CN109322973B - Five-degree-of-freedom magnetic suspension flywheel - Google Patents
Five-degree-of-freedom magnetic suspension flywheel Download PDFInfo
- Publication number
- CN109322973B CN109322973B CN201811414823.3A CN201811414823A CN109322973B CN 109322973 B CN109322973 B CN 109322973B CN 201811414823 A CN201811414823 A CN 201811414823A CN 109322973 B CN109322973 B CN 109322973B
- Authority
- CN
- China
- Prior art keywords
- stator
- axial
- magnetic
- radial
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 five-degree-of-freedom magnetic suspension flywheel can be used as an attitude control actuating mechanism of spacecrafts such as satellites, earth observation platforms, space telescopes and the like and is composed of a magnetic bearing, a high-speed motor, a radial-axis integrated sensor, a radial sensor, an upper protection bearing, a lower protection bearing, a core shaft, a wheel body, a base, an upper sensor detection ring, a lower sensor detection ring and a shell. A radial magnetic bearing in the five-degree-of-freedom magnetic suspension flywheel controls two radial translation movements of a flywheel rotor, and an axial magnetic bearing controls the axial translation movement and the two radial deflection movements of the flywheel rotor. The invention has compact layout of each component, reduces the volume and the weight, eliminates the rotating speed zero-crossing friction force and the mechanical abrasion of the mechanical bearing flywheel, and improves the output torque and the control precision of the flywheel.
Description
Technical Field
The invention relates to a magnetic suspension flywheel, in particular to a magnetic suspension flywheel capable of outputting large deflection torque with five degrees of freedom, which can be used as an actuating mechanism of an attitude control system of a satellite, an earth observation platform, a spacecraft, a space telescope and other spacecrafts.
Background
Attitude control actuators for satellites, earth observation platforms, spacecraft, space telescopes, and other spacecraft are required to be small in size, light in weight, long in service life, low in power consumption, and high in reliability. At present, a flywheel serving as an actuating mechanism of a spacecraft attitude control system is still supported by a mechanical bearing, so that the increase of the rotating speed of the flywheel is fundamentally limited, and therefore, in order to achieve the required angular momentum, the weight and the volume of the flywheel have to be increased. In addition, the mechanical bearing has the problems of mechanical abrasion, uncontrollable unbalanced vibration, large zero-crossing friction torque and the like, and the service life of the flywheel and the accuracy and stability of spacecraft attitude control are seriously influenced. The existing magnetic suspension flywheel based on magnetic bearing support can be divided into a single-degree-of-freedom magnetic suspension flywheel and a five-degree-of-freedom magnetic suspension flywheel according to division of suspension freedom degrees, the existing five-degree-of-freedom flywheel structure generally adopts two radial magnetic bearings to provide two radial translation motions and two radial deflection motions, and adopts an axial magnetic bearing to provide one axial translation motion.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the five-freedom-degree magnetic suspension flywheel overcomes the defects of the prior art, realizes large deflection torque output, and reduces the volume and the weight of the flywheel.
The technical solution of the invention is as follows: a five-degree-of-freedom magnetic suspension flywheel comprises a radial magnetic bearing (1), an upper axial magnetic bearing (2), a lower axial magnetic bearing (3), a high-speed motor (4), a radial-axis integrated sensor (5), a radial sensor (6), an upper protective bearing (7), a lower protective bearing (8), a mandrel (9), a wheel body (10), a base (11), an upper axial thrust disc (12), a lower axial thrust disc (13) and a shell (14), wherein the mandrel (9) is positioned in the center of the shell (14), a stator part of the radial magnetic bearing (1) is sleeved on the mandrel (9), the upper end of the stator part of the radial magnetic bearing (1) is the upper axial magnetic bearing (2), the upper axial magnetic bearing (2) is composed of eight axial magnetic bearing stator units, the upper end of the upper axial magnetic bearing (2) is the upper protective bearing (7), and the upper axial magnetic bearing (2) and the upper protective bearing (7) are both fixed on the mandrel (9), an upper axial thrust disc (12) is arranged on the radial outer side of the upper protection bearing (7), a radial protection gap and an axial protection gap are formed between the upper protection bearing (7) and the upper axial thrust disc (12), a radial-axial integrated sensor (5) is arranged on the radial outer side of the upper axial thrust disc (12), a radial detection gap is formed between the upper axial thrust disc (12) and a radial probe of the radial-axial integrated sensor (5), an axial detection gap is formed between the upper axial thrust disc (12) and the axial probe of the radial-axial integrated sensor (5), and the radial-axial integrated sensor (5) is fixedly connected with a mandrel (9) through a sensor seat; the lower end of a stator of the radial magnetic bearing (1) is a lower axial magnetic bearing (3), the lower axial magnetic bearing (3) consists of eight axial magnetic bearing stator units, the lower end of the lower axial magnetic bearing (3) is a lower axial thrust disc (13), the lower end of the lower axial thrust disc (13) is a lower protection bearing (8), the lower axial magnetic bearing (3) and the lower protection bearing (8) are also fixed on a mandrel (9), a radial protection gap and an axial protection gap are formed between the lower protection bearing (8) and the lower axial thrust disc (13), a radial sensor (6) is arranged on the radial outer side of the lower axial thrust disc (13), a radial detection gap is formed between the lower axial thrust disc (13) and a probe part of the radial sensor (6), the radial sensor (6) is fixedly connected with a base (11) through a sensor seat, the base (11) is fixedly connected with a stator part of a high-speed motor (4), the outer side of a stator of the high-speed motor (4) is an outer rotor iron core, the inner side of the stator of the high-speed motor (4) is an inner rotor iron core, the outer rotor iron core and the inner rotor iron core are both arranged at the lower part of the wheel body (10), an inner side magnetic gap and an outer side magnetic gap are respectively formed between the stator of the high-speed motor (4) and the inner rotor iron core and between the stator of the high-speed motor and the outer rotor iron core, the inner side of the wheel body (10) is fixedly connected with a rotor part of the radial magnetic bearing (1), the stator part and the wheel body are in interference.
