CN105202025B - A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical - Google Patents

A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical Download PDF

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Publication number
CN105202025B
CN105202025B CN201510580632.4A CN201510580632A CN105202025B CN 105202025 B CN105202025 B CN 105202025B CN 201510580632 A CN201510580632 A CN 201510580632A CN 105202025 B CN105202025 B CN 105202025B
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CN
China
Prior art keywords
rotor
rotation modulation
stator
bearing
sphere
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CN201510580632.4A
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Chinese (zh)
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CN105202025A (en
Inventor
缪存孝
赵航
任元
韩天
胡纯
刘强
辛朝军
张清东
张立元
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北京科技大学
中国人民解放军装备学院
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Priority to CN201510580632.4A priority Critical patent/CN105202025B/en
Publication of CN105202025A publication Critical patent/CN105202025A/en
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Publication of CN105202025B publication Critical patent/CN105202025B/en

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Abstract

A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical, mainly includes:Four stator cores, coil, sleeve, air gap, rotor, stator mounting disc, rotation modulation armature spindle bearing sleeve, rotation modulation bearing, rotation modulation rotor locknut, supersonic motor rotor, supersonic motor stator, rotation modulation stator bearing holder (housing, cover) and rotation modulation stator locknut composition that edge ± X-direction and ± Y-direction are placed.Because the stator of the pure electromagnetism magnetic bearing of radial spherical is driven by ultrasound electric machine, realize the rotation of stator, therefore with rotation modulation function, therefore the gyroscopic drift that gyrorotor rotation is introduced can be eliminated, substantially increases accuracy of detection when it realizes angular speed detection.

Description

A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical

Technical field

The present invention relates to a kind of noncontact radial magnetic bearing, particularly a kind of sphere with rotation modulation function is pure Electromagnetism magnetic bearing, can as rotary part in small-sized spacecraft contactless support, be particularly suitable for use in the sensitive gyro of magnetic suspension Noncontact is supported.

Technical background

With the development of space technology, the spacecraft such as satellite, space station for gesture stability required precision more and more higher, Tradition machinery momenttum wheel can not meet requirement.Magnetically levitated flywheel is supported using magnetic bearing, eliminates what mechanical bearing was brought Abrasion, improves the precision and stability of control moment.

It is general to use two-freedom radial direction magnetic bearing in existing magnetically levitated flywheel or magnetic suspension control torque gyroscope structure. Under conditions of bearing capacity is met, when translation occurs for rotor, air gap at magnetic bearing magnetic pole is more uniform to be produced with respect to rotating shaft Raw torque.But when rotor deflects, the magnetic air gap between magnetic bearing stator and rotor is uneven, causes the electricity in magnetic pole strength Magnetic force is uneven, so as to produce the torsional moment of relative rotor barycenter, i.e. translation control produces disturbance torque to twisting control.In Permanent magnet offset radial magnetic bearing described in state's patent No. 201010256248.6 and 200710065049.5 and The radial direction magnetic bearing magnetic pole strength with pole shoe described in 201010226322.X is cylinder, when magnetic bearing deflects, stator and rotor Between there is non-uniform gap, so as to produce larger torsion negative moment, the load of flywheel torsion bearing is added, so as to reduce The control accuracy and control moment precision of flywheel rotor, and pole shoe angle is very small, easily produces the close saturated phenomenon of magnetic, and can shadow The close circumferential uniformity of magnetic is rung, and then causes the reduction of control accuracy indirectly.In addition, existing magnetically levitated flywheel or Magnetic suspension wipping top, if to realize it as the detection function of sensing unit, being often limited to environmental disturbances torque causes it to examine Survey the reduction of parts precision.

The content of the invention

The technology of the present invention solves problem:Overcome the deficiencies in the prior art there is provided it is a kind of eliminate interference and tool There is the pure electromagnetism magnetic bearing of radial spherical of rotation modulation function.

