected with blade tip for the center of circle is evenly embedded in magnetic suspension rotary wing wheel axle center in horizontal circular ring, during work, control excitation coil winding in excitation guide rail to produce along excitation guide rail radial distribution and the contrary successively excitation field 70 of magnetic pole, this excitation field 70 can produce inducing current i and induced field 71 with annulus 3010/3110 on its magnetic suspension rotary wing wheel induction coil diametrically, this electric current produces induced field 72 when flowing through the lower annulus 3011/3111 of induction coil 301/311, easily know, because the magnetic pole of excitation field 70 is contrary successively, under magnetic suspension rotary wing wheel induction coil, the induced field 72 of annulus 3011/3111 is also mechanical periodicity, the magnetic pole of induced field and magnetic-field intensity are sinusoidal rule mechanical periodicity, its change frequency is identical with the pole change frequency of excitation field 70, and the induction coil induced field magnetic-field intensity radial just right with excitation coil is maximum.
The motion of two magnetic suspension rotary wing wheel has two kinds of modes: rotating speed controls and course changing control, wherein, when rotating speed controls, excitation control circuit controls the magnetic field that excitation guide rail 40/41 produces, under this magnetic field makes the induction coil of magnetic suspension rotary wing wheel 30 and lower magnetic suspension rotary wing wheel 31, annulus 3011/3111 generates induced field 72, as previously mentioned, vertically, magnetic pole and magnetic-field intensity are sinusoidal rule mechanical periodicity along the installation circumference of induction coil to this induced field.Describe simultaneously without loss of generality for simplifying problem, only to choose with excitation coil in excitation guide rail annulus 3011a/3111a under radial just right upper and lower magnetic suspension rotary wing wheel 30,31 induction coil, as the analytic target of upper and lower magnetic suspension rotary wing wheel 30,31 magnetic field force effect.Under induction coil, the pole orientation of annulus 3011a/3111a is contrary successively, and annulus 3011a annulus 3111a under the induction coil of circumferential position up and down magnetic suspension rotary wing wheel 31 is evenly nested under the induction coil of upper magnetic suspension rotary wing wheel 30, under two induction coils that under any one induction coil, annulus 3011a is adjacent with circumference, between annulus 3111a, there is magnetic force f
iand f
i+1, two magnetic force, two component in vertical direction make a concerted effort to be 0, and two component synthesis on tangent to periphery direction act on the moment of torsion τ in magnetic suspension rotary wing wheel axle center
i.Moment of torsion sum Γ=∑ τ suffered by annulus 3011 under all induction coils of upper magnetic suspension rotary wing wheel 30
i, under the effect of moment of torsion Γ, upper magnetic suspension rotary wing wheel produces rotating speed w.Due to antagonistic force, the application force of this moment of torsion on lower magnetic suspension rotary wing wheel 31 is reactive torque-Γ, and makes it produce rotating speed-w.When changing the size of excitation control loop outgoing current I, the excitation field 70 that in excitation guide rail, excitation coil 400/410 produces changes thereupon, thus change inducing current i and the induced field 71,72 of induction coil 301/311, under upper and lower magnetic suspension rotary wing wheel 30,31 induction coil, the change of annulus 3011/3111 induced field is by the moment of torsion Γ of corresponding change magnetic force and generation thereof, and then changing the rotating speed of upper and lower magnetic suspension rotary wing wheel 30,31, this is the rotating speed control process of two magnetic suspension rotary wing wheel; When course changing control, only change excitation control loop outgoing current I size, only can regulate the size of moment of torsion Γ, and cannot change that it is positive and negative,-I to be changed into by controlling electric current I in all excitation coils 400/410 of one of them of two excitation guide rails when turning to, now corresponding field pole all reverses, and the moment of torsion Γ between two magnetic suspension rotary wing wheels also becomes-Γ, thus realizes the course changing control of two magnetic suspension rotary wing wheel.
