CN109322973A - A kind of suspension of five-freedom degree magnetic flywheel - Google Patents
A kind of suspension of five-freedom degree magnetic flywheel Download PDFInfo
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- CN109322973A CN109322973A CN201811414823.3A CN201811414823A CN109322973A CN 109322973 A CN109322973 A CN 109322973A CN 201811414823 A CN201811414823 A CN 201811414823A CN 109322973 A CN109322973 A CN 109322973A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/30—Flywheels
Abstract
A kind of suspension of five-freedom degree magnetic flywheel; the attitude control actuator that can be used as the spacecrafts such as satellite, earth observation platform, space telescope is made of magnetic bearing, high-speed motor, journal axle integrated transducer, radial transducer, upper protection bearing, lower protection bearing, mandrel, wheel body, pedestal, upper sensor detection ring, lower sensor detection ring and shell.Two radial translations of the radial direction magnetic bearing control flywheel rotor in suspension of five-freedom degree magnetic flywheel, axial magnetic bearing control the axial translation and two radial deflection campaigns of flywheel rotor.Various components compact layout of the present invention, reduces volume and weight, eliminates the revolving speed zero passage frictional force and mechanical wear of mechanical bearing flywheel, improves the output torque and control precision of flywheel.
Description
Technical field
The present invention relates to a kind of magnetically levitated flywheel, the magnetic suspension of especially a kind of exportable big deflection torque of five degree of freedom flies
Wheel, can be used as the attitude control system executing agency of the spacecrafts such as satellite, earth observation platform, spaceship, space telescope.
Background technique
The attitude control actuator of the spacecrafts such as satellite, earth observation platform, spaceship, space telescope requires body
Product is small, light-weight, the service life is long, low in energy consumption, high reliablity.Currently as the flywheel of spacecraft attitude control system executing agency,
It is generally still supported using mechanical bearing, this just fundamentally limits the raising of Speed of Reaction Wheels, therefore required in order to reach
Angular momentum would have to increase flywheel weight, increases volume.In addition, mechanical bearing there are mechanical wear, unbalance vibrations can not
The problems such as control and zero passage moment of friction are big has seriously affected the service life of flywheel and the precision of Spacecraft Attitude Control and steady
Fixed degree.The existing magnetically levitated flywheel based on magnetic bearing bearing can be divided into single-degree-of-freedom magnetcisuspension according to the division of suspension freedom degree
Suspension flywheel~suspension of five-freedom degree magnetic flywheel, existing five degree of freedom flywheel structure are usually mentioned using two radial direction magnetic bearings
For two radial translations and two radial deflection campaigns, an axial translational motion is provided using axial magnetic bearing, is being needed
When flywheel exports big deflection torque, enough torque usually is exported by increasing by two radial direction magnetic bearing spans, this meeting is so that core
Axis is longer, and mode reduces, and limits revolving speed promotion, exacerbates vibration.
Summary of the invention
Technology of the invention solves the problems, such as: a kind of suspension of five-freedom degree magnetic flywheel is overcome the deficiencies of the prior art and provide,
Big deflection torque output is realized, to reduce own vol and weight.
Technical solution of the invention are as follows: a kind of suspension of five-freedom degree magnetic flywheel, by radial direction magnetic bearing (1), upper axial direction
Magnetic bearing (2), lower axial magnetic bearing (3), high-speed motor (4), journal axle integrated transducer (5), radial transducer (6), upper guarantor
Protect bearing (7), lower protection bearing (8), mandrel (9), wheel body (10), pedestal (11), upper axial thrust disk (12), lower axial thrust
Disk (13), shell (14) composition, wherein mandrel (9) is located at the center of shell (14), and the stationary part set of radial direction magnetic bearing (1) is put
On mandrel (9), the upper end of radial direction magnetic bearing (1) stationary part is upper axial magnetic bearing (2), and upper axial magnetic bearing (2) is by eight
A axial magnetic bearing stator unit composition, the upper end of upper axial magnetic bearing (2) is upper protection bearing (7), upper axial magnetic bearing (2)
It being each attached on mandrel (9) with upper protection bearing (7), the radial outside of upper protection bearing (7) is upper axial thrust disk (12), on
It protects and forms radial protection gap and axial portable protective gaps, upper axial thrust disk between bearing (7) and upper axial thrust disk (12)
(12) radial outside is journal axle integrated transducer (5), wherein upper axial thrust disk (12) and journal axle integrated transducer (5)
Radial detection gap, the axial probe of upper axial thrust disk (12) and journal axle integrated transducer (5) are formed between radial probe
Between form axial detection gap, journal axle integrated transducer (5) is connected by sensor holder and mandrel (9)；Radial direction magnetic bearing
(1) lower end of stator is lower axial magnetic bearing (3), and lower axial magnetic bearing (3) is made of eight axial magnetic bearing stator units, under
The lower end of axial magnetic bearing (3) is lower axial thrust disc (13), and the lower end of lower axial direction thrust disc (13) is lower protection bearing (8),
Lower axial magnetic bearing (3) and lower protection bearing (8) are also secured on mandrel (9), lower protection bearing (8) and lower axial thrust disc
(13) radial protection gap and axial portable protective gaps are formed between, the radial outside of lower axial direction thrust disc (13) is radial transducer
(6), radial detection gap, radial transducer are formed between lower axial thrust disc (13) and the probe segment of radial transducer (6)
(6) it is connected by sensor holder and pedestal (11), pedestal (11) passes through fixed high-speed motor (4) stationary part of connecting plate, high speed
The outside of motor (4) stator is outer rotor iron core, and inside is internal rotor iron core, and outer rotor iron core and internal rotor iron core are installed in
The lower part of wheel body (10), the stator of high-speed motor (4) are formed between internal rotor iron core and outer rotor iron core respectively between the magnetic of inside
Gap and outside magnetic gap, wheel body (10) fixedly connected to the inner side the rotor portion of radial direction magnetic bearing (1), and the two is using interference fit, wheel body
(10) outside is shell (14), and shell (14) is connected by screw to pedestal (11) and seals wheel body.