The present invention technical solution be:A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical, mainly includes:Along X Four stator cores 11 that axle ± direction and Y-axis ± direction are placed, coil 2, sleeve 3, air gap 4, rotor 5, stator mounting disc 6, Rotation modulation armature spindle bearing sleeve 7, rotation modulation bearing 8, rotation modulation rotor locknut 9, supersonic motor rotor 10, ultrasonic wave electricity Machine stator 11, rotation modulation stator bearing holder (housing, cover) 12 and rotation modulation stator locknut 13 are constituted.Wherein journal bearing coil 2 is wound in On two magnetic poles of each stator core 11, the radially inner side of four stator cores 11 is rotor 5, stator core 11 and rotor 5 Between form radial direction magnetic air gap 4, the radial outside of stator core 1 is sleeve 3, and sleeve 3 is fixed with stator mounting disc 6 by screw Connection, the axially external of stator mounting disc 6 is rotation modulation armature spindle bearing sleeve 7, stator mounting disc 6 and rotation modulation rotor bearing It is interference fit connection between set 7, the inner ring of rotation modulation bearing 8 is fixed on rotation modulation armature spindle bearing sleeve 7, rotation modulation The outer ring of bearing 8 is connected with the interference fit of rotation modulation stator bearing holder (housing, cover) 12, and stator mounting disc 6 is consolidated with supersonic motor rotor 10 Even, supersonic motor rotor 10 is connected with supersonic motor stator 11 by pressure, supersonic motor stator 11 and rotation modulation The interference fit connection of stator bearing holder (housing, cover) 12, rotation modulation rotor locknut 9 is solid in the axial direction by the inner ring of rotation modulation bearing 8 Be scheduled on rotation modulation armature spindle bearing sleeve 7, rotation modulation stator locknut 13 by the outer ring of rotation modulation bearing 8 in the axial direction It is fixed on rotation modulation stator bearing holder (housing, cover) 12.

The described magnetic pole of each stator core 1 is divided into anterior, middle part and root, its front left edge and right side edge shape Into angle be 83 °, circumferentially the distance between upper two adjacent magnetic poles of stator core 1 are 2mm, each magnetic of stator core 1 Extremely anterior left side edge and middle part junction angle are 152 °, and the angle between two straightways at middle part is 91 °, middle part with The angle of the tangential direction of root circular arc is 123 °;Similarly, the anterior right side edge of each magnetic pole of stator core 1 is connected with middle part It is 152 ° to locate angle, and the angle between two straightways at middle part is 91 °, and middle part and the angle of the tangential direction of root circular arc are 123°。

Described stator core 1 and rotor 5 is the solid bulk of 1J50 magnetic conductions.

The spherical radius of described rotor 5 takes 19mm~49mm, and the centre of sphere angle corresponding to the left sphere of rotor 5 is 84 °, rotor 5 left sphere left side edges are 132 °, the left sphere right edge of rotor 5 with the left sphere left arc edge tangent line angle of rotor 5 Edge is 132 ° with the left sphere right circular arc edge tangent line angle of rotor 5, and the centre of sphere angle corresponding to the right sphere of rotor 5 is 84 °, The right sphere left side edge of rotor 5 is 132 ° with the right sphere left arc edge tangent line angle of rotor 5, and the right sphere of rotor 5 is right Lateral edges are 132 ° with the right sphere right circular arc edge tangent line angle of rotor 5.

The described size of radial air gap 4 is 0.5mm~0.7mm.

It is excitatory that the coil 2 wound on the magnetic pole of described each stator core 1 includes the first magnetizing coil 2-1 and second Coil 2-2, wherein the first magnetizing coil 2-1 is close to the side of air gap 4, the second magnetizing coil 2-2 is close to magnetic pole root, the first excitatory line It is 20~50 circles to enclose the 2-1 numbers of turn, and its control electric current is adjustable, and the second magnetizing coil 2-2 numbers of turn are 100~200 circles, its control electric current Constant, the radial clearance between the first magnetizing coil 2-1 and the second magnetizing coil 2-2 is 0.5mm~0.8mm.

