CN116317325A

CN116317325A - Natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor

Info

Publication number: CN116317325A
Application number: CN202310301076.7A
Authority: CN
Inventors: 孔翔; 李铁才; 凌岩
Original assignee: Shenzhen Academy of Aerospace Technology
Current assignee: Shenzhen Academy of Aerospace Technology
Priority date: 2023-03-16
Filing date: 2023-03-16
Publication date: 2023-06-23

Abstract

The invention relates to a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor, which comprises: the stator assembly comprises a stator bracket, iron cores, inner windings and outer windings, wherein the stator bracket is annular, a plurality of iron cores are distributed on the stator bracket, the inner windings and the outer windings are respectively wound at the inner end and the outer end of the iron cores in the radial direction, and the inner windings and the outer windings on each iron core are connected in parallel; the rotor assembly comprises a rotating seat, an inner magnet and an outer magnet, wherein the rotating seat is arranged in a rotating way and comprises an inner supporting part and an outer supporting part; a plurality of inner magnets are distributed on the inner support part and alternately arranged according to N poles and S poles, and an inner air gap with uniform width is formed between the inner magnets and the inner side of the stator assembly in the circumferential direction; a plurality of outer magnets are distributed on the outer support part and alternately arranged according to N poles and S poles, and an outer air gap with uniform width is formed between the outer magnets and the stator assembly in the circumferential direction; the electric potential between the inner magnet and the inner winding is the same as the electric potential between the outer magnet and the outer winding, so that the radial active natural magnetic suspension capability is realized.

Description

Natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor

Technical Field

The invention relates to the field of motors, in particular to a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor.

Background

The attitude control system is an extremely important subsystem of the spacecraft, and the quality of the performance of the control system directly determines the success or failure of the whole spacecraft. With the development of space technology in China, large-sized spacecrafts such as space stations are required to have more and more functions, and meanwhile, higher and higher requirements on pointing precision and attitude stability of the large-sized spacecrafts are also provided. Therefore, the development of a high-performance and high-stability large spacecraft attitude adjustment mechanism is an urgent need.

With the improvement of the requirements of the space missions, the attitude control of the spacecraft not only requires the spacecraft to output large moment, but also realizes wider control bandwidth and higher moment precision and moment resolution. The ideal spacecraft attitude control should use a magnetic levitation technology to realize high-precision and high-moment resolution attitude control without friction and dead zone.

However, the traditional magnetic suspension technology has the disadvantages of large volume, large added mass of the magnetic suspension bearing, complex control circuit of the magnetic suspension bearing, unsatisfactory reliability and difficulty in being adopted in a space system.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor aiming at the defects in the prior art.

The technical scheme adopted for solving the technical problems is as follows: constructing a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor, comprising:

the stator assembly comprises a stator support, iron cores, inner windings and outer windings, wherein the stator support is annular, a plurality of iron cores are distributed on the stator support at intervals along the circumferential direction, the iron cores are centrosymmetric relative to the axis of the stator support, the inner windings and the outer windings are respectively wound at the inner end and the outer end of the iron cores in the radial direction, and the inner windings and the outer windings on each iron core are connected in parallel;

the rotor assembly comprises a rotating seat, an inner magnet and an outer magnet, wherein the rotating seat is arranged in a rotating way, the rotating axis is coaxial with the stator bracket, and the rotating seat comprises an inner supporting part positioned at the inner side of the inner winding and an outer supporting part positioned at the outer side of the outer winding;

the inner support part is provided with a plurality of inner magnets which are symmetrically distributed along the circumferential center, the polarities of the inner magnets are alternately arranged along the arrangement direction according to N poles and S poles, the inner magnets are opposite to the inner side of the stator assembly and are arranged at intervals, and an inner air gap with uniform width is formed in the circumferential direction;

the outer support part is provided with a plurality of outer magnets which are symmetrically distributed along the circumferential center, the polarities of the outer magnets are alternately arranged along the arrangement direction according to N poles and S poles, the outer magnets are opposite to the outer side of the stator assembly and are arranged at intervals, and an outer air gap with uniform width is formed in the circumferential direction;

the potential between the inner magnet and the inner winding is the same as the potential between the outer magnet and the outer winding.