The radial direction magnetic bearing (1) is by stator magnetic guiding loop (101), stator permanent magnet (102), stator core (103), line
Enclose (104), rotor magnetic guiding loop (105), rotor core (106), air gap (107) composition, wherein each stator core (103) by ±
X, 4 magnetic pole compositions of ± Y-direction, two stator cores (103) form 8 magnetic poles of magnetic bearing upper and lower ends, each stator core
(103) it is wound on magnetic pole coil (104), is outside stator core (103) rotor core (106), in rotor core (106)
There are certain gaps for surface and stator core (103) outer surface, are formed air gap (107), are rotor outside rotor core (106)
Magnetizer (105), the inner radial of stator core (103) are stator magnetic guiding loop (101), and upper and lower stator magnetic guiding loop (101) is intermediate
It is stator permanent magnet (102).
The upper axial magnetic bearing (2) is made of eight axial magnetic bearing stator units, axial magnetic bearing stator unit
It in " E " font, is made of three magnetic pole of the stator, inside magnetic pole is the first magnetic pole of the stator of protrusion, and consequent pole is the of recess
Two magnetic pole of the stator, outside magnetic pole be protrusion third magnetic pole of the stator, respectively with " mountain " font structure of upper axial thrust disk (12)
Inside recess, middle part protrusion, outside be recessed to be formed inside air gap, middle part air gap, outside air gap.Eight axial magnetic bearing stators
Unit respectively arrange by edge ± X, ± Y, ± 45 ° and ± 135 ° of directions, wherein the first stator of stator unit that ± X, ± Y-direction are placed
Magnetic pole winds interior loop (112), and third magnetic pole of the stator winds exterior loop (113), the stator unit being distributed along ± 45 ° with ± 135 °
Coil (111) are wound in the second magnetic pole of the stator.
The lower axial magnetic bearing (3) has identical structure with the upper axial magnetic bearing (2), with the upper axis
It is symmetrically placed to magnetic bearing (2).
The journal axle integrated transducer (5) has 4 orthogonally located radial probes, completes two of wheel body (10)
The detection of radial translation generalized displacement.With 4 orthogonally located axial probes, the axial translation of wheel body (10) is completed, around X-axis
Radial rotating and detection around three generalized displacements of Y-axis radial rotating.
The principle of above scheme is: by control suspension of five-freedom degree magnetic flywheel in radial direction magnetic bearing and up and down axial direction magnetic axis
The coil current that holds completes an axial translation of flywheel rotor, two radial translations and two radial deflections totally five freedom degrees
Control, keep the rotating part of flywheel and flywheel stationary part gap uniform；It is realized and is flown by control axial magnetic bearing electric current
Take turns the output of deflection torque.The wherein control principle of radial direction magnetic bearing are as follows: radial direction magnetic bearing used in flywheel rotor system passes through control
The size and energization direction of two groups of stator core magnetic pole wound around coil electric currents are made, realizes the control being radially translatable to magnetic bearing.It is fixed
Sub- permanent magnet generates permanent magnet bias magnetic field, and coil current generation electromagnetic field is superimposed with permanent magnet bias magnetic field, passes through regulating winding
Electric current changes every intensity for extremely descending magnetic field, so that changing electromagnetic force size maintains between stator and rotor that air gap is uniform, make rotor without
Contact stable suspersion.Its permanent magnetic circuit are as follows: magnetic flux is from the pole stator permanent magnet N, by upper stator magnetic guiding loop, upper stator iron
The heart, upper end air gap, upper end rotor core, rotor magnetizer, lower end rotor core, lower end air gap, lower end stator core, lower part are fixed
Sub- magnetic guiding loop, the pole S for returning to stator permanent magnet constitute closed circuit, as shown in Fig. 2.Electromagnetic circuit be (be with the direction Y+
Example): magnetic flux sets out from hub of a spool, i.e. stator core, and by air gap, rotor core, the air gap in the other three direction, it is fixed to return to
Sub- iron core constitutes closed circuit, as shown in Fig. 3.Such as when high speed rotor occurs along Y+ direction translational, the direction Y+ stator line
Circle is passed through control electric current and generates magnetic field identical with permanent magnet bias magnetic field direction, enhances electromagnetic force, the stator coil in the direction Y-
It is passed through control electric current and generates the magnetic field contrary with permanent magnet bias magnetic field, weaken electromagnetic force, so that rotor is moved to the direction Y-
It is dynamic, return to equilbrium position.