The radial magnetic bearing (1) consists of a stator magnetic conductive ring (101), a stator permanent magnet (102), a stator iron core (103), a coil (104), a rotor magnetic conductive ring (105), a rotor iron core (106) and an air gap (107), each stator iron core (103) consists of 4 magnetic poles in +/-X and +/-Y directions, 8 magnetic poles at the upper end and the lower end of the magnetic bearing are formed by two stator iron cores (103), a coil (104) is wound on the magnetic pole of each stator iron core (103), a rotor iron core (106) is arranged outside each stator iron core (103), a certain gap is reserved between the inner surface of each rotor iron core (106) and the outer surface of each stator iron core (103) to form an air gap (107), a rotor magnetizer (105) is arranged outside each rotor iron core (106), a stator magnetic conductive ring (101) is arranged inside each stator iron core (103) in the radial direction, and a stator permanent magnet (102) is arranged between each upper stator magnetic conductive ring and each lower stator.
The upper axial magnetic bearing (2) is composed of eight axial magnetic bearing stator units, the axial magnetic bearing stator units are E-shaped and are composed of three stator magnetic poles, the inner magnetic pole is a convex first stator magnetic pole, the middle magnetic pole is a concave second stator magnetic pole, the outer magnetic pole is a convex third stator magnetic pole, and the inner magnetic pole, the middle magnetic pole and the outer magnetic pole are respectively sunken with the inner side, the middle part and the outer side of the mountain-shaped structure of the upper axial thrust disc (12) to form an inner air gap, a middle air gap and an outer air gap. The eight axial magnetic bearing stator units are respectively arranged along the directions of +/-X, + -Y, + -45 degrees and +/-135 degrees, wherein the first stator magnetic pole of the stator unit arranged along the directions of +/-X and +/-Y is wound with an inner coil (112), the third stator magnetic pole is wound with an outer coil (113), and the stator units distributed along +/-45 degrees and +/-135 degrees are wound with a middle coil (111) at the second stator magnetic pole.
The lower axial magnetic bearing (3) and the upper axial magnetic bearing (2) have the same structure and are symmetrically arranged with the upper axial magnetic bearing (2).
The radial-axial integrated sensor (5) is provided with 4 orthogonally-arranged radial probes to complete the detection of two radial translation generalized displacements of the wheel body (10). The wheel body (10) is provided with 4 axial probes which are orthogonally arranged, and detection of three generalized displacements of axial translation, radial rotation around an X axis and radial rotation around a Y axis is completed.
The principle of the scheme is as follows: the method comprises the following steps of completing one axial translation of a flywheel rotor by controlling coil currents of a radial magnetic bearing and an upper and lower axial magnetic bearing in a five-degree-of-freedom magnetic suspension flywheel, controlling two radial translations and two radial deflections for five degrees of freedom, and keeping uniform gap between a rotating part of the flywheel and a static part of the flywheel; the output of the flywheel deflection torque is realized by controlling the current of the axial magnetic bearing. The control principle of the radial magnetic bearing is as follows: the radial magnetic bearing used by the flywheel rotor system realizes the control of the radial translation of the magnetic bearing by controlling the current and the electrifying direction of the winding coils of the two groups of stator iron core magnetic poles. The permanent magnet of the stator generates a permanent magnetic bias magnetic field, the coil current generates an electromagnetic field which is superposed with the permanent magnetic bias magnetic field, and the intensity of the magnetic field under each pole is changed by adjusting the coil current, so that the electromagnetic force is changed, the air gap between the stator and the rotor is maintained to be uniform, and the rotor is enabled to be in non-contact stable suspension. The permanent magnetic circuit is as follows: the magnetic flux starts from the N pole of the stator permanent magnet, passes through the upper stator magnetic conductive ring, the upper stator core, the upper end air gap, the upper rotor core, the rotor magnetic conductor, the lower rotor core, the lower end air gap, the lower stator core, the lower stator magnetic conductive ring, and returns to the S pole of the stator permanent magnet to form a closed loop, as shown in fig. 2. The electromagnetic circuit is (taking Y + direction as an example): the flux starts from the center of the coil, i.e. the stator core, and goes through the air gap, the rotor core, and the other three-directional air gaps, and returns to the stator core to form a closed loop, as shown in fig. 3. For example, when the high-speed rotor translates along the Y + direction, the stator coil in the Y + direction is electrified with control current to generate a magnetic field in the same direction as the bias magnetic field of the permanent magnet, so that the electromagnetic force is enhanced, and the stator coil in the Y-direction is electrified with control current to generate a magnetic field in the opposite direction to the bias magnetic field of the permanent magnet, so that the electromagnetic force is weakened, and the rotor moves towards the Y-direction and returns to the balance position.