In some embodiments, the inner winding and the outer winding at the inner end and the outer end of each iron core are wound in the same mode, the inner windings are symmetrically distributed along the center of the stator support, and the outer windings are symmetrically distributed along the center of the stator support.

In some embodiments, the inner support portion has a plurality of inner magnets symmetrically distributed along a circumferential center, and the outer support portion has a plurality of outer magnets symmetrically distributed along a circumferential center.

In some embodiments, the inner and outer magnets are the same number and the inner and outer magnets at the same angular position are opposite in polarity, the inner and outer air gaps being the same in width.

In some embodiments, each of the inner magnets is circumferentially arranged to form a closed ring shape, each of the outer magnets is circumferentially arranged to form a closed ring shape, and the number of the cores is greater than the number of the inner magnets and the number of the outer magnets.

In some embodiments, the width of the core in the axial direction is the same as the width of the inner and outer magnets in the axial direction, and the core, inner and outer magnets are aligned in the axial direction.

In some embodiments, the flywheel motor further comprises a drive controller located on an outer ring or an inner ring of the stator frame to detect the rotational speed and current of the motor in real time by detecting the rotation of the rotor assembly.

In some embodiments, the flywheel motor further comprises a support shaft for the rotor assembly to rotate, an auxiliary bearing and an elastic gasket are arranged between the rotating seat and the support shaft, the auxiliary bearing is sleeved outside the support shaft, and the elastic gasket is sleeved outside the auxiliary bearing and matched with the rotating seat.

In some embodiments, the rotor assembly further comprises an annular flywheel disposed on and concentric with the rotating seat.

In some embodiments, the flywheel motor further comprises a housing, the stator assembly, the rotor assembly being located within the housing, the housing being sealed from the outside.

The natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor has the following beneficial effects: the inner winding and the outer winding are connected in parallel, if the inner air gap and the outer air gap are unequal and have deviation, counter potential can be generated in the inner winding and the outer winding if the rotor assembly rotates, one counter potential with a small air gap is large, current can be small, and attractive force between fixed rotation and rotary rotation is small; the counter potential of the air gap with a large side is small, the current can be increased, and the attractive force between the stator and the rotor is increased; therefore, the deviation of the inner air gap and the outer air gap is reduced, and the minimum deviation of the air gap is finally recovered, so that unstable radial attractive force can be overcome, and the radial active natural magnetic suspension capability is realized.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of a cross-sectional structure of a natural electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor in an embodiment of the invention;

FIG. 2 is a schematic view of the position structure of the stator assembly with the inner and outer windings disposed on the stator base;

FIG. 3 is a schematic diagram of the windings of the inner and outer windings;

fig. 4 is a schematic view of the position structure between the inner and outer windings of the stator assembly and the inner and outer magnets of the rotor assembly.

Detailed Description

For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1 to 4, the natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor in a preferred embodiment of the present invention comprises a stator assembly 1, a rotor assembly 2 and a housing 3, wherein the stator assembly 1 and the rotor assembly 2 are positioned in the housing 3, the interior of the housing 3 can be isolated and sealed from the outside, the flywheel motor can work in a vacuum environment, and of course, the flywheel motor can also work in a non-vacuum environment, and the interior of the housing 3 can be vacuum or non-vacuum. The housing 3 is provided with a vertically arranged supporting shaft 31, and the rotor assembly 2 is in running fit with the supporting shaft 31, so that the rotor assembly 2 can rotate relatively to the stator assembly 1. In the present embodiment, the rotor assembly 2 and the stator assembly 1 are respectively in rotational engagement with different height positions of the support shaft 31.