The control principle of axial magnetic bearing are as follows: the axial magnetic bearing stator unit of upper axial magnetic bearing and lower axial magnetic bearing
The all coils of winding pass first into bias current and generate bias magnetic field, when axial translation or radial deflection occur for rotor, line
Control electric current change electromagnetic force is passed through in circle makes rotor restore balance.Wherein along ± 45 ° and the axial magnetic axis in ± 135 ° of directions
Stator unit control rotor axial translation is held, edge ± X, the axial magnetic bearing stator unit control rotor that ± Y-direction is placed is along diameter
Upward yaw motion.The electromagnetism that axial magnetic bearing stator unit of the upper axial magnetic bearing along ± 45 ° and ± 135 ° directions is constituted
Magnetic circuit are as follows: the second magnetic pole of the stator among " E " font stator, by upper center air gap, upper axial thrust disk
Protrusion part among " mountain " font structure, using the depressed section of " mountain " font two sides, upper end air gap returns to " E " font
The first magnetic pole of the stator and third magnetic pole of the stator of stator two sides return second among hub of a spool i.e. " E " font stator and determine
Sub- magnetic pole constitutes closed circuit, as shown in attached drawing 5a.Lower axial magnetic bearing is fixed along ± 45 ° and ± 135 ° of direction axial magnetic bearings
The magnetic that axial magnetic bearing stator unit of the magnetic circuit and upper axial magnetic bearing that subelement is constituted along ± 45 ° and ± 135 ° directions is constituted
Road is identical, as shown in fig. 5b.When radial deflection occurs for rotor, upper axial magnetic bearing edge ± X, the axial direction that ± Y-direction is placed
Magnetic bearing stator unit, with lower axial magnetic bearing edge ± X, the axial magnetic bearing stator unit that ± Y-direction is placed is applied in combination, and is led to
Outside line loop current and interior loop current induced magnetic field are crossed, the independent current value change electromagnetic force for changing each coil realizes rotor
Radial deflection campaign.The electromagnetic circuit that interior loop generates are as follows: first part is convex on the inside of " E " font stator from interior lines circle center
Magnetic pole i.e. the first magnetic pole of the stator center is set out out, recessed on the inside of " mountain " font of upper axial thrust disk by inner top side air gap
Concave portion point, using the protrusion part among " mountain " font, middle part upper end air gap returns to the recess magnetic in the middle part of " E " font stator
Pole i.e. the second magnetic pole of the stator returns interior lines circle center, constitutes closed circuit.Second part from interior lines circle center be " E " font
Protrusion magnetic pole i.e. the first magnetic pole of the stator center on the inside of stator is set out, by inner top side air gap, " mountain " of upper axial thrust disk
Depressed section on the inside of font, using the depressed section on the outside of " mountain " font, outer upper end air gap returns to " E " font stator
Protrusion magnetic pole, that is, third the magnetic pole of the stator in outside returns interior lines circle center, constitutes closed circuit, as shown in fig. 6.Lower axle
To magnetic bearing edge ± X, the magnetic circuit and upper axial magnetic bearing edge ± X that the axial magnetic bearing stator unit of ± Y-direction is constituted, ± the side Y
To axial magnetic bearing stator unit constitute magnetic circuit it is identical, as shown in fig. 6b.The electromagnetic circuit that exterior loop generates are as follows: first
Part is from protrusion magnetic pole, that is, third magnetic pole of the stator that outside line circle center is on the outside of " E " font stator, by " E " font stator
The recess magnetic pole at middle part i.e. the second magnetic pole of the stator, upper center air gap, the protrusion in the middle part of " mountain " font of upper axial thrust disk
Point, using the depressed section on the outside of " mountain " font, air gap on the outside of upper end returns to protrusion magnetic pole on the outside of " E " font stator i.e.