The control principle of the axial magnetic bearing is as follows: all coils wound by stator units of the axial magnetic bearings of the upper axial magnetic bearing and the lower axial magnetic bearing are firstly introduced with bias current to generate a bias magnetic field, and when the rotor is axially translated or radially deflected, the coils are introduced with control current to change electromagnetic force so that the rotor is restored to balance. The axial magnetic bearing stator units along the directions of +/-45 degrees and +/-135 degrees control the axial translation of the rotor, and the axial magnetic bearing stator units placed along the directions of +/-X and +/-Y control the deflection motion of the rotor along the radial direction. The electromagnetic magnetic circuit formed by the stator units of the axial magnetic bearing along the directions of +/-45 degrees and +/-135 degrees of the upper axial magnetic bearing is as follows: starting from the second stator magnetic pole in the middle of the E-shaped stator, passing through the air gap in the middle of the upper end, going through the convex part in the middle of the mountain-shaped structure of the axial thrust disc, passing through the concave parts on the two sides of the mountain-shaped structure, passing through the air gap on the upper end, going back to the first stator magnetic pole and the third stator magnetic pole on the two sides of the E-shaped stator, going back to the center of the coil, i.e. the second stator magnetic pole in the middle of the E-shaped stator, forming a closed loop, as shown in figure 5 a. The magnetic circuits formed by the stator units of the axial magnetic bearings along the directions of +/-45 degrees and +/-135 degrees of the lower axial magnetic bearing are the same as the magnetic circuits formed by the stator units of the axial magnetic bearings along the directions of +/-45 degrees and +/-135 degrees of the upper axial magnetic bearing, as shown in figure 5 b. When the rotor deflects radially, the stator unit of the axial magnetic bearing placed along the +/-X and +/-Y directions of the upper axial magnetic bearing is combined with the stator unit of the axial magnetic bearing placed along the +/-X and +/-Y directions of the lower axial magnetic bearing for use, a magnetic field is generated by the current of the outer coil and the current of the inner coil, and the current value of each coil is changed independently to change the electromagnetic force to realize the radial deflection motion of the rotor. The electromagnetic circuit generated by the inner coil is as follows: the first part starts from the center of the inner coil, namely the center of the salient magnetic pole at the inner side of the E-shaped stator, namely the center of the first stator magnetic pole, passes through an air gap at the upper end of the inner side, the sunken part at the inner side of the mountain-shaped axial thrust disc, passes through the salient part at the middle of the mountain-shaped axial thrust disc and the air gap at the upper end of the middle part, returns to the sunken magnetic pole at the middle part of the E-shaped stator, namely the second stator magnetic pole, and returns to the center of the inner coil to form a closed. The second part starts from the center of the inner coil, namely the center of the salient magnetic pole at the inner side of the E-shaped stator, namely the center of the first stator magnetic pole, passes through the air gap at the upper end at the inner side, the sunken part at the inner side of the mountain-shaped axial thrust disc, passes through the sunken part at the outer side of the mountain-shaped axial thrust disc and the air gap at the upper end at the outer side, returns to the salient magnetic pole at the outer side of the E-shaped stator, namely the third stator magnetic pole, and returns to the center of the inner coil to form a closed loop, as shown in. The magnetic circuit formed by the stator units of the axial magnetic bearing along the + -X and + -Y directions of the lower axial magnetic bearing is the same as the magnetic circuit formed by the stator units of the axial magnetic bearing along the + -X and + -Y directions of the upper axial magnetic bearing, as shown in fig. 6 b. The electromagnetic circuit that outer coil produced does: the first part starts from a protruded magnetic pole at the center of an outer coil, namely the protruded magnetic pole at the outer side of an E-shaped stator, namely a third stator magnetic pole, passes through a sunken magnetic pole at the middle part of the E-shaped stator, an air gap at the middle part of the upper end, a protruded part at the middle part of a mountain shape of an upper axial thrust disc, passes through a sunken part at the outer side of the mountain shape, an air gap at the outer side of the upper end, returns to the protruded magnetic pole at the outer side of the E-shaped stator, namely a third stator magnetic pole, returns to the center of the outer coil to form a closed loop, and the second part starts from the protruded magnetic pole at the center of the outer coil, namely the protruded magnetic pole at the outer side of the E-shaped stator, namely a first stator magnetic pole, passes through the air gap at the inner side of the upper end, passes through a sunken part at the inner side of the mountain shape of the upper axial thrust disc, passes, returning to the protruded magnetic pole outside the E-shaped stator, i.e. the third stator magnetic pole, and then returning to the center of the outer coil to form a closed loop, as shown in FIG. 7 a. The magnetic circuit formed by the stator units of the axial magnetic bearing along the + -X and + -Y directions of the lower axial magnetic bearing is the same as the magnetic circuit formed by the stator units of the axial magnetic bearing along the + -X and + -Y directions of the upper axial magnetic bearing, as shown in fig. 7 b. When the inner and outer coils work simultaneously, the magnetic circuit is formed by the magnetic fluxes generated by the inner and outer coils, the directions of the magnetic fluxes generated by the inner and outer coils are the same at the outer air gap and the inner air gap, the magnetic fluxes are superposed with each other, and the directions of the magnetic fluxes generated by the inner and outer coils are opposite at the middle air gap and are offset with each other. Under normal conditions, the bias current introduced by the outer coil wound by the third stator magnetic pole is the same as the bias current introduced by the inner coil wound by the first stator magnetic pole, and the bias currents are opposite in direction so as to generate magnetic fields in the same direction; the number of turns of the outer coil wound by the third stator magnetic pole is larger than that of the turns of the inner coil wound by the first stator magnetic pole, so that the direction of magnetic fluxes generated at the middle air gap when the inner and outer coils work simultaneously is the same as the direction of the magnetic fluxes when the outer coil acts alone, the magnetic circuit diagram when the inner and outer coils work simultaneously is the same as that when the outer coil acts alone, the magnetic circuit formed by the stator units of the axial magnetic bearing along the +/-X and +/-Y directions of the upper axial magnetic bearing is shown in figure 7a, the magnetic circuit formed by the stator units of the axial magnetic bearing along the +/-X and +/-Y directions of the lower axial magnetic bearing is shown in figure 7b, but the magnitude of the magnetic fluxes between the air gaps is different from that when the outer coil acts alone.