Described field system 4 is placed in dish shell 1, be made up of excitation guide rail and excitation control loop, wherein: excitation guide rail comprises excitation guide rail 40 and lower excitation guide rail 41, excitation guide rail is fixed on 8 mount pads 6, these 8 mount pads 6 are screwed on dish shell 1, therefore excitation guide rail and dish shell 1 geo-stationary, excitation guide rail 40/41 is in the axial direction corresponding to horizontal circular ring inside the Z-type positioning disc at magnetic suspension rotary wing wheel induction coil 301/311 time annulus 3011/3111 place, it is radially evenly embedded with the excitation coil winding 400/410 of the multiple number of 4, at this for 16, the excitation coil winding 400 of upper excitation guide rail 40 corresponds to the centre of the excitation coil winding 410 of lower excitation guide rail 41 in the circumference of excitation guide rail, namely excitation coil winding 400 and excitation coil winding 410 are evenly nested in the circumferential, excitation control loop is by upper rotor Hall element 440, lower rotor Hall element 441, excitation controller 42 and excitation amplifier 43 are formed, upper rotor Hall element 440 and lower rotor Hall element 441 are separately fixed on positioning guide rail 50 and lower positioning guide rail 52, on detecting respectively, lower magnetic suspension rotary wing wheel 30, 31 rotate or static time location permanent magnetism sheet 302/312 changes of magnetic field, obtain by detecting this variation magnetic field, lower magnetic suspension rotary wing wheel 30, the position of 31 and velocity information, this Detection Information be admitted to excitation controller 43 and through suitable control algorithm calculate after, generate the analog current expected, after power gain further in overexcitation amplifier 42, be converted into and control electric current I and output to excitation coil winding 400/410, control electric current I and produce expectancy changes magnetic field in excitation coil winding 400/410, this variation magnetic field produces inducing current i and induced field according to law of electromagnetic induction excitation induction coil 301/311, complete the non contact transmission of energy.
Described rotor position fixing system 5 is placed in dish shell 1, be made up of positioning guide rail and position control loop, wherein: positioning guide rail comprises positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52, upper positioning guide rail 50 is embedded with positioning guide rail location permanent magnet 501 and upper positioning guide rail set winding winding 500, lower positioning guide rail 52 is embedded with lower positioning guide rail location permanent magnet 521 and lower positioning guide rail set winding winding 520, location permanent magnet is placed on positioning guide rail with set winding winding is evenly nested, and quantity is in single magnetic suspension rotary wing wheel and locates permanent magnetism sheet 302/312 quantity half, permanent magnetic guideway 51 is evenly embedded with permanent magnetic guideway location permanent magnet 510, quantity equals the number of locating permanent magnetism sheet 302/312 in magnetic suspension rotary wing wheel, upper positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52 are fixed on aforesaid 8 mount pads 6, geo-stationary is kept with dish shell, upper positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52 correspond in radial position, lower magnetic suspension rotary wing wheel 30, horizontal circular ring outside the Z-type positioning disc at permanent magnetism sheet 302/312 place, location of 31, upper positioning guide rail 50 is presented axially on magnetic suspension rotary wing wheel 30, lower positioning guide rail 52 is presented axially under lower magnetic suspension rotary wing wheel 31, permanent magnetic guideway 51 is in the centre of two magnetic suspension rotary wing wheels on axial location, positioning guide rail and upper, the location permanent magnetism sheet 302/312 of lower magnetic suspension rotary wing wheel forms hybrid magnets type magnetic suspension position fixing system, axially accurately locating two magnetic suspension rotary wing wheels is realized in the mode of permanent magnetism and electromagnetism Hybrid mode during mode of operation, only two magnetic suspension rotary wing wheels and positioning guide rail no touch is in the axial direction ensured in permanent magnetism mode during off working state, reduce the consumption of energy, position control loop is made up of upper rotor laser distance sensor 550, lower rotor laser distance sensor 551, register control 53 and positioning amplifier 54, upper rotor laser distance sensor 550 and lower rotor laser distance sensor 551 are separately fixed on positioning guide rail 50 and lower positioning guide rail 52, measure upper and lower magnetic suspension rotary wing wheel 30,31 end displacement d in the axial direction respectively
0, d
1produce corresponding electric signal, this electric signal is after the control algorithm process of register control 51, generate the analog current expected, after positioning amplifier 52 further power gain, the set winding winding 500/520 outputting to positioning guide rail produces corresponding magnetic field, and two magnetic force that set winding winding 500/520 and location permanent magnet 501,521,510 produce are made a concerted effort f
0, f
1change upper and lower magnetic suspension rotary wing wheel longitudinal travel d
0, d
1, formed and realize pinpoint close loop control circuit.