Third magnetic pole of the stator, returns outside line circle center, constitutes closed circuit, second part from outside line circle center be " E " font stator
Protrusion magnetic pole, that is, third the magnetic pole of the stator in outside sets out, by the protrusion magnetic pole on the inside of " E " font stator i.e. the first magnetic pole of the stator,
By air gap on the inside of upper end, depressed section on the inside of " mountain " font of upper axial thrust disk, using recessed on the outside of " mountain " font
Concave portion point, air gap on the outside of upper end returns to the protrusion magnetic pole i.e. third magnetic pole of the stator on the outside of " E " font stator, returns exterior loop
Center constitutes closed circuit, as shown in attached drawing 7a.Lower axial magnetic bearing edge ± X, the axial magnetic bearing stator unit of ± Y-direction
The magnetic circuit of composition and upper axial magnetic bearing edge ± X, the magnetic circuit that the axial magnetic bearing stator unit of ± Y-direction is constituted is identical, such as attached
Shown in Fig. 7 b.When inner-outer coil works at the same time, magnetic circuit is collectively formed by the magnetic flux that inner-outer coil generates, what inner-outer coil generated
Air gap and inside air gap prescription are overlapped mutually, at middle part, air gap prescription is on the contrary, cancel out each other to identical magnetic flux on the outside.It is logical
In normal situation, bias current size that the interior loop of the exterior loop of third magnetic pole of the stator coiling and the first magnetic pole of the stator coiling is passed through
It is identical, it is contrary, to generate the magnetic field of the same direction；Usually to make exterior loop the number of turns of third magnetic pole of the stator coiling when design
Greater than interior loop the number of turns of the first magnetic pole of the stator coiling, inner-outer coil can in this way generated at the air gap of middle part when working at the same time
Direction of the magnetic flux after cancelling out each other is identical as flow direction when exterior loop independent role, so when inner-outer coil works at the same time
Magnetic circuit figure identical, upper axial magnetic bearing edge ± X, axial magnetic bearing stator unit of ± Y-direction when working independently with exterior loop
The magnetic circuit of composition is as shown in attached drawing 7a, lower axial magnetic bearing edge ± X, the magnetic that the axial magnetic bearing stator unit of ± Y-direction is constituted
Road is as shown in attached drawing 7b, but when magnetic flux size is from exterior loop independent role between each air gap is different.
For example, the upper end direction Y+ magnetic gap subtracts when along X-axis positive direction (0 °~0.8 °) deflection of low-angle occurs for rotor
Small, the direction Y- magnetic gap increases, and the lower end direction Y+ magnetic gap increases, and the direction Y- magnetic gap reduces, and upper axial magnetic bearing is along the side Y+
It is passed through to the interior loop of the first magnetic pole of the stator coiling of the axial magnetic bearing stator unit of placement contrary with bias current
Electric current is controlled, so that electromagnetic force reduces, the first magnetic pole of the stator coiling of the axial magnetic bearing stator unit placed along the direction Y-
Interior loop is passed through control electric current identical with bias current direction, so that electromagnetic force increases, lower axial magnetic bearing is put along the direction Y+
The interior loop of first magnetic pole of the stator coiling of the axial magnetic bearing stator unit set is passed through control identical with bias current direction
Electric current, so that electromagnetic force increases, the interior lines of the first magnetic pole of the stator coiling of the axial magnetic bearing stator unit placed along the direction Y-
Circle is passed through the control electric current contrary with bias current, so that electromagnetic force reduces, to result from the power along X-axis negative direction
Square, so that rotor balancing；When rotor deflects larger angle (0.8 °~2 °) along X-axis positive direction, upper axial magnetic bearing is along the side Y+
It is passed through to the exterior loop of the third magnetic pole of the stator coiling of the axial magnetic bearing stator unit of placement contrary with bias current
Electric current is controlled, so that electromagnetic force reduces, the third magnetic pole of the stator coiling for the axial magnetic bearing stator unit placed along the direction Y-
Exterior loop is passed through control electric current identical with bias current direction, so that electromagnetic force increases, lower axial magnetic bearing is put along the direction Y+
The exterior loop of the third magnetic pole of the stator coiling for the axial magnetic bearing stator unit set is passed through control identical with bias current direction
Electric current, so that electromagnetic force increases, the outside line of the third magnetic pole of the stator coiling for the axial magnetic bearing stator unit placed along the direction Y-
Circle is passed through the control electric current contrary with bias current, so that electromagnetic force reduces, to result from the power along X-axis negative direction
Square, so that rotor balancing；It is similar when action principle is with generation X-direction deflection when rotor deflects in the y direction.
The advantages of the present invention over the prior art are that: the present invention is jointly real using radial direction magnetic bearing and axial magnetic bearing
The control of the axial translation of existing magnetically levitated flywheel one, two radial translations and two radial deflections；Axial direction of the present invention
Magnetic bearing has " E " font stator structure, and there are three magnetic poles for design, and improve coil utilizes space and utilization rate, improves
The bearing capacity of bearing and the ability of deflection control；Eight groups of " E " font stators of the present invention, wherein four groups of edge ± X
" E " font stator that direction and ± Y-direction are placed realizes two radial deflections control of rotor assembly, in addition four groups of ± 45 ° of edges
" E " the font stator placed with ± 135 ° of directions is specifically intended for realizing axial translation control, and magnetic axis bearing structure can be greatly reduced
Volume and weight.In addition, upper protection bearing of the invention and lower protection bearing are of different sizes, it is convenient for magnetically levitated flywheel inner wheel
The disassembly of body.
Detailed description of the invention
Fig. 1 is suspension of five-freedom degree magnetic flywheel schematic diagram of the invention；
Fig. 2 is radial direction magnetic bearing axial, cross-sectional view of the invention；
Fig. 3 is radial direction magnetic bearing end view drawing of the invention；
Fig. 4 is axial magnetic bearing tomograph of the invention；
Fig. 5 is that the present invention controls axial translation shaft to magnetic bearing magnetic circuit figure；Fig. 5 a be upper axial magnetic bearing along ± 45 ° and ±
The electromagnetic circuit that the axial magnetic bearing stator unit in 135 ° of directions is constituted, Fig. 5 b are lower axial magnetic bearing along ± 45 ° and ± 135 °
The electromagnetic circuit that the axial magnetic bearing stator unit in direction is constituted.