For example, when the rotor deflects in the positive direction of the X-axis by a small angle (0-0.8 degrees), the magnetic gap in the Y + direction at the upper end is reduced, the magnetic gap in the Y-direction at the lower end is increased, and the magnetic gap in the Y-direction is reduced, the control current in the direction opposite to the bias current is supplied to the inner coil wound by the first stator magnetic pole of the stator unit of the axial magnetic bearing arranged in the Y + direction at the upper axial magnetic bearing, so that the electromagnetic force is reduced, the control current in the direction same as the bias current is supplied to the inner coil wound by the first stator magnetic pole of the stator unit of the axial magnetic bearing arranged in the Y-direction at the lower axial magnetic bearing, so that the electromagnetic force is increased, and the control current in the direction same as the bias current is supplied to the inner coil wound by the first stator magnetic pole of the stator unit of the axial magnetic bearing arranged in the Y + direction at the lower axial magnetic bearing, so that the electromagnetic force is increased Controlling the current in the direction opposite to the bias current, so that the electromagnetic force is reduced, thereby generating a moment in the negative direction of the X axis, and balancing the rotor; when the rotor deflects a larger angle (0.8-2 degrees) along the positive direction of the X axis, the outer coil wound by the third stator magnetic pole of the axial magnetic bearing stator unit arranged along the Y + direction of the upper axial magnetic bearing is introduced with a control current in the direction opposite to the bias current, so that the electromagnetic force is reduced, the outer coil wound by the third stator magnetic pole of the axial magnetic bearing stator unit arranged along the Y-direction is introduced with a control current in the same direction as the bias current, so that the electromagnetic force is increased, the outer coil wound by the third stator magnetic pole of the axial magnetic bearing stator unit arranged along the Y + direction of the lower axial magnetic bearing is introduced with a control current in the same direction as the bias current, so that the electromagnetic force is increased, and the outer coil wound by the third stator magnetic pole of the axial magnetic bearing stator unit arranged along the Y-direction is introduced with a control current in the direction opposite to the bias, thereby generating a moment in the negative direction of the X axis, balancing the rotor; when the rotor deflects in the Y direction, the principle of action is similar to when the X direction deflection occurs.
Compared with the prior art, the invention has the advantages that: the invention utilizes the radial magnetic bearing and the axial magnetic bearing to jointly realize the control of one axial translation, two radial translations and two radial deflections of the magnetic suspension flywheel; the axial magnetic bearing has an E-shaped stator structure, and is provided with three magnetic poles, so that the utilization space and the utilization rate of coils are improved, and the bearing capacity and the deflection control capacity of the bearing are improved; the eight groups of E-shaped stators are characterized in that four groups of E-shaped stators arranged along the +/-X direction and the +/-Y direction realize two radial deflection control of the rotor assembly, and the other four groups of E-shaped stators arranged along the +/-45 degrees and the +/-135 degrees are specially used for realizing axial translation control, so that the volume and the weight of the magnetic bearing structure can be greatly reduced. In addition, the upper protection bearing and the lower protection bearing are different in size, so that the wheel body in the magnetic suspension flywheel can be conveniently detached.
Drawings
FIG. 1 is a schematic diagram of a five-degree-of-freedom magnetic suspension flywheel according to the present invention;
FIG. 2 is an axial cross-sectional view of a radial magnetic bearing of the present invention;
FIG. 3 is an end view of a radial magnetic bearing of the present invention;
FIG. 4 is a three-dimensional block diagram of the axial magnetic bearing of the present invention;
FIG. 5 is a magnetic circuit diagram of the axial magnetic bearing of the present invention for controlling axial translation; fig. 5a shows an electromagnetic magnetic circuit formed by the stator units of the axial magnetic bearing along the directions of ± 45 ° and ± 135 ° of the upper axial magnetic bearing, and fig. 5b shows an electromagnetic magnetic circuit formed by the stator units of the axial magnetic bearing along the directions of ± 45 ° and ± 135 ° of the lower axial magnetic bearing.
FIG. 6 is a diagram of the magnetic circuit generated by the coil in the magnetic bearing according to the present invention; fig. 6a shows an electromagnetic magnetic path generated by a coil in the stator unit of the axial magnetic bearing in which the upper axial magnetic bearing is placed in the ± X, ± Y directions, and fig. 6b shows an electromagnetic magnetic path generated by a coil in the stator unit of the axial magnetic bearing in which the lower axial magnetic bearing is placed in the ± X, ± Y directions.
FIG. 7 is a diagram of the magnetic circuit generated by the outer coil of the magnetic bearing and the magnetic circuit generated by the inner and outer coils working simultaneously according to the present invention; fig. 7a shows an electromagnetic magnetic path generated by the independent operation of the outer coil and the simultaneous operation of the inner and outer coils of the stator unit of the axial magnetic bearing disposed along the ± X and ± Y directions of the upper axial magnetic bearing, and fig. 7b shows an electromagnetic magnetic path generated by the independent operation of the outer coil and the simultaneous operation of the inner and outer coils of the stator unit of the axial magnetic bearing disposed along the ± X and ± Y directions of the lower axial magnetic bearing.