One, the self-driven twin rotor system of magnetic suspension
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, twin rotor system 3 is formed by along the upper magnetic suspension rotary wing wheel 30 of coaxial arrangement in dish body system of axes vertical direction and lower magnetic suspension rotary wing wheel 31, and upper magnetic suspension rotary wing wheel 30 is located permanent magnetism sheet 302/312, upper magnetic suspension rotary wing wheel blade tip annulus 303, upper magnetic suspension rotary wing wheel Z-type positioning disc 304 and upper magnetic suspension rotary wing wheel wheel hub 305 formed by upper magnetic suspension rotary wing wheel blade 300, upper magnetic suspension rotary wing wheel induction coil 301/311, upper magnetic suspension rotary wing wheel, lower magnetic suspension rotary wing wheel 31 is located permanent magnetism sheet 312, lower magnetic suspension rotary wing wheel blade tip annulus 313, lower magnetic suspension rotary wing wheel Z-type positioning disc 314 and lower magnetic suspension rotary wing wheel wheel hub 315 formed by lower magnetic suspension rotary wing wheel blade 310, lower magnetic suspension rotary wing wheel induction coil 311, lower magnetic suspension rotary wing wheel, wherein: blade 300/310 can be designed to 2 or more according to the needs of flying saucer carrying, and getting 6 blades at this is example, induction coil 301/311/311 is ' 8 ' font design in three dimensional space, on it, annulus 3010/3110 and lower annulus 3011/3111 are in orthogonal plane respectively, induction coil 301/311/311 with magnetic suspension rotary wing wheel axle center for the center of circle is evenly embedded in the Z-type positioning disc 304/314 be connected with blade tip annulus 303/313, upper annulus 3010/3110 to be vertically embedded in the middle part of Z-type positioning disc 304/314 in vertical annulus, lower annulus 3011/3111 level to be embedded in inside Z-type positioning disc 304/314 in horizontal circular ring, in each magnetic suspension rotary wing wheel, induction coil 301/311 quantity is the multiple of 4, stability and the continuity of quantity more magnetic suspension driving are better, at this for 16, location permanent magnetism sheet 302/312 magnetic direction vertically and pole orientation is consistent, its quantity is the multiple of 4, at this for 16, outside the Z-type positioning disc 304/314 that location permanent magnetism sheet 302/312 is connected with blade tip for the center of circle is evenly embedded in magnetic suspension rotary wing wheel axle center in horizontal circular ring, during work, control excitation coil winding in excitation guide rail to produce along excitation guide rail radial distribution and the contrary successively excitation field 70 of magnetic pole, this excitation field 70 can produce inducing current i and induced field 71 with annulus 3010/3110 on its magnetic suspension rotary wing wheel induction coil diametrically, this electric current produces induced field 72 when flowing through the lower annulus 3011/3111 of induction coil 301/311, easily know, because the magnetic pole of excitation field 70 is contrary successively, under magnetic suspension rotary wing wheel induction coil, the induced field 72 of annulus 3011/3111 is also mechanical periodicity, the magnetic pole of induced field and magnetic-field intensity are sinusoidal rule mechanical periodicity, its change frequency is identical with the pole change frequency of excitation field 70, and the induction coil induced field magnetic-field intensity radial just right with excitation coil is maximum.
As shown in Figure 7, Figure 8 and Figure 9, the motion of two magnetic suspension rotary wing wheel has two kinds of modes: rotating speed controls and course changing control, wherein, when rotating speed controls, excitation control circuit controls the magnetic field that excitation guide rail 40/41 produces, under this magnetic field makes the induction coil of magnetic suspension rotary wing wheel 30 and lower magnetic suspension rotary wing wheel 31, annulus 3011/3111 generates induced field 72, refers to Fig. 7 a.As previously mentioned, this induced field vertically, magnetic pole and magnetic-field intensity are sinusoidal rule mechanical periodicity along the installation circumference of induction coil, describe simultaneously without loss of generality for simplifying problem, only choose radial just right upper with excitation coil in excitation guide