Fig. 6 is that present invention control radial rotating axial magnetic bearing interior loop generates magnetic circuit figure；Fig. 6 a is upper axial magnetic bearing
Edge ± X, the electromagnetic circuit that the axial magnetic bearing stator unit interior loop that ± Y-direction is placed generates, Fig. 6 b are lower axial magnetic bearing
Edge ± X, the electromagnetic circuit that the axial magnetic bearing stator unit interior loop that ± Y-direction is placed generates.
Fig. 7 is that present invention control radial rotating axial magnetic bearing exterior loop generates magnetic circuit figure and inner-outer coil works at the same time production
Magnetisation road figure；Fig. 7 a is upper axial magnetic bearing edge ± X, the independent work of axial magnetic bearing stator unit exterior loop that ± Y-direction is placed
Work and inner-outer coil work at the same time the electromagnetic circuit of generation, and Fig. 7 b is lower axial magnetic bearing edge ± X, the axial direction that ± Y-direction is placed
Magnetic bearing stator unit exterior loop works independently and inner-outer coil works at the same time the electromagnetic circuit of generation.
Fig. 8 is suspension of five-freedom degree magnetic flywheel high speed electric machine structure figure of the invention；
Fig. 9 is the journal axle integrated transducer structure chart of suspension of five-freedom degree magnetic flywheel of the invention；
Specific embodiment
As shown in Figure 1, a kind of suspension of five-freedom degree magnetic flywheel, by radial direction magnetic bearing (1), upper axial magnetic bearing (2), lower axle
To magnetic bearing (3), high-speed motor (4), journal axle integrated transducer (5), radial transducer (6), upper protection bearing (7), lower guarantor
Protect bearing (8), mandrel (9), wheel body (10), pedestal (11), upper axial thrust disk (12), lower axial thrust disc (13), shell
(14) it forms, wherein mandrel (9) is located at the center of rotor case, and the stationary part of radial direction magnetic bearing (1) is mounted on mandrel (9),
The upper end of radial direction magnetic bearing (1) stationary part is upper axial magnetic bearing (2), and upper axial magnetic bearing (2) is by eight axial magnetic bearings
Stator unit composition, the upper end of upper axial magnetic bearing (2) is upper protection bearing (7), upper axial magnetic bearing (2) and upper protection bearing
(7) it is each attached on mandrel (9), the radial outside of upper protection bearing (7) is upper axial thrust disk (12), upper protection bearing (7)
Radial protection gap and axial portable protective gaps, upper axial thrust disk (12) radial outside are formed between upper axial thrust disk (12)
It is journal axle integrated transducer (5), wherein between upper axial thrust disk (12) and the radial probe of journal axle integrated transducer (5)
Radial detection gap is formed, is formed between upper axial thrust disk (12) and the axial probe of journal axle integrated transducer (5) axial
Gap is detected, journal axle integrated transducer (5) is connected by sensor holder and mandrel (9)；The lower end of radial direction magnetic bearing (1) stator
It is lower axial magnetic bearing (3), lower axial magnetic bearing (3) is made of eight axial magnetic bearing stator units, lower axial magnetic bearing (3)
Lower end be lower axial thrust disc (13), the lower end of lower axial direction thrust disc (13) is lower protection bearing (8), lower axial magnetic bearing
(3) it is also secured on mandrel (9) with lower protection bearing (8), forms diameter between lower protection bearing (8) and lower axial thrust disc (13)
To portable protective gaps and axial portable protective gaps, the radial outside of lower axial direction thrust disc (13) is radial transducer (6), lower axial thrust
Radial detection gap is formed between disk (13) and the probe segment of radial transducer (6), radial transducer (6) passes through sensor holder
Be connected with pedestal (11), pedestal (11) by fixed high-speed motor (4) stationary part of connecting plate, high-speed motor (4) stator outside
Side is outer rotor iron core, and inside is internal rotor iron core, and outer rotor iron core and internal rotor iron core are installed in the lower part of wheel body (10),
The stator of high-speed motor (4) forms inside magnetic gap and outside magnetic gap between internal rotor iron core and outer rotor iron core respectively,
Wheel body (10) fixedly connected to the inner side the rotor portion of radial direction magnetic bearing (1), and for the two using interference fit, the outside of wheel body (10) is shell
(14), shell (14) is connected by screw to pedestal (11) and seals wheel body.
As shown in Figures 2 and 3, the radial direction magnetic bearing (1) by stator magnetic guiding loop (101), stator permanent magnet (102),
Stator core (103), coil (104), rotor magnetic guiding loop (105), rotor core (106), air gap (107) composition, wherein each
Stator core (103) is made of 4 ± X, ± Y-direction magnetic poles, and two stator cores (103) form magnetic bearing upper and lower ends 8
Magnetic pole is wound with coil (104) on the magnetic pole of each stator core (103), is rotor core outside stator core (103)
(106), there are certain gaps for rotor core (106) inner surface and stator core (103) outer surface, are formed air gap (107), are turned
It is rotor magnetizer (105) that the inner radial of stator core (103) is stator magnetic guiding loop (101) outside sub- iron core (106), on
It is stator permanent magnet (102) that lower stator magnetic guiding loop (101) is intermediate.