The present invention principle be:The important mechanism of foundation of the present invention is the mechanism of the stator rotation modulation of magnetic bearing, also It is to say, by Periodic Rotating radial direction magnetic bearing stator, makes its sensitive axes cyclically-varying, by measured signal (the angle speed of rotor Rate signal) it is modulated on swing circle carrier wave, because gyroscopic drift error is not with rotation carrier cycle change, therefore by this radially When magnetic bearing is used for the angular rate information of sensitive rotor, it is possible to gyroscopic drift introducing is eliminated by demodulation filtering and is led The error of the rotor angular rate information of cause, therefore the innovative point of the present invention is that the stator rotation of radial direction magnetic bearing, the present invention is adopted This function is realized with ultrasound electric machine, wherein realizing the mechanism of stator rotation mainly includes:Stator mounting disc 6, rotation modulation turn Sub- bearing holder (housing, cover) 7, rotation modulation bearing 8, rotation modulation rotor locknut 9, supersonic motor rotor 10, supersonic motor stator 11, Rotation modulation stator bearing holder (housing, cover) 12 and rotation modulation stator locknut 13, wherein stator mounting disc 6 are fixed with sleeve 3 by screw to be connected Connect, the axially external of stator mounting disc 6 is rotation modulation armature spindle bearing sleeve 7, stator mounting disc 6 and rotation modulation armature spindle bearing sleeve It is interference fit connection between 7, the inner ring of rotation modulation bearing 8 is fixed on rotation modulation armature spindle bearing sleeve 7, rotation modulation axle The outer ring for holding 8 is connected with the interference fit of rotation modulation stator bearing holder (housing, cover) 12, and stator mounting disc 6 is consolidated with supersonic motor rotor 10 Even, supersonic motor rotor 10 is connected with supersonic motor stator 11 by pressure, supersonic motor stator 11 and rotation modulation The interference fit connection of stator bearing holder (housing, cover) 12, rotation modulation rotor locknut 9 is solid in the axial direction by the inner ring of rotation modulation bearing 8 Be scheduled on rotation modulation armature spindle bearing sleeve 7, rotation modulation stator locknut 13 by the outer ring of rotation modulation bearing 8 in the axial direction It is fixed on rotation modulation stator bearing holder (housing, cover) 12.In addition, if two radial direction magnetic bearings are applied to provide the deflection of x and y directions In the magnetic bearing-supported flywheel system of torque, radial direction magnetic bearing stator is connected with axial magnetic bearing stator, it is made by ultrasound electric machine Rotation, can equally realize the gyroscopic drift for eliminating x and y directions two-freedom angular speed, so as to improve the detection essence of angular speed Degree.

In addition, the magnetizing coil of the stator core of whole device can also use two coil configuration, and two coil turns are not Together, the few coil current of the number of turn is controllable, produces and adjusts magnetic field, and the coil current more than the number of turn is constant, bias magnetic field is produced, with single line Coil structures are compared, and because the number of turn of controllable coil is few, therefore inductance is small, is greatly improved current-responsive speed, and controllable current is adopted Use differential form.

In addition, the magnetic pole strength of the stator core of the present invention uses spherical structure, electromagnetic force suffered by rotating shaft is set to pass through ball all the time The heart, when the rotating shaft centre of sphere is overlapped with barycenter, electromagnetic force is zero with respect to the moment of torsion that rotating shaft is produced, so as to eliminate radially twisting to axial direction The interference of translation.

The solution of the present invention is compared with existing scheme, and major advantage is:It is (1) of the invention as a result of sphere magnetic pole, Compared with the magnetic bearing of existing cylinder magnetic pole, radially interference of the twisting to radial direction translation is eliminated;(2) stator core uses pole shoe Structure, makes magnetic field have preferable even circumferential degree, and the various pieces angle of pole parts is different, can cause in magnetic pole Magnetic is close more uniform, will not cause the phenomenon of the close saturation of local magnetic;(3) because its stator core is driven by ultrasound electric machine It is dynamic, the rotation of stator is realized, therefore with rotation modulation function, therefore the gyro drift that gyrorotor rotation is introduced can be eliminated Move, substantially increase accuracy of detection.