rail, lower magnetic suspension rotary wing wheel 30, annulus 3011a/3111a under 31 induction coils, as upper, lower magnetic suspension rotary wing wheel 30, the analytic target of 31 magnetic field force effects, refer to Fig. 7 b, under induction coil, the pole orientation of annulus 3011a/3111a is contrary successively, and annulus 3011a annulus 3111a under the induction coil of circumferential position up and down magnetic suspension rotary wing wheel 31 is evenly nested under the induction coil of upper magnetic suspension rotary wing wheel 30, magnetic force f is there is between annulus 3111a under two induction coils that under any one induction coil, annulus 3011a is adjacent with circumference
iand f
i+1, two magnetic force, two component in vertical direction make a concerted effort to be 0, and two component synthesis on tangent to periphery direction act on the moment of torsion τ in magnetic suspension rotary wing wheel axle center
i.Moment of torsion sum Γ=∑ τ suffered by annulus 3011 under all induction coils of upper magnetic suspension rotary wing wheel 30
i, under the effect of moment of torsion Γ, upper magnetic suspension rotary wing wheel produces rotating speed w.Due to antagonistic force, the application force of this moment of torsion on lower magnetic suspension rotary wing wheel 31 is reactive torque-Γ, and makes it produce rotating speed-w.As shown in Figure 8 a, when changing the size of excitation control loop outgoing current I, the excitation field 70 that in excitation guide rail, excitation coil 400/410 produces changes thereupon, thus change inducing current i and the induced field 71,72 of induction coil 301/311, under upper and lower magnetic suspension rotary wing wheel 30,31 induction coil, the change of annulus 3011/3111 induced field is by the moment of torsion Γ of corresponding change magnetic force and generation thereof, and then change the rotating speed of upper and lower magnetic suspension rotary wing wheel 30,31, this is the rotating speed control process of two magnetic suspension rotary wing wheel, and detailed control flow is shown in Fig. 9 b; When course changing control, only change excitation control loop outgoing current I size, only can regulate the size of moment of torsion Γ, and cannot change that it is positive and negative,-I to be changed into by controlling electric current I in all excitation coils 400/410 of one of them of two excitation guide rails when turning to, as the current polarity of A0 and B0 branch road in Fig. 9 a is changed, field pole now in corresponding excitation coil 400 all reverses, and magnetic field is constant in excitation coil 410, moment of torsion Γ between two magnetic suspension rotary wing wheels also becomes-Γ, thus realizes the course changing control of two magnetic suspension rotary wing wheel.
Two, field system
As Fig. 1, shown in Fig. 2 and Fig. 4, field system 4 is placed in dish shell 1, be made up of excitation guide rail and excitation control loop, wherein: excitation guide rail comprises excitation guide rail 40 and lower excitation guide rail 41, excitation guide rail is fixed on 8 mount pads 6, these 8 mount pads 6 are screwed on dish shell 1, therefore excitation guide rail and dish shell 1 geo-stationary, excitation guide rail 40/41 is in the axial direction corresponding to horizontal circular ring inside the Z-type positioning disc at magnetic suspension rotary wing wheel induction coil 301/311 time annulus 3011/3111 place, it is radially evenly embedded with the excitation coil winding 400/410 of the multiple number of 4, at this for 16, the excitation coil winding 400 of upper excitation guide rail 40 corresponds to the centre of the excitation coil winding 410 of lower excitation guide rail 41 in the circumference of excitation guide rail, namely excitation coil winding 400 and excitation coil winding 410 are evenly nested in the circumferential, excitation control loop is made up of upper rotor Hall element 440, lower rotor Hall element 441, excitation controller 42 and excitation amplifier 43, upper rotor Hall element 440 and lower rotor Hall element 441 are separately fixed on positioning guide rail 50 and lower positioning guide rail 52, detect respectively upper and lower magnetic suspension rotary wing wheel 30,31 rotate or static time location permanent magnetism sheet 302/312 changes of magnetic field, obtain the rotary speed information w of upper and lower magnetic suspension rotary wing wheel 30,31 by detecting this variation magnetic field.