As shown in figure 4, the upper axial magnetic bearing (2) is made of eight axial magnetic bearing stator units, axial magnetic axis
Stator unit is held in " E " font, is made of three magnetic pole of the stator, inside magnetic pole is the first magnetic pole of the stator of protrusion, consequent pole
Be recess the second magnetic pole of the stator, outside magnetic pole be protrusion third magnetic pole of the stator, respectively with upper axial thrust disk (12)
The inside of " mountain " font structure is recessed, and middle part protrusion, outside is recessed to form inside air gap, middle part air gap, outside air gap.Eight axis
To magnetic bearing stator unit, edge ± X, ± Y, ± 45 ° and ± 135 ° of directions are arranged respectively, wherein the stator that ± X, ± Y-direction are placed
The first magnetic pole of the stator of unit winds interior loop (112), and third magnetic pole of the stator winds exterior loop (113), along ± 45 ° and ± 135 ° points
The stator unit of cloth winds coil (111) in the second magnetic pole of the stator.
The lower axial magnetic bearing (3) has identical structure with the upper axial magnetic bearing (2), with the upper axis
It is symmetrically placed to magnetic bearing (2).
The journal axle integrated transducer (5) has 4 orthogonally located radial probes, completes two of wheel body (10)
The detection of radial translation generalized displacement.With 4 orthogonally located axial probes, the axial translation of wheel body (10) is completed, around X-axis
Radial rotating and detection around three generalized displacements of Y-axis radial rotating.
Stator magnetic guiding loop (101) used in aforementioned present invention technical solution, is solid construction at rotor magnetic guiding loop (105),
It is made of the good material of magnetic property, such as electrical pure iron, various carbon steels, cast iron, cast steel, steel alloy, 1J50 and 1J79
Magnetic material etc..Stator core (103), rotor core (106) can use the good material of magnetic property such as electrical pure iron, electrician's silicon
The magnetic materials punching press such as steel plate DR510, DR470, DW350,1J50 and 1J79 folds.The material of stator permanent magnet (102)
For the good rare-earth permanent magnet of magnetic property, Nd-Fe-B permanent magnet or ferrite permanent magnet, stator permanent magnet (102) is axial circular
Ring, along axial charging.Coil (111), interior loop (112), exterior loop (113) and coil (104) are all made of well conducting
Paint-dipping drying forms after electromagnetic wire coiling.In addition, since the magnetic field that permanent magnet generates passes through stator core magnetic pole in rotor core
The magnetic field of middle generation is size variation, therefore can generate eddy-current loss in rotor high speed rotation, to reduce this partition losses,
The magnetic pole of stator core (106) should use pole shoe form (as shown in Figure 3) to reduce the eddy-current loss under high speed.
In the present embodiment, the flywheel rotor quality is 3.3kg, overall quality 6.5kg, and shell surrounded with pedestal
Volume is 472000mm3, the specific implementation structure size of axial magnetic bearing of the present invention are as follows: the first magnetic pole of the stator internal diameter
63.8mm, the first magnetic pole of the stator outer diameter 68.8mm, the second magnetic pole of the stator internal diameter 76.2mm, the second magnetic pole of the stator outer diameter 81.2mm,
Third magnetic pole of the stator internal diameter 88.6mm, third magnetic pole of the stator outer diameter 93.6mm.The arm of force of magnetic pole of the stator output torque is in magnetic pole
For the heart to the distance in the stator center of circle, the arm of force of the first magnetic pole of the stator output torque is 36mm, the power of the second magnetic pole of the stator output torque
Arm is 39.2mm, and the arm of force of third magnetic pole of the stator output torque is 45mm.Magnetic gap on the inside of upper end, upper center magnetic gap and upper
End outside magnetic gap is 0.4mm, and lower end inside magnetic gap, lower end middle part magnetic gap and lower end outside magnetic gap are 0.4mm,
100 circle of axial magnetic bearing stator unit coil the number of turns placed along ± 45 ° and ± 135 ° of directions, the line footpath of coil are
0.25mm, bias current 0.4A；Edge ± X, 100 circle of axial magnetic bearing stator unit interior loop the number of turns that ± Y-direction is placed, coil
Line footpath be 0.25mm, bias current 0.4A, 120 circle of exterior loop the number of turns, the line footpath of coil is 0.25mm, bias current 0.4A.
The specific implementation structure size for the radial direction magnetic bearing used in the flywheel are as follows: frame bore 62.6mm, outside stator core
Diameter 78mm, stator core axial length 30mm, rotor core internal diameter 78.8mm, rotor core outer diameter 95.6mm, rotor core axis
To length 32mm, air gap is 0.4mm between rotor, and span is 26mm between radial direction magnetic bearing upper end magnetic pole and lower end magnetic pole.