Brief description of the drawings

Fig. 1 is a kind of sectional view of the pure electromagnetism magnetic bearing of rotation modulation radial spherical of the technology of the present invention solution;

Fig. 2 is the stator core structure figure of the technology of the present invention solution;

Fig. 3 is the rotor structure figure of the technology of the present invention solution;

Fig. 4 has overall structure figure during twin coil for the stator core magnetic pole of the technology of the present invention solution;

Fig. 5 has overall tomograph during twin coil for the stator core magnetic pole of the technology of the present invention solution.

Specific embodiment

As depicted in figs. 1 and 2, a kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical, mainly includes:Edge ± X-direction and Four stator cores 1 of ± Y-direction placement, coil 2, sleeve 3, air gap 4, rotor 5, stator mounting disc 6, rotation modulation armature spindle Bearing sleeve 7, rotation modulation bearing 8, rotation modulation rotor locknut 9, supersonic motor rotor 10, supersonic motor stator 11, rotation Modulation stator bearing holder (housing, cover) 12 and rotation modulation stator locknut 13 are constituted.Wherein journal bearing coil 2 is wound in each stator core 1 Two magnetic poles on, the radially inner sides of four stator cores 1 is rotor 5, and radial direction magnetism is formed between stator core 1 and rotor 5 Gap 4, the radial outside of stator core 1 is sleeve 3, and sleeve 3 is fixedly connected with stator mounting disc 6 by screw, stator mounting disc 6 It is axially external be rotation modulation armature spindle bearing sleeve 7, match somebody with somebody between stator mounting disc 6 and rotation modulation armature spindle bearing sleeve 7 for interference Connection is closed, the inner ring of rotation modulation bearing 8 is fixed on rotation modulation armature spindle bearing sleeve 7, the outer ring of rotation modulation bearing 8 and rotation The sub- interference fit of bearing holder (housing, cover) 12 connection is formulated in modulation, and stator mounting disc 6 is connected with supersonic motor rotor 10, and supersonic motor turns Son 10 is connected with supersonic motor stator 11 by pressure, supersonic motor stator 11 and the interference of rotation modulation stator bearing holder (housing, cover) 12 It is connected, the inner ring of rotation modulation bearing 8 is fixed on rotation modulation rotor by rotation modulation rotor locknut 9 in the axial direction On bearing holder (housing, cover) 7, the outer ring of rotation modulation bearing 8 is fixed on rotation modulation by rotation modulation stator locknut 13 in the axial direction determines On sub- bearing holder (housing, cover) 12.The described size of radial air gap 4 is 0.5mm~0.7mm, preferably 0.6mm.

Fig. 3 is stator core field structure figure, and the described magnetic pole of each stator core 1 is divided into anterior, middle part and root, its The angle of front left edge and right side edge formation is 83 °, circumferentially between upper two adjacent magnetic poles of stator core 1 away from From for 2mm, the anterior left side edge of each magnetic pole of stator core 1 and middle part junction angle are 152 °, two straight lines at middle part Angle between section is 91 °, and middle part and the angle of the tangential direction of root circular arc are 123 °;Similarly, each magnetic pole of stator core 1 Anterior right side edge and middle part junction angle are 152 °, and the angle between two straightways at middle part is 91 °, middle part and root The angle of the tangential direction of portion's circular arc is 123 °.

The determination of all angles is the optimal corner angle value obtained by substantial amounts of emulation and experiment, can cause air gap The fluctuation of magnetic field in a circumferential direction is minimum, and peak-to-peak value can be in below 15mT, and magnetic is close in the magnetic pole various pieces of stator core 1 It will not produce due to saturation problem caused by " during magnetic is intensive ", stator core 1 and rotor 5 are 1J50 or 1J22 magnetic conduction bulks Material, the spherical radius of stator core 1 takes 20mm~50mm, and the spherical radius of stator core in the present invention 1 takes 23mm, and edge The appearance and size for each stator core that ± X-direction and ± Y-direction are placed is essentially equal, and each centre of sphere is completely superposed after installation.