As shown in Figure 7, Figure 8 and Figure 9, the principle of work of field system has two parts to form: magnetic circuit principle of work and circuit working principle.As shown in Figure 7a, in excitation coil winding 400/410, electric current I is provided by excitation control loop magnetic circuit principle of work, produces excitation field 70 under this galvanic action, its magnetic induction density B=μ
0(1+x
m) H, wherein magnetic-field intensity H=NILe, μ
0for space permeability, x
mfor the susceptibility of magnetic medium, N is the excitation coil number of turn, Le is effective magnetic circuit length, induced electric motive force E=n Δ (BS)/Δ t in induction coil 301/311, S is closed loop coil magnetic flux area, inducing current i can be obtained by induced electric motive force E, and calculating according to aforementioned similar electromagnetic induction principle the magnetic induction density that induction coil 301/311 time annulus produces induced field 72, this magnetic induction density can be used for calculating the magnetic field force f under upper and lower magnetic suspension rotary wing wheel induction coil between annulus 3011/3111
i.Circuit working principle as shown in Figure 8 a, the Detection Information w that upper rotor Hall element 440 and lower rotor Hall element 441 obtain is admitted to excitation controller 43, after control flow process as shown in figure 9b, generate four road control signals, after respectively through excitation amplifier 42 further power gain, be converted into four tunnels control electric current and output to A0, B0, A1, B1 tetra-groups of excitation coil windings 400/410, wherein A0, B0 coil circumferentially uniform crossover, wherein current polarity opposite magnitude is equal, A1, B1 coil circumferentially uniform crossover, wherein current polarity opposite magnitude is equal, control electric current and produce expectancy changes magnetic field in excitation coil winding 400/410, this variation magnetic field produces inducing current i and induced field according to law of electromagnetic induction excitation induction coil 301/311, complete the non contact transmission of energy, on, lower magnetic suspension rotary wing wheel 30, 31 magnetic field force f between
ichange rotating speed under effect, rotary speed information again by upper rotor Hall element 440 and lower rotor Hall element 441 detect, form the closed loop circuit system of excitation con-trol of realizing thus.
Three, rotor position fixing system
As Fig. 1, shown in Fig. 2 and Fig. 5, rotor position fixing system 5 is placed in dish shell 1, be made up of positioning guide rail and position control loop, wherein: positioning guide rail comprises positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52, upper positioning guide rail 50 is embedded with positioning guide rail location permanent magnet 501 and upper positioning guide rail set winding winding 500, lower positioning guide rail 52 is embedded with lower positioning guide rail location permanent magnet 521 and lower positioning guide rail set winding winding 520, location permanent magnet is placed on positioning guide rail with set winding winding is evenly nested, and quantity is in single magnetic suspension rotary wing wheel and locates permanent magnetism sheet 302/312 quantity half, permanent magnetic guideway 51 is evenly embedded with permanent magnetic guideway location permanent magnet 510, quantity equals the number of locating permanent magnetism sheet 302/312 in magnetic suspension rotary wing wheel, upper positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52 are fixed on aforesaid 8 mount pads 6, geo-stationary is kept with dish shell, upper positioning guide rail 50, permanent magnetic guideway 51 and lower positioning guide rail 52 correspond in radial position, lower magnetic suspension rotary wing wheel 30, horizontal circular ring outside the Z-type positioning disc at permanent magnetism sheet 302/312 place, location of 31, upper positioning guide rail 50 is presented axially on magnetic suspension rotary wing wheel 30, lower positioning guide rail 52 is presented axially under lower magnetic suspension rotary wing wheel 31, permanent magnetic guideway 51 is in the centre of two magnetic suspension rotary wing wheels on axial location, positioning guide rail and upper, the location permanent magnetism sheet 302/312 of lower magnetic suspension rotary wing wheel forms hybrid magnets type magnetic suspension position fixing system, axially accurately locating two magnetic suspension rotary wing wheels is realized in the mode of permanent magnetism and electromagnetism Hybrid mode during mode of operation, only two magnetic suspension rotary wing wheels and positioning guide rail no touch is in the axial direction ensured in permanent magnetism mode during off working state, reduce the consumption of energy, position control loop is made up of upper rotor laser distance sensor 550, lower rotor laser distance sensor 551, register control 53 and positioning amplifier 54, upper rotor laser distance sensor 550 and lower rotor laser distance sensor 551 are separately fixed on positioning guide rail 50 and lower positioning guide rail 52, measure upper and lower magnetic suspension rotary wing wheel 30,31 end displacement d in the axial direction respectively
0, d
1.
As shown in Figure 8 and Figure 9, the principle of work of rotor position fixing system is as follows: as shown in Figure 8 b, the Detection Information d that upper rotor laser distance sensor 550 and lower rotor laser distance sensor 551 obtain
0, d
1be admitted to register control 51, after register control 51 control algorithm process as illustrated in fig. 9, generate the control signal expected, and after positioning amplifier 52 further power gain, output to the set winding winding 500/520 of positioning guide rail, and producing corresponding magnetic field, two magnetic force that set winding winding 500/520 and location permanent magnet 501,521,510 produce are made a concerted effort f
0, f
1change upper and lower magnetic suspension rotary wing wheel longitudinal travel d
0, d
1, this displacement information again by upper rotor laser distance sensor 550 and lower rotor laser distance sensor 551 detect, thus formed can realize pinpoint close loop control circuit.