The stator assembly 1 comprises a stator bracket 11, iron cores 12, an inner winding 13 and an outer winding 14, wherein the stator bracket 11 is annular and horizontally arranged in the shell 3, a plurality of iron cores 12 are circumferentially distributed on the stator bracket 11 at intervals, each iron core 12 is symmetrical relative to the center of the axis of the stator bracket 11, the inner winding 13 and the outer winding 14 are respectively wound at the inner end and the outer end of the iron core 12 in the radial direction, and the inner winding 13 and the outer winding 14 on each iron core 12 are connected in parallel.

The rotor assembly 2 includes a rotating base 21, an inner magnet 22, and an outer magnet 23, the rotating base 21 is rotatably disposed on a support shaft 31, and the axis of rotation is coaxial with the stator frame 11, and the rotating base 21 includes an inner support portion 211 located inside the inner winding 13 and an outer support portion 212 located outside the outer winding 14.

A plurality of inner magnets 22 are symmetrically distributed on the inner support 211 along the circumferential center, the polarities of the inner magnets 22 are alternately arranged along the arrangement direction according to the N poles and the S poles, the inner magnets 22 are opposite to the inner side of the stator assembly 1 and are arranged at intervals, and an inner air gap with uniform width is formed in the circumferential direction.

A plurality of outer magnets 23 are symmetrically distributed on the outer support portion 212 along the circumferential center, the polarities of the outer magnets 23 are alternately arranged along the arrangement direction according to the N poles and the S poles, the outer magnets 23 are opposite to the outer side of the stator assembly 1 and are arranged at intervals, and an outer air gap with uniform width is formed in the circumferential direction.

The rotor assembly 2 further comprises an annular flywheel 24, the flywheel 24 being arranged on the rotating seat 21 and concentric with the rotating seat 21, rotating with the rotating seat 21. Further, the materials of the housing 3, the stator bracket 11 and the flywheel 24 of the motor can be: metal or non-metal composite materials.

The potential between the inner magnet 22 and the inner winding 13 is the same as the potential between the outer magnet 23 and the outer winding 14, the inner winding 13 and the outer winding 14 are connected in parallel, if the inner air gap and the outer air gap are unequal and have deviation, counter-potential is generated in the inner winding 13 and the outer winding 14 if the rotor assembly 2 rotates, one counter-potential with a small air gap is large, current is small, and attractive force between fixed rotation and rotation is small; the counter potential of the air gap with a large side is small, the current can be increased, and the attractive force between the stator and the rotor is increased; therefore, the deviation of the inner air gap and the outer air gap is reduced, and the minimum deviation of the air gap is finally recovered, so that unstable radial attractive force can be overcome, and the radial active natural magnetic suspension capability is realized.

Further, in the present embodiment, the outer ring of the stator support 11 is provided with an annular stator seat 111 protruding along the axial direction, the iron core 12 is embedded on the stator seat 111, and both inner and outer sides of the stator seat 111 are exposed, so that the inner and outer ends of the iron core 12 are wound with coils respectively. In other embodiments, the inner and outer sides of the stator base 111 may also form a receiving slot for winding the coil. Preferably, the inner winding 13 and the outer winding 14 at the inner and outer ends of each iron core 12 are wound in the same manner, including winding thickness and winding manner, an attractive force with the stator assembly 1 which is balanced inside and outside can be generated, so that unstable axial attractive force can be overcome.

The inner support portion 211 has a plurality of inner magnets 22 symmetrically distributed along the circumferential center, and alternately arranged according to the N-pole and the S-pole, and the outer support portion 212 has a plurality of outer magnets 23 symmetrically distributed along the circumferential center, and alternately arranged according to the N-pole and the S-pole. The material of the rotating seat 21 may be: and the metal magnetic conduction material is used as back iron of the upper magnet and the lower magnet to become a part of the magnetic circuit.