It is as two radial direction magnetic bearings (shown in structure type and attached drawing 3 for traditional suspension of five-freedom degree magnetic control-moment gyro structure
It is identical) cooperating output torque, size is embodied are as follows: frame bore 78mm, frame diameter 98mm, rotor iron
Intracardiac diameter 98.8mm, rotor core outer diameter 124mm, rotor core axial length are 40mm, and rotor core axial length is 42mm,
Air gap is 0.4mm between rotor, and span is 36mm between two radial direction magnetic bearings, and coil is around in radial direction magnetic bearing stator magnet
On extremely, the ratio that winding volume and bearing are taken up space is 12%, and the axial magnetic bearing stator unit of structure of the present invention is deposited
In three magnetic poles, edge ± X, the axial magnetic bearing stator unit of ± Y-direction is respectively in the first magnetic pole of the stator and third magnetic pole of the stator
The ratio of gross space shared by upper coiling, winding volume and bearing is 32%, and structure of the present invention improves space utilization
Rate.When rotor deflects 0.5 ° around Y-axis, the axial magnetic bearing stator unit common property in the direction structure X+ of the present invention and the direction X-
Raw Y-axis negative direction 0.9Nm torque maintains rotor balancing, under the same terms, when shell is identical with the surrounded volume of pedestal, and biography
Five degree of freedom double-frame magnetic suspension control moment gyro structure of uniting generates 0.56Nm using two radial direction magnetic bearing control deflections
Torque, structure of the present invention compare traditional structure rotor and are increased by 1.6 times by electromagnetic torque；When rotor deflects rotor around Y-axis
When deflecting 1.6 °, the raw Y-axis negative direction of the axial magnetic bearing stator unit common property in the direction structure X+ of the present invention and the direction X-
2.6Nm torque maintains rotor balancing, under the same terms, when shell is identical as the surrounded volume of pedestal, and traditional five degree of freedom
Double-frame magnetic suspension control moment gyro structure generates 1.26Nm torque, this hair using two radial direction magnetic bearing control deflections
The bright structure compares traditional structure rotor and is increased by 2.05 times by electromagnetic torque.
Fig. 8 is high-speed motor (4) axial section of the invention, by motor cup-shaped stator (201), motor outer rotor pressing plate
(202), outer rotor lamination (203), magnet steel (204), internal rotor lamination (205) and internal rotor pressing plate (206) composition, magnet steel
(204) radial outside is outer rotor lamination (203), and the lower axial end of outer rotor lamination (203) and magnet steel (204) is equipped with electricity
Machine outer rotor pressing plate (202), the radially inner side of magnet steel (204) are internal rotor lamination (205), the axial direction of internal rotor lamination (205)
Lower end is equipped with internal rotor pressing plate (206).Wherein cup-shaped stator (201) is motor stationary part, remaining is rotating part, cupuliform
Stator (201) is located between magnet steel (204) and internal rotor lamination (205), is connected by screw and connecting plate and pedestal (11).
Fig. 9 is the schematic diagram of journal axle integrated transducer (5) of the invention, and the displacement sensor is by popping one's head in (301)~visiting
Head (308) is formed with sensor outer housing (309) two parts, wherein probe (301), probe (303), probe (305) and probe
(307) edge ± X, ± Y-direction are uniformly placed respectively on axial end face, constitute axial probe, probe (302), probe (304),
Popping one's head in (306) and pop one's head in, (308) edge ± X, ± Y-direction are uniformly placed respectively on radial circumference, constitute radial probe.It is axial to visit
Head completes axial translation and two detections around three generalized displacements of radial rotating, and radial probe completes two radial translation displacements
Detection.Sensor outer housing (309) shields electromagnetic interference, and inside is detection circuit, completes the extraction of rotor displacement information.This hair
The modes of emplacement of bright sensor probe is not unique, as long as guaranteeing that 4 radial probe orthogonals and 4 axial probes are orthogonal
, radial direction is popped one's head in and the relative position of axial probe can be any.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (5)
1. a kind of suspension of five-freedom degree magnetic flywheel, it is characterised in that: by radial direction magnetic bearing (1), upper axial magnetic bearing (2), lower axle
To magnetic bearing (3), high-speed motor (4), journal axle integrated transducer (5), radial transducer (6), upper protection bearing (7), lower guarantor
Protect bearing (8), mandrel (9), wheel body (10), pedestal (11), upper axial thrust disk (12), lower axial thrust disc (13), shell
(14) it forms, wherein mandrel (9) is located at the center of shell (14), and the stationary part of radial direction magnetic bearing (1) is mounted on mandrel (9)
On, the upper end of radial direction magnetic bearing (1) stationary part is upper axial magnetic bearing (2), and upper axial magnetic bearing (2) is by eight axial magnetic axises
Stator unit composition is held, each axial magnetic bearing stator unit is in " E " font, and the upper end of upper axial magnetic bearing (2) is upper protection
Bearing (7), upper axial magnetic bearing (2) and upper protection bearing (7) are each attached on mandrel (9), and the diameter of upper protection bearing (7) is outside
Side is upper axial thrust disk (12), there is " mountain " font groove, upper protection bearing (7) and upper axial direction on upper axial thrust disk (12)