Claims (1)
1. the self-driven DCB Specimen flying saucer of magnetic suspension, it is characterized in that, contain: comprise dish shell (1), dish cabin (2), the twin rotor system (3) being positioned at described dish shell (1), field system (4) and rotor position fixing system (5), wherein:
Dish shell (1), in the circumferential direction, upper housing part has into head piece (10), and lower housing part has out head piece (11);
Dish cabin (2), cabin, top is coaxially connected with the upper housing part of described dish shell (1), and lower cabin is coaxially connected with the lower housing part of described dish shell (1), and the diameter of lower cabin is greater than the diameter in cabin, top;
Twin rotor system (3), it is the self-driven system of a magnetic suspension, jointly form with the upper magnetic suspension rotary wing wheel (30) of the coaxial arrangement of described dish shell (1) and lower magnetic suspension rotary wing wheel (31) by along on dish body ordinate, wherein:
Upper magnetic suspension rotary wing wheel (30), contain: the positioning disc (304) that on upper magnetic suspension rotary wing wheel blade (300), upper magnetic suspension rotary wing wheel induction coil (301), upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302), upper magnetic suspension rotary wing wheel blade tip annulus (303), upper magnetic suspension rotary wing wheel, vertical section is Z-shaped and upper magnetic suspension rotary wing wheel wheel hub (305), wherein:
Described upper magnetic suspension rotary wing wheel blade (300), is at least 2, and is uniformly distributed formula with described upper magnetic suspension rotary wing wheel wheel hub (305) radial direction and is connected on described upper magnetic suspension rotary wing wheel wheel hub (305);
Described upper magnetic suspension rotary wing wheel blade tip annulus (303), is along the circumferential direction fixedly connected with the end of described each upper magnetic suspension rotary wing wheel blade (300);
The positioning disc (304) that vertical section on described upper magnetic suspension rotary wing wheel is Z-shaped, circumferentially be connected with the bottom of described upper magnetic suspension rotary wing wheel blade tip annulus (303) periphery, form the spatial accommodation of the annular arrangement of an opening upwards;
Described upper magnetic suspension rotary wing wheel induction coil (301), quantitatively be at least the multiple of 4, be evenly distributed in the annular arrangement spatial accommodation of described opening upwards along annular direction, described in each, upper magnetic suspension rotary wing wheel induction coil (301) is in three dimensions in the figure of eight, upper half toroid winding (3010) and lower half toroid winding (3011) are embedded in the annular arrangement spatial accommodation of described opening upwards orthogonally, and lower half toroid winding (3011) pressure is embedded on the bottom surface of annular arrangement spatial accommodation of described opening upwards;
Described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302), be embedded in the anchor ring of described Z-type positioning disc (304) upper end, quantitatively be at least the multiple of 4, and identical with the number of described upper magnetic suspension rotary wing wheel induction coil (301);
Lower magnetic suspension rotary wing wheel (31), contain: on lower magnetic suspension rotary wing wheel blade (310), lower magnetic suspension rotary wing wheel induction coil (311), lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312), lower magnetic suspension rotary wing wheel blade tip annulus (313), lower magnetic suspension rotary wing wheel, vertical section is the positioning disc (314) of Z-type and lower magnetic suspension rotary wing wheel wheel hub (315), wherein:
Described lower magnetic suspension rotary wing wheel blade (310), quantitatively equal with described upper magnetic suspension rotary wing wheel blade (300), and radial direction is uniformly distributed formula is connected on described lower magnetic suspension rotary wing wheel wheel hub (315), the equal and opposite in direction of blade angle and upper magnetic suspension rotary wing wheel blade (300), direction is contrary;
Described lower magnetic suspension rotary wing wheel blade tip annulus (313), along the circumferential direction goes up and is fixedly connected with the end of described lower magnetic suspension rotary wing wheel blade (310);
On described lower magnetic suspension rotary wing wheel, vertical section is the positioning disc (314) of Z-type, along the circumferential direction be connected with described lower magnetic suspension rotary wing wheel blade tip annulus (313) top, periphery, form an annular arrangement spatial accommodation that Open Side Down;