FIG. 8 is a structural diagram of a high-speed motor in a five-degree-of-freedom magnetic suspension flywheel of the invention;
FIG. 9 is a structural diagram of a radial-axial integrated sensor of the five-degree-of-freedom magnetic suspension flywheel of the present invention;
Detailed Description
As shown in figure 1, a five-freedom magnetic suspension flywheel comprises a radial magnetic bearing (1), an upper axial magnetic bearing (2), a lower axial magnetic bearing (3), a high-speed motor (4), a radial-axial integrated sensor (5), a radial sensor (6), an upper protection bearing (7), a lower protection bearing (8), a mandrel (9), a wheel body (10), a base (11), an upper axial thrust disc (12), a lower axial thrust disc (13) and a shell (14), wherein the mandrel (9) is positioned in the center of a gyro-room, the stator part of the radial magnetic bearing (1) is sleeved on the mandrel (9), the upper end of the stator part of the radial magnetic bearing (1) is the upper axial magnetic bearing (2), the upper axial magnetic bearing (2) is composed of eight axial magnetic bearing stator units, the upper end of the upper axial magnetic bearing (2) is the upper protection bearing (7), and the upper axial magnetic bearing (2) and the upper protection bearing (7) are both fixed on the mandrel (9), an upper axial thrust disc (12) is arranged on the radial outer side of the upper protection bearing (7), a radial protection gap and an axial protection gap are formed between the upper protection bearing (7) and the upper axial thrust disc (12), a radial-axial integrated sensor (5) is arranged on the radial outer side of the upper axial thrust disc (12), a radial detection gap is formed between the upper axial thrust disc (12) and a radial probe of the radial-axial integrated sensor (5), an axial detection gap is formed between the upper axial thrust disc (12) and the axial probe of the radial-axial integrated sensor (5), and the radial-axial integrated sensor (5) is fixedly connected with a mandrel (9) through a sensor seat; the lower end of a stator of the radial magnetic bearing (1) is a lower axial magnetic bearing (3), the lower axial magnetic bearing (3) consists of eight axial magnetic bearing stator units, the lower end of the lower axial magnetic bearing (3) is a lower axial thrust disc (13), the lower end of the lower axial thrust disc (13) is a lower protection bearing (8), the lower axial magnetic bearing (3) and the lower protection bearing (8) are also fixed on a mandrel (9), a radial protection gap and an axial protection gap are formed between the lower protection bearing (8) and the lower axial thrust disc (13), a radial sensor (6) is arranged on the radial outer side of the lower axial thrust disc (13), a radial detection gap is formed between the lower axial thrust disc (13) and a probe part of the radial sensor (6), the radial sensor (6) is fixedly connected with a base (11) through a sensor seat, the base (11) is fixedly connected with a stator part of a high-speed motor (4), the outer side of a stator of the high-speed motor (4) is an outer rotor iron core, the inner side of the stator of the high-speed motor (4) is an inner rotor iron core, the outer rotor iron core and the inner rotor iron core are both arranged at the lower part of the wheel body (10), an inner side magnetic gap and an outer side magnetic gap are respectively formed between the stator of the high-speed motor (4) and the inner rotor iron core and between the stator of the high-speed motor and the outer rotor iron core, the inner side of the wheel body (10) is fixedly connected with a rotor part of the radial magnetic bearing (1), the stator part and the wheel body are in interference.
As shown in fig. 2 and fig. 3, the radial magnetic bearing (1) is composed of a stator magnetic conductive ring (101), a stator permanent magnet (102), a stator core (103), a coil (104), a rotor magnetic conductive ring (105), a rotor core (106), and an air gap (107), each stator iron core (103) consists of 4 magnetic poles in +/-X and +/-Y directions, 8 magnetic poles at the upper end and the lower end of the magnetic bearing are formed by two stator iron cores (103), a coil (104) is wound on the magnetic pole of each stator iron core (103), a rotor iron core (106) is arranged outside each stator iron core (103), a certain gap is reserved between the inner surface of each rotor iron core (106) and the outer surface of each stator iron core (103) to form an air gap (107), a rotor magnetizer (105) is arranged outside each rotor iron core (106), a stator magnetic conductive ring (101) is arranged inside each stator iron core (103) in the radial direction, and a stator permanent magnet (102) is arranged between each upper stator magnetic conductive ring and each lower stator.
As shown in fig. 4, the upper axial magnetic bearing (2) is composed of eight axial magnetic bearing stator units, the axial magnetic bearing stator units are in an E shape and are composed of three stator magnetic poles, the inner magnetic pole is a convex first stator magnetic pole, the middle magnetic pole is a concave second stator magnetic pole, the outer magnetic pole is a convex third stator magnetic pole, and the inner magnetic pole, the middle magnetic pole and the outer magnetic pole are respectively concave with the inner side, the middle part and the outer side of the structure in the shape of the Chinese character 'shan' of the upper axial thrust disc (12) to form an inner air gap, a middle air gap and an outer air gap. The eight axial magnetic bearing stator units are respectively arranged along the directions of +/-X, + -Y, + -45 degrees and +/-135 degrees, wherein the first stator magnetic pole of the stator unit arranged along the directions of +/-X and +/-Y is wound with an inner coil (112), the third stator magnetic pole is wound with an outer coil (113), and the stator units distributed along +/-45 degrees and +/-135 degrees are wound with a middle coil (111) at the second stator magnetic pole.
The lower axial magnetic bearing (3) and the upper axial magnetic bearing (2) have the same structure and are symmetrically arranged with the upper axial magnetic bearing (2).
The radial-axial integrated sensor (5) is provided with 4 orthogonally-arranged radial probes to complete the detection of two radial translation generalized displacements of the wheel body (10). The wheel body (10) is provided with 4 axial probes which are orthogonally arranged, and detection of three generalized displacements of axial translation, radial rotation around an X axis and radial rotation around a Y axis is completed.
The stator magnetic conductive ring (101) and the rotor magnetic conductive ring (105) used in the technical scheme of the invention are all solid structures and are made of materials with good magnetic conductivity, such as electrician pure iron, various carbon steels, cast iron, cast steel, alloy steel, 1J50, 1J79 and other magnetic materials. The stator iron core (103) and the rotor iron core (106) can be formed by punching and laminating magnetic materials with good magnetic permeability, such as electrical pure iron, electrical silicon steel plates DR510, DR470, DW350, 1J50, 1J79 and the like. The stator permanent magnet (102) is made of a rare earth permanent magnet, a neodymium iron boron permanent magnet or a ferrite permanent magnet with good magnetic performance, and the stator permanent magnet (102) is an axial ring and is magnetized along the axial direction. The middle coil (111), the inner coil (112), the outer coil (113) and the coil (104) are all formed by winding electromagnetic wires with good electric conduction and then dipping in paint and drying. In addition, since the magnetic field generated by the permanent magnet is varied in magnitude in the rotor core by the stator core magnetic poles, an eddy current loss is generated when the rotor rotates at a high speed, and in order to reduce the loss, the magnetic poles of the stator core (106) should be in the form of pole shoes (as shown in fig. 3) to reduce the eddy current loss at a high speed.