Radial protection gap and axial portable protective gaps are formed between thrust disc (12), upper axial thrust disk (12) radial outside is journal axle one
Body sensor (5), wherein being formed between upper axial thrust disk (12) and the radial probe of journal axle integrated transducer (5) radial
Gap is detected, forms axial detection gap between upper axial thrust disk (12) and the axial probe of journal axle integrated transducer (5),
Journal axle integrated transducer (5) is connected by sensor holder and mandrel (9)；The lower end of radial direction magnetic bearing (1) stator is lower axial direction
Magnetic bearing (3), lower axial magnetic bearing (3) are made of eight axial magnetic bearing stator units, each axial magnetic bearing stator unit
In " E " font, the lower end of lower axial magnetic bearing (3) is lower axial thrust disc (13), there is " mountain " on lower axial direction thrust disc (13)
Font groove, the lower end of lower axial direction thrust disc (13) are lower protection bearing (8), lower axial magnetic bearing (3) and lower protection bearing (8)
It is also secured on mandrel (9), forms radial protection gap and axial guarantor between lower protection bearing (8) and lower axial thrust disc (13)
Gap is protected, the radial outside of lower axial direction thrust disc (13) is radial transducer (6), lower axial direction thrust disc (13) and radial transducer
(6) radial detection gap is formed between probe segment, radial transducer (6) is connected by sensor holder and pedestal (11), bottom
For seat (11) by fixed high-speed motor (4) stationary part of connecting plate, the outside of high-speed motor (4) stator is outer rotor iron core, interior
Side is internal rotor iron core, and outer rotor iron core and internal rotor iron core are installed in the lower part of wheel body (10), the stator of high-speed motor (4)
Inside magnetic gap is formed between internal rotor iron core and outer rotor iron core respectively and outside magnetic gap, wheel body (10) fixedly connected to the inner side diameter
To the rotor portion of magnetic bearing (1), for the two using interference fit, the outside of wheel body (10) is shell (14), shell (14) and bottom
Seat (11), which is connected by screw to, seals wheel body.
2. suspension of five-freedom degree magnetic flywheel according to claim 1, it is characterised in that: the radial direction magnetic bearing (1) by
Stator magnetic guiding loop (101), stator permanent magnet (102), stator core (103), coil (104), rotor magnetic guiding loop (105), rotor
Iron core (106), air gap (107) composition, wherein each stator core (103) is made of 4 ± X, ± Y-direction magnetic poles, two fixed
Sub- iron core (103) forms 8 magnetic poles of magnetic bearing upper and lower ends, is wound with coil on the magnetic pole of each stator core (103)
It (104), is rotor core (106), rotor core (106) inner surface and stator core (103) appearance outside stator core (103)
There are certain gaps in face, are formed air gap (107), are rotor magnetizer (105), stator core outside rotor core (106)
(103) inner radial is stator magnetic guiding loop (101), and it is stator permanent magnet (102) that upper and lower stator magnetic guiding loop (101) is intermediate.
3. suspension of five-freedom degree magnetic flywheel according to claim 1, it is characterised in that: the upper axial magnetic bearing (2)
It being made of eight axial magnetic bearing stator units, axial magnetic bearing stator unit is in " E " font, it is made of three magnetic pole of the stator,
Inside magnetic pole is the first magnetic pole of the stator of protrusion, and consequent pole is the second magnetic pole of the stator of recess, and outside magnetic pole is the of protrusion
Three magnetic pole of the stator are recessed with the inside of " mountain " font structure of upper axial thrust disk (12) respectively, middle part protrusion, outside concave shape
At inside air gap, middle part air gap, outside air gap.Eight axial magnetic bearing stator units respectively edge ± X, ± Y, ± 45 ° with ±
135 ° of directions arrangement, wherein the first magnetic pole of the stator of stator unit winding interior loop (112) placed of ± X, ± Y-direction, third are fixed
Sub- magnetic pole winds exterior loop (113), and the stator unit being distributed along ± 45 ° with ± 135 ° winds coil in the second magnetic pole of the stator
(111)。
4. suspension of five-freedom degree magnetic flywheel according to claim 1, it is characterised in that: the lower axial magnetic bearing (3)
There is identical structure with the upper axial magnetic bearing (2), it is symmetrically placed with the upper axial magnetic bearing (2).
5. suspension of five-freedom degree magnetic flywheel according to claim 1, it is characterised in that: the journal axle integrated transducer
(5) with 4 orthogonally located radial probes, the detection of two radial translation generalized displacements of wheel body (10) is completed.With 4
Orthogonally located axial probe completes the axial translation of wheel body (10), is wide around X-axis radial rotating and around Y-axis radial rotating three
The detection that adopted position is moved.
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| CN109322973B CN109322973B (en) | 2020-06-02 |
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| CN112727921A (en) * | 2020-12-23 | 2021-04-30 | 北京航空航天大学 | Super-stable super-static single-shaft rotary table supported by active magnetic suspension bearing |
| CN113422467A (en) * | 2021-05-13 | 2021-09-21 | 江苏大学 | Ultrathin vehicle-mounted magnetic suspension flywheel battery and working method thereof |
| US11536315B2 (en) | 2021-04-22 | 2022-12-27 | Southeast University | Magnetic bearing of stator permanent magnet motor with magnetic pole bypasses and bias force adjusting method thereof |
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| CN109322973B (en) | 2020-06-02 |
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