Described lower magnetic suspension rotary wing wheel induction coil (311), quantitatively, along all identical with described upper magnetic suspension rotary wing wheel induction coil (301) in the position distribution of annular direction, in three dimensions also in the figure of eight, on, lower two toroid windings (3110, 3111) be evenly embedded in mutual vertically in the described annular arrangement spatial accommodation that Open Side Down, and lower half toroid winding (3111) pressure is embedded on the bottom surface of annular arrangement spatial accommodation of described opening upwards, make described on, lower two magnetic suspension rotary wing wheels (30, 31) rotation direction is contrary, described lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312) is embedded in the anchor ring of the described positioning disc of falling Z-type (314) upper end, quantitatively, position distribution is all located permanent magnetism sheet (302) with described upper magnetic suspension rotary wing wheel identical,
Field system (4), contains: excitation guide rail and excitation control loop, wherein:
Described excitation guide rail, contains: upper excitation guide rail (40) and lower excitation guide rail (41), wherein:
Upper excitation guide rail (40), be embedded in the annular arrangement spatial accommodation of the positioning disc (304) that vertical section is Z-shaped on described upper magnetic suspension rotary wing wheel, described upper excitation guide rail (40) is radially evenly embedded with the upper excitation guide rail coil winding (400) of the multiple number of 4, and on this, excitation guide rail coil winding (400) and described upper magnetic suspension rotary wing wheel induction coil (301) are along magnetic suspension rotary wing wheel diametrically;
Lower excitation guide rail (41), being embedded into vertical section on described lower magnetic suspension rotary wing wheel is fall in positioning disc (314) spatial accommodation that Open Side Down of Z-type, described lower excitation guide rail (41) is radially evenly embedded with quantitatively equal, uniform with described upper excitation guide rail coil winding (400) lower excitation guide rail coil winding (410), but described lower excitation guide rail coil winding (410) spatially on upper/lower positions with described upper excitation guide rail coil winding (400) evenly nested type distribute;
Described upper excitation guide rail (40), lower excitation guide rail (41) are fixed by the mount pad (6) of the quantity multiple that is 4 separately, mount pad described in each (6) is screwed on described dish shell (1), make upper and lower two excitation guide rails (40,41) and described dish shell (1) geo-stationary;
Described excitation control loop, comprises rotor Hall element (440), lower rotor Hall element (441), excitation controller (42) and excitation amplifier (43);
Rotor position fixing system (5), is made up of positioning guide rail and position control loop, wherein:
Positioning guide rail, comprising: according to the upper positioning guide rail (50) stacked successively from top to bottom, permanent magnetic guideway (51) and lower positioning guide rail (52), wherein:
Described upper positioning guide rail (50), upside down be positioned on described upper magnetic suspension rotary wing wheel (30) in the axial direction, upper positioning guide rail set winding winding (500) is placed in described upper positioning guide rail (50) upper surface with upper positioning guide rail location permanent magnet (501) is evenly nested, and described upper positioning guide rail set winding winding (500) and upper positioning guide rail location permanent magnet (501) quantitatively equal the half of described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302) separately;
Described permanent magnetic guideway (51), be fixed on described mount pad (6), evenly be embedded with permanent magnetic guideway location permanent magnet (510) in upper surface, quantitatively equal the number of described upper magnetic suspension rotary wing wheel location permanent magnetism sheet (302);
Described lower positioning guide rail (52), just with putting be positioned under described lower magnetic suspension rotary wing wheel (31) in the axial direction, lower positioning guide rail set winding winding (520) is arranged in described lower positioning guide rail (52) upper surface with lower positioning guide rail location permanent magnet (521) is evenly nested, and described lower positioning guide rail set winding winding (520) and lower positioning guide rail location permanent magnet (521) quantitatively equal the half of described lower magnetic suspension rotary wing wheel location permanent magnetism sheet (312) separately;
Described upper positioning guide rail (50), permanent magnetic guideway (51) and lower positioning guide rail (52) position diametrically correspond respectively to described upper and lower two magnetic suspension rotary wing wheels (30,31) go up on the position at each self-align permanent magnet place, common formation hybrid magnets type magnetic suspension position fixing system;
Described upper positioning guide rail (50), permanent magnetic guideway (51) and lower positioning guide rail (52) are all fixed jointly by the mount pad (6) described in each, keep geo-stationary with described dish shell (1);