In this embodiment, the mass of the flywheel rotor is 3.3kg, the total mass is 6.5kg, and the volume enclosed by the housing and the base is 472000mm3The specific implementation structure size of the axial magnetic bearing is as follows: the inner diameter of the first stator magnetic pole is 63.8mm, the outer diameter of the first stator magnetic pole is 68.8mm, the inner diameter of the second stator magnetic pole is 76.2mm, the outer diameter of the second stator magnetic pole is 81.2mm, the inner diameter of the third stator magnetic pole is 88.6mm, and the outer diameter of the third stator magnetic pole is 93.6 mm. The moment arm of the stator magnetic pole output moment is the distance from the magnetic pole center to the stator circle center, the moment arm of the first stator magnetic pole output moment is 36mm, the moment arm of the second stator magnetic pole output moment is 39.2mm, and the moment arm of the third stator magnetic pole output moment is 45 mm. The upper end inner side magnetic gap, the upper end middle magnetic gap and the upper end outer side magnetic gap are both 0.4mm, the lower end inner side magnetic gap, the lower end middle magnetic gap and the lower end outer side magnetic gap are both 0.4mm, the number of turns of a coil in an axial magnetic bearing stator unit arranged along the directions of +/-45 degrees and +/-135 degrees is 100 turns, the wire diameter of the coil is 0.25mm, and the bias current is 0.4A; 100 turns of coil and wire diameter of coil in stator unit of axial magnetic bearing placed along +/-X, +/-Y direction0.25mm, bias current 0.4A, 120 turns of outer coil, 0.25mm of coil diameter and 0.4A of bias current. The specific implementation structure size of the radial magnetic bearing used in the flywheel is as follows: the inner diameter of a stator core is 62.6mm, the outer diameter of the stator core is 78mm, the axial length of the stator core is 30mm, the inner diameter of a rotor core is 78.8mm, the outer diameter of the rotor core is 95.6mm, the axial length of the rotor core is 32mm, an air gap between a stator and a rotor is 0.4mm, and the span between the upper end magnetic pole and the lower end magnetic pole of the radial magnetic bearing is 26 mm. For a traditional five-degree-of-freedom magnetic suspension control moment gyroscope structure, two radial magnetic bearings (the structure form is the same as that shown in the attached figure 3) are matched to work to output a moment, and the specific implementation size is as follows: the axial magnetic bearing stator unit of the structure has three magnetic poles, the axial magnetic bearing stator unit along the +/-X and +/-Y directions is respectively wound with coils on the first stator magnetic pole and the third stator magnetic pole, and the ratio of the coil volume to the total space occupied by the bearing is 32 percent. When the rotor deflects 0.5 degrees around the Y axis, the axial magnetic bearing stator units in the X + direction and the X-direction of the structure of the invention jointly generate 0.9 N.m moment in the Y axis negative direction to maintain the balance of the rotor, and under the same condition, when the enclosed volume of the shell and the base is the same, the traditional five-freedom-degree double-frame magnetic suspension control moment gyroscope structure adopts two radial magnetic bearings to control deflection and generate 0.56 N.m moment, and compared with the rotor with the traditional structure, the structure of the invention is subjected to electromagnetic moment increased by 1.6 times; when the rotor deflects 1.6 degrees around the Y axis, the axial magnetic bearing stator units in the X + direction and the X-direction of the structure of the invention jointly generate 2.6 N.m moments in the Y axis negative direction to maintain the balance of the rotor, and under the same condition, when the enclosed volume of the shell and the base is the same, the traditional five-freedom-degree double-frame magnetic suspension control moment gyroscope structure adopts two radial magnetic bearings to control deflection and generate 1.26 N.m momentsCompared with the rotor with the traditional structure, the structure is increased by 2.05 times by the electromagnetic torque.
Fig. 8 is an axial cross-sectional view of the high-speed motor (4) of the present invention, which is composed of a motor cup-shaped stator (201), a motor outer rotor pressing plate (202), an outer rotor lamination (203), magnetic steel (204), an inner rotor lamination (205), and an inner rotor pressing plate (206), wherein the outer rotor lamination (203) is arranged on the radial outer side of the magnetic steel (204), the motor outer rotor pressing plate (202) is arranged on the axial lower ends of the outer rotor lamination (203) and the magnetic steel (204), the inner rotor lamination (205) is arranged on the radial inner side of the magnetic steel (204), and the inner rotor pressing plate (206) is arranged on the. The cup-shaped stator (201) is a static part of the motor, the rest is a rotating part, and the cup-shaped stator (201) is positioned between the magnetic steel (204) and the inner rotor lamination (205) and is fixedly connected with the base (11) through a screw and a connecting plate.