Fig. 4 is the rotor structure figure of the technology of the present invention solution, and the spherical radius of rotor 5 takes 19mm~49mm, at this The spherical radius of rotor 5 takes 22mm in embodiment, and the centre of sphere angle corresponding to the left sphere of rotor 5 is on the left of 84 °, the left sphere of rotor 5 Edge is 132 ° with the left sphere left arc edge tangent line angle of rotor 5, and the left sphere right side edge of rotor 5 is left with rotor 5 Sphere right circular arc edge tangent line angle is 132 °, and the centre of sphere angle corresponding to the right sphere of rotor 5 is 84 °, the right sphere of rotor 5 Left side edge is 132 ° with the right sphere left arc edge tangent line angle of rotor 5, the right sphere right side edge of rotor 5 and rotor 5 right sphere right circular arc edge tangent line angles are 132 °.

As shown in figure 5, the radial spherical magnetic bearing with rotation modulation function of the present invention, each of which stator core 1 The coil 2 wound on magnetic pole includes the first magnetizing coil 2-1 and the second magnetizing coil 2-2, wherein the first magnetizing coil 2-1 is leaned on The nearly side of air gap 4, the second magnetizing coil 2-2 is close to magnetic pole root, and the first magnetizing coil 2-1 numbers of turn are 20~50 circles, preferably 36 circles, Its control electric current is adjustable, and the second magnetizing coil 2-2 numbers of turn are 100~200 circles, and preferably 120 circles, its control electric current is constant, and first Radial clearance between magnetizing coil 2-1 and the second magnetizing coil 2-2 is 0.5mm~0.8mm, preferably 0.55mm.

The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.

Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (5)

1. a kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical, it is characterised in that:Mainly include:Along X-axis ± direction and Y-axis ± Four stator cores (1) of direction placement, coil (2), sleeve (3), air gap (4), rotor (5), stator mounting disc (6), rotation Modulation rotor bearing holder (housing, cover) (7), rotation modulation bearing (8), rotation modulation rotor locknut (9), supersonic motor rotor (10), ultrasound Ripple motor stator (11), rotation modulation stator bearing holder (housing, cover) (12) and rotation modulation stator locknut (13) composition;Wherein journal bearing Coil (2) is wound on two magnetic poles of each stator core (1), and the radially inner side of four stator cores (1) is rotor (5), Radial direction magnetic air gap (4) is formed between stator core (1) and rotor (5), the radial outside of stator core (1) is sleeve (3), sleeve (3) it is fixedly connected with stator mounting disc (6) by screw, the axially external of stator mounting disc (6) is rotation modulation rotor bearing Cover (7), be connected between stator mounting disc (6) and rotation modulation armature spindle bearing sleeve (7) for interference fit, rotation modulation bearing (8) Inner ring be fixed on rotation modulation armature spindle bearing sleeve (7), the outer ring of rotation modulation bearing (8) and rotation modulation stator bearing holder (housing, cover) (12) connection is interference fitted, stator mounting disc (6) is connected with supersonic motor rotor (10), and supersonic motor rotor (10) is with surpassing Sound wave motor stator (11) is connected by pressure, and supersonic motor stator (11) is matched somebody with somebody with rotation modulation stator bearing holder (housing, cover) (12) interference Connection is closed, the inner ring of rotation modulation bearing (8) is fixed on rotation modulation and turned by rotation modulation rotor locknut (9) in the axial direction On sub- bearing holder (housing, cover) (7), the outer ring of rotation modulation bearing (8) is fixed on rotation by rotation modulation stator locknut (13) in the axial direction Modulation is formulated on sub- bearing holder (housing, cover) (12);Described each stator core (1) magnetic pole is divided into anterior, middle part and root, and it is anterior left The angle that lateral edges are formed with right side edge is 83 °, and circumferentially the distance between upper two adjacent stator core (1) magnetic poles are 2mm, the anterior left side edge of each stator core (1) magnetic pole and middle part junction angle are 152 °, two straightways at middle part Between angle be 91 °, the angle of the tangential direction of middle part and root circular arc is 123 °;Similarly, each stator core (1) magnetic pole Anterior right side edge and middle part junction angle are 152 °, and the angle between two straightways at middle part is 91 °, middle part and root The angle of the tangential direction of portion's circular arc is 123 °.
2. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterised in that:Described stator iron The heart (1) and rotor (5) are the solid bulk of 1J50 magnetic conductions.
3. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterised in that:Described rotor (5) spherical radius takes 19mm~49mm, and the centre of sphere angle corresponding to rotor (5) left sphere is 84 °, on the left of the left sphere of rotor (5) Edge is 132 ° with the left sphere left arc edge tangent line angle of rotor (5), the left sphere right side edge of rotor (5) and rotor (5) left sphere right circular arc edge tangent line angle is 132 °, and the centre of sphere angle corresponding to rotor (5) right sphere is 84 °, rotor (5) right sphere left side edge and the right sphere left arc edge tangent line angle of rotor (5) are 132 °, rotor (5) right sphere Right side edge is 132 ° with the right sphere right circular arc edge tangent line angle of rotor (5).
4. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterised in that:Described radial direction gas Gap (4) size is 0.5mm~0.7mm.
5. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterised in that:Described is each fixed The coil (2) wound on the magnetic pole of sub- iron core (1) includes the first magnetizing coil (2-1) and the second magnetizing coil (2-2), wherein First magnetizing coil (2-1) is close to air gap (4) side, and the second magnetizing coil (2-2) is close to magnetic pole root, the first magnetizing coil (2- 1) number of turn is 20~50 circles, and its control electric current is adjustable, and the second magnetizing coil (2-2) number of turn is 100~200 circles, its control electric current Constant, the radial clearance between the first magnetizing coil (2-1) and the second magnetizing coil (2-2) is 0.5mm~0.8mm.
CN201510580632.4A 2015-09-12 2015-09-12 A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical CN105202025B (en)