Described position control loop is made up of upper rotor laser distance sensor (550), lower rotor laser distance sensor (551), register control (53) and positioning amplifier (54), upper rotor laser distance sensor (550) is fixed on positioning guide rail (50), magnetic suspension rotary wing wheel (30) end displacement (d in the axial direction in detection
0), lower rotor laser distance sensor (551) is fixed on lower positioning guide rail (52), detects lower magnetic suspension rotary wing wheel (31) end displacement (d in the axial direction
1), and produce corresponding two path signal, this two path signal is after the control algorithm process of register control (53), generate the analog current expected, after positioning amplifier (54) further power gain, output to positioning guide rail set winding winding (500) and lower positioning guide rail set winding winding (520) respectively, produce corresponding magnetic field, the magnetic force (f with joint efforts that upper positioning guide rail set winding winding (500) and upper positioning guide rail location permanent magnet (501), permanent magnetic guideway location permanent magnet (510) produce
0) magnetic suspension rotary wing wheel longitudinal travel (d in change
0), the magnetic force (f with joint efforts that lower positioning guide rail set winding winding (520) and lower positioning guide rail location permanent magnet (521), permanent magnetic guideway location permanent magnet (510) produce
1) change lower magnetic suspension rotary wing wheel longitudinal travel (d
1), form two thus and realize pinpoint close loop control circuit;
Excitation control loop in described field system is embedded in the upper rotor Hall element (440) on described upper positioning guide rail (50) lower surface by pressure, lower rotor Hall element (441) on lower positioning guide rail (52) upper surface, relatively jointly form with the excitation controller (42) on the medial surface of described upper positioning guide rail (50) side and excitation amplifier (43) in dish shell (1), described upper rotor Hall element (440) detect described upper magnetic suspension rotary wing wheel (30) rotate or static time described on magnetic suspension rotary wing wheel location permanent magnetism sheet (302) rotation change, described lower rotor Hall element (441) detect described lower magnetic suspension rotary wing wheel (31) rotate or static time described on, lower magnetic suspension rotary wing wheel (30, 31) position and velocity information, and send into by described mount pad (6) the described excitation controller (42) be fixed on described dish shell (1) medial surface, generate the analog current expected, after being also fixed on the further power gain of the excitation amplifier (43) on described dish shell (1) medial surface, be converted into and control electric current (I), and output to described upper excitation guide rail coil winding (400) and lower excitation guide rail coil winding (410) respectively by described mount pad (6), produce expectancy changes magnetic field, described upper magnetic suspension rotary wing wheel induction coil (301) and lower magnetic suspension rotary wing wheel induction coil (311) is encouraged to produce inducing current (i) respectively, and induced field, make described on, lower two magnetic suspension rotary wing wheels (30, 31) magnetic field force (f between
i) synchronously change rotating speed under effect, rotation speed change information is detected by described upper and lower two rotary wing wheel Hall elements (440,441), realize speed closed loop to control, simultaneously by changing the direction of current on two-way control circuit Zhong mono-tunnel that described excitation controller (42) exports, to realize the course changing control to magnetic suspension rotary wing wheel.
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| CN201914460U (en) * | 2010-12-22 | 2011-08-03 | 王建中 | Novel rotor type disc aircraft |
| CN202642098U (en) * | 2012-04-12 | 2013-01-02 | 北京工业大学 | Magnetic suspension self-driving double-rotor flying saucer |
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| US20070252033A1 (en) * | 2004-08-20 | 2007-11-01 | Dumitru Bojiuc | Discoidal flying craft |
| CN101693470B (en) * | 2009-10-30 | 2013-03-27 | 北京工业大学 | Magnetic suspension electromotive force rotary wing flying saucer |
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| DE4037472A1 (en) * | 1990-11-24 | 1992-01-16 | Roland Piek | Annular wing hover-craft - has annular supporting surface and fan rotating round central spherical fuselage |
| CN201580558U (en) * | 2009-07-24 | 2010-09-15 | 北京工业大学 | Magnetic suspension rotary wing flying saucer |
| CN102085912A (en) * | 2009-12-03 | 2011-06-08 | 范磊 | Dishing magnetic suspension ring-wing aircraft |
| CN201914460U (en) * | 2010-12-22 | 2011-08-03 | 王建中 | Novel rotor type disc aircraft |
| CN202642098U (en) * | 2012-04-12 | 2013-01-02 | 北京工业大学 | Magnetic suspension self-driving double-rotor flying saucer |
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| WO2023235354A1 (en) * | 2022-05-31 | 2023-12-07 | Rensselaer Polytechnic Institute | Individual aircraft and air transport system |
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| CN102602538A (en) | 2012-07-25 |
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