Fig. 9 is a schematic diagram of the radial-axial integrated sensor (5) of the present invention, the displacement sensor is composed of two parts, i.e., a probe (301) to a probe (308) and a sensor housing (309), wherein the probe (301), the probe (303), the probe (305) and the probe (307) are uniformly placed along ± X and ± Y directions on an axial end surface to form an axial probe, and the probe (302), the probe (304), the probe (306) and the probe (308) are uniformly placed along ± X and ± Y directions on a radial circumference to form a radial probe. The axial probe completes the detection of three generalized displacements of axial translation and two rotations around the radial direction, and the radial probe completes the detection of two radial translation displacements. The sensor shell (309) shields electromagnetic interference, and a detection circuit is arranged inside the sensor shell to finish the extraction of rotor displacement information. The placement mode of the sensor probe is not unique, and the relative positions of the radial probe and the axial probe can be arbitrary as long as the orthogonality of 4 radial probes and the orthogonality of 4 axial probes are ensured.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (3)
1. A five-degree-of-freedom magnetic suspension flywheel is characterized in that: the magnetic bearing comprises a radial magnetic bearing (1), an upper axial magnetic bearing (2), a lower axial magnetic bearing (3), a high-speed motor (4), a radial-axial integrated sensor (5), a radial sensor (6), an upper protection bearing (7), a lower protection bearing (8), a mandrel (9), a wheel body (10), a base (11), an upper axial thrust disc (12), a lower axial thrust disc (13) and a shell (14), wherein the mandrel (9) is positioned at the center of the shell (14), a stator part of the radial magnetic bearing (1) is sleeved on the mandrel (9), the upper end of the stator part of the radial magnetic bearing (1) is the upper axial magnetic bearing (2), the upper axial magnetic bearing (2) is composed of eight axial magnetic bearing stator units, each axial magnetic bearing stator unit is E-shaped, the upper end of the upper axial magnetic bearing (2) is the upper protection bearing (7), and the upper axial magnetic bearing (2) and the upper protection bearing (7) are both fixed on the mandrel (9), an upper axial thrust disc (12) is arranged on the radial outer side of the upper protection bearing (7), a groove shaped like a Chinese character 'shan' is formed in the upper axial thrust disc (12), a radial protection gap and an axial protection gap are formed between the upper protection bearing (7) and the upper axial thrust disc (12), a radial-axial integrated sensor (5) is arranged on the radial outer side of the upper axial thrust disc (12), a radial detection gap is formed between the upper axial thrust disc (12) and a radial probe of the radial-axial integrated sensor (5), an axial detection gap is formed between the upper axial thrust disc (12) and the axial probe of the radial-axial integrated sensor (5), and the radial-axial integrated sensor (5) is fixedly connected with a mandrel (9) through a sensor seat; the lower end of a stator of the radial magnetic bearing (1) is a lower axial magnetic bearing (3), the lower axial magnetic bearing (3) consists of eight axial magnetic bearing stator units, each axial magnetic bearing stator unit is E-shaped, the lower end of the lower axial magnetic bearing (3) is a lower axial thrust disc (13), a groove shaped like a Chinese character 'shan' is arranged on the lower axial thrust disc (13), the lower end of the lower axial thrust disc (13) is a lower protection bearing (8), the lower axial magnetic bearing (3) and the lower protection bearing (8) are also fixed on a mandrel (9), a radial protection gap and an axial protection gap are formed between the lower protection bearing (8) and the lower axial thrust disc (13), a radial sensor (6) is arranged on the radial outer side of the lower axial thrust disc (13), a radial detection gap is formed between the lower axial thrust disc (13) and a probe part of the radial sensor (6), and the radial sensor (6) are fixedly connected with a base (11) through a sensor seat, the high-speed motor stator part (4) is fixed by the base (11) through a connecting plate, the outer side of the stator of the high-speed motor (4) is an outer rotor iron core, the inner side of the stator of the high-speed motor (4) is an inner rotor iron core, the outer rotor iron core and the inner rotor iron core are both arranged at the lower part of the wheel body (10), an inner magnetic gap and an outer magnetic gap are respectively formed between the stator of the high-speed motor (4) and the inner rotor iron core and between the stator of the high-speed motor and the outer rotor iron core, the inner side of the wheel body (10) is fixedly connected with the rotor part of the radial magnetic bearing (1), the rotor part and;
the axial magnetic bearing stator unit is composed of three stator magnetic poles, wherein the inner side magnetic pole is a protruded first stator magnetic pole, the middle magnetic pole is a sunken second stator magnetic pole, the outer side magnetic pole is a protruded third stator magnetic pole, and the inner side magnetic pole, the middle part magnetic pole and the outer side magnetic pole are respectively sunken with the inner side, the middle part and the outer side of the mountain-shaped structure of the upper axial thrust disc (12) to form an inner side air gap, a middle air gap and an outer side air gap; the eight axial magnetic bearing stator units are respectively arranged along the directions of +/-X, + -Y, + -45 degrees and +/-135 degrees, wherein the stator units arranged in the directions of +/-X and +/-Y are wound with an inner coil (112) at a first stator magnetic pole and an outer coil (113) at a third stator magnetic pole, and the stator units distributed along +/-45 degrees and +/-135 degrees are wound with a middle coil (111) at a second stator magnetic pole;
the lower axial magnetic bearing (3) and the upper axial magnetic bearing (2) have the same structure and are symmetrically arranged with the upper axial magnetic bearing (2).
2. The five-degree-of-freedom magnetic levitation flywheel of claim 1, wherein: the radial magnetic bearing (1) consists of a stator magnetic conductive ring (101), a stator permanent magnet (102), a stator iron core (103), a coil (104), a rotor magnetic conductive ring (105), a rotor iron core (106) and an air gap (107), each stator iron core (103) consists of 4 magnetic poles in +/-X and +/-Y directions, 8 magnetic poles at the upper end and the lower end of the magnetic bearing are formed by two stator iron cores (103), a coil (104) is wound on the magnetic pole of each stator iron core (103), a rotor iron core (106) is arranged outside each stator iron core (103), a certain gap is reserved between the inner surface of each rotor iron core (106) and the outer surface of each stator iron core (103) to form an air gap (107), a rotor magnetizer (105) is arranged outside each rotor iron core (106), a stator magnetic conductive ring (101) is arranged inside each stator iron core (103) in the radial direction, and a stator permanent magnet (102) is arranged between each upper stator magnetic conductive ring and each lower stator.