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106370349B (en) * 2016-08-29 2019-01-01 大连理工大学 A kind of gyrorotor centroid position precision adjustment unit and method based on ultrasonic antifriction effect
CN106369055B (en) * 2016-11-21 2018-05-29 杭州电子科技大学 A kind of pneumatic output shafts based on magnetism mixing spherical bearing

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DE3325985A1 (en) * 1982-07-20 1984-02-02 Tokyo Shibaura Electric Co Electric motor unit
US4552417A (en) * 1982-07-20 1985-11-12 Tokyo Shibaura Denki Kabushiki Kaisha Polygonal type optical deflector
US7723883B2 (en) * 2005-12-09 2010-05-25 Ntn Corporation Motor built-in magnetic bearing device
CN103307120A (en) * 2013-05-16 2013-09-18 哈尔滨工程大学 Auxiliary bearing of vertical magnetic suspension flywheel rotor
CN104214216A (en) * 2014-08-06 2014-12-17 北京航空航天大学 Four-degree-of-freedom inner rotor magnetic bearing
CN104533949A (en) * 2015-01-21 2015-04-22 北京石油化工学院 Internal rotor spherical radial pure electromagnetic bearing
CN104696362A (en) * 2015-01-21 2015-06-10 北京石油化工学院 Inner rotor radial spherical pure electromagnetic bearing
CN204419855U (en) * 2015-01-21 2015-06-24 北京石油化工学院 The pure electromagnetism magnetic bearing of a kind of spherical radial direction of external rotor

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3325985A1 (en) * 1982-07-20 1984-02-02 Tokyo Shibaura Electric Co Electric motor unit
US4552417A (en) * 1982-07-20 1985-11-12 Tokyo Shibaura Denki Kabushiki Kaisha Polygonal type optical deflector
US7723883B2 (en) * 2005-12-09 2010-05-25 Ntn Corporation Motor built-in magnetic bearing device
CN103307120A (en) * 2013-05-16 2013-09-18 哈尔滨工程大学 Auxiliary bearing of vertical magnetic suspension flywheel rotor
CN104214216A (en) * 2014-08-06 2014-12-17 北京航空航天大学 Four-degree-of-freedom inner rotor magnetic bearing
CN104533949A (en) * 2015-01-21 2015-04-22 北京石油化工学院 Internal rotor spherical radial pure electromagnetic bearing
CN104696362A (en) * 2015-01-21 2015-06-10 北京石油化工学院 Inner rotor radial spherical pure electromagnetic bearing
CN204419855U (en) * 2015-01-21 2015-06-24 北京石油化工学院 The pure electromagnetism magnetic bearing of a kind of spherical radial direction of external rotor

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