As shown in fig. 2 to 4, in the present embodiment, the electrical interface of the flywheel motor is located at the bottom of the side wall of the housing 3, and the inner winding 13 and the outer winding 14 of the flywheel motor can be led out from the control cable through the electrical interface. The number of poles 2 p=10 of the inner magnet 22 and the outer magnet 23 of the flywheel motor, the number of stator poles, i.e. the number of stator virtual slots z=12, and the number of poles Z/m=12/3=4 of each phase are even numbers.

Preferably, the number of the inner magnets 22 and the outer magnets 23 is the same, and the polarities of the inner magnets 22 and the outer magnets 23 at the same angle position are opposite, and the widths of the inner air gap and the outer air gap are the same, so that the magnetic force of the inner side and the outer side is balanced.

The outer magnet 23 located on the inner side wall of the outer support portion 212 and the inner magnet 22 located on the outer side wall of the inner support portion 211 respectively have 2p=10 permanent magnet poles, the poles are uniformly distributed along the inner and outer circle sides and N, S are alternately arranged, and the pole faces of the poles of the inner magnet 22 and the pole faces of the outer magnet 23 of the double-rotor slotless permanent magnet motor serving as radial magnetic circuits are aligned inside and outside and the N, S are opposite in polarity. The magnetic circuit of the double-rotor slotless permanent magnet motor of the radial magnetic circuit forms a closed magnetic loop through the iron core 12, the winding thickness, the inner air gap, the outer air gap, the inner magnet 22, the outer magnet 23 and the rotor bracket, and the stator magnetic field and the rotor magnetic field interact to generate moment and natural electromagnetic magnetic suspension effect.

The inner magnets 22 are circumferentially arranged to form a closed ring shape, the outer magnets 23 are circumferentially arranged to form a closed ring shape, and the number of the cores 12 is greater than the number of the inner magnets 22 and the number of the outer magnets 23. In some embodiments, core 12 is formed from coiled sheets of silicon steel, and the material may be: and one of thin silicon steel sheet, microcrystalline silicon and SMC composite soft magnetic material. In addition, the materials of the inner magnet 22 and the outer magnet 23 may be: sintered NdFeB, bonded NdFeB materials or other high magnetic energy product permanent magnets.

The width of the core 12 in the axial direction is the same as the widths of the inner magnet 22 and the outer magnet 23 in the axial direction, and the core 12, the inner magnet 22, and the outer magnet 23 are aligned in the axial direction. Therefore, axial attractive force exists between the stator and the rotor, and the axial attractive force forms axial passive magnetic suspension capability capable of being axially positioned; when the inner air gap and the outer air gap are equal, the direction of the inner air gap and the outer air gap are opposite, the size of the inner air gap and the outer air gap are equal, and when the inner air gap and the outer air gap are not equal, the rotor is sucked to the side with smaller inner air gap and outer air gap, and the unstable radial attractive force is overcome.

Specifically, in the present embodiment, z=12 pole windings of the stator are uniformly distributed along the inner and outer circular side walls of the stator frame 11, the outer supporting portions 212 are provided with the outer windings 14, and the inner supporting portions 211 are provided with the inner windings 13. The flywheel motor is a double-rotor radial magnetic circuit motor, and the motor is a slotless motor with fractional slot concentrated windings, and in the embodiment: 2 p=10 poles, Z=12 virtual grooves, zero cogging torque, high efficiency, high power density and high reliability. The iron core 12 is the simplest sheet of tooth slots; to accommodate different operating speeds, other tooth numbers and virtual slot combinations may be used, such as: 2 p=14 poles, z=12 slots, 2 p=4 poles, z=6 slots, 2 p=16 poles, z=18 slots, and so on.

Specifically, in the present embodiment, z=12 pole windings of the stator are provided on the inner and outer circular side walls of the core 12, the outer winding 14 is provided on the outer end of the core 12, and the inner winding 13 is provided on the inner end of the core 12; z=12 outer winding 14 elements on the outer circumferential side wall of the stator base 111, each element may be wound into an arc ring winding element by using a self-adhesive enameled