3. The five-degree-of-freedom magnetic levitation flywheel of claim 1, wherein: the radial-axial integrated sensor (5) is provided with 4 orthogonally-placed radial probes to complete the detection of two radial translation generalized displacements of the wheel body (10); the wheel body (10) is provided with 4 axial probes which are orthogonally arranged, and detection of three generalized displacements of axial translation, radial rotation around an X axis and radial rotation around a Y axis is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811414823.3A CN109322973B (en) | 2018-11-26 | 2018-11-26 | Five-degree-of-freedom magnetic suspension flywheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811414823.3A CN109322973B (en) | 2018-11-26 | 2018-11-26 | Five-degree-of-freedom magnetic suspension flywheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109322973A CN109322973A (en) | 2019-02-12 |
| CN109322973B true CN109322973B (en) | 2020-06-02 |
Family
ID=65258771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811414823.3A Active CN109322973B (en) | 2018-11-26 | 2018-11-26 | Five-degree-of-freedom magnetic suspension flywheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109322973B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112727921B (en) * | 2020-12-23 | 2021-09-14 | 北京航空航天大学 | Super-stable super-static single-shaft rotary table supported by active magnetic suspension bearing |
| CN113323963B (en) | 2021-04-22 | 2022-03-11 | 东南大学 | Magnetic bearing of stator permanent magnet motor with magnetic pole bypass and bias force adjusting method thereof |
| CN113422467B (en) * | 2021-05-13 | 2022-04-26 | 江苏大学 | Ultrathin vehicle-mounted magnetic suspension flywheel battery and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3483436D1 (en) * | 1983-04-01 | 1990-11-29 | Sfim | GYROSCOPIC OR GYROMETRIC DEVICE, IN PARTICULAR ROTARY ACCELERATION METER WITH BENDING SUSPENSION AND ELECTROSTATIC SUSTENTATION. |
| CN1644940A (en) * | 2005-01-27 | 2005-07-27 | 北京航空航天大学 | Low-consumption permanent-magnet offset external rotor radial magnetic bearing |
| CN101922511A (en) * | 2010-08-25 | 2010-12-22 | 江苏大学 | Permanent-magnet bias outer rotor radial AC hybrid magnetic bearing |
| CN104201935A (en) * | 2014-08-06 | 2014-12-10 | 北京航空航天大学 | Four-degrees-of-freedom magnetic suspension flywheel |
| CN104533945A (en) * | 2015-01-05 | 2015-04-22 | 山东大学 | Structure for achieving five-freedom-degree suspension of rotor through axial mixed magnetic bearings |
| CN106050918A (en) * | 2016-06-08 | 2016-10-26 | 淮阴工学院 | Permanent magnet biased five-degree-of-freedom integrated magnetic suspension supporting system |
-
2018
- 2018-11-26 CN CN201811414823.3A patent/CN109322973B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3483436D1 (en) * | 1983-04-01 | 1990-11-29 | Sfim | GYROSCOPIC OR GYROMETRIC DEVICE, IN PARTICULAR ROTARY ACCELERATION METER WITH BENDING SUSPENSION AND ELECTROSTATIC SUSTENTATION. |
| CN1644940A (en) * | 2005-01-27 | 2005-07-27 | 北京航空航天大学 | Low-consumption permanent-magnet offset external rotor radial magnetic bearing |
| CN101922511A (en) * | 2010-08-25 | 2010-12-22 | 江苏大学 | Permanent-magnet bias outer rotor radial AC hybrid magnetic bearing |
| CN104201935A (en) * | 2014-08-06 | 2014-12-10 | 北京航空航天大学 | Four-degrees-of-freedom magnetic suspension flywheel |
| CN104533945A (en) * | 2015-01-05 | 2015-04-22 | 山东大学 | Structure for achieving five-freedom-degree suspension of rotor through axial mixed magnetic bearings |
| CN106050918A (en) * | 2016-06-08 | 2016-10-26 | 淮阴工学院 | Permanent magnet biased five-degree-of-freedom integrated magnetic suspension supporting system |
Non-Patent Citations (3)
| Title |
|---|
| 新型永磁偏置轴向磁轴承的磁力特性;刘虎等;《机械工程学报》;20100430;第46卷(第8期);第167-174页 * |
| 磁悬浮飞轮位移传感器谐波扰动的主动抑制;张激扬等;《宇航学报》;20151130;第36卷(第11期);第1289-1295页 * |
| 磁悬浮飞轮用轴向力偏转永磁偏置;王曦等;《航空学报》;20110430(第4期);第649-662页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109322973A (en) | 2019-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109515755B (en) | Five-freedom-degree single-frame magnetic suspension control moment gyroscope | |
| CN109322973B (en) | Five-degree-of-freedom magnetic suspension flywheel | |
| CN104201935B (en) | A kind of four-degree-of-freedom magnetically levitated flywheel | |
| EP3506463A1 (en) | Flywheel energy storage with permanent magnet, induction, or variable reluctance machine | |
| US20110163622A1 (en) | Combination Radial/Axial Electromagnetic Actuator | |
| Eryong et al. | A novel structure for low-loss radial hybrid magnetic bearing | |
| CN110848253A (en) | Three-degree-of-freedom radial-axial integrated hybrid magnetic bearing | |
| CN106286594B (en) | A kind of double Halbach array spherical shape Lorentz force magnetic bearings | |
| CN101922510B (en) | Inner rotor permanent magnet biased radial magnetic bearing with double permanent magnets | |
| CN109229426B (en) | Five-freedom-degree double-frame magnetic suspension control moment gyroscope | |
| CN101994761B (en) | Double-permanent magnet outer-rotor permanent magnet biased radial magnetic bearing | |
| CN104118579B (en) | A kind of four-degree-of-freedom magnetic suspension control moment gyro of single framework | |
| CN110435931B (en) | High-speed rotor device of magnetic suspension control moment gyroscope | |
| CN109229424B (en) | Multi-freedom-degree spherical electric magnetic suspension momentum wheel | |
| EP3726711A1 (en) | Brushless motor-generator | |
| CN104214216A (en) | Four-degree-of-freedom inner rotor magnetic bearing | |
| US4268095A (en) | Magnetic bearing | |
| CN109268391B (en) | Multi-coil axial magnetic bearing for magnetic suspension stable platform | |
| CN114198403B (en) | Five-degree-of-freedom hybrid magnetic bearing | |
| CN112065856B (en) | Four-pole internal and external double-rotor hybrid magnetic bearing | |
| CN104697509A (en) | Magnetically suspended gyroscope for decoupling of seven-channel magnetic circuits | |
| CN108547867B (en) | Axial self-loop three-degree-of-freedom spherical hybrid magnetic bearing | |
| CN111853059A (en) | Ampere force compensation mechanical CMG and method for actively prolonging service life | |
| CN104121290A (en) | Inner rotor magnetic bearing | |
| CN111810535B (en) | Electromagnetic force compensation mechanical CMG and method for actively prolonging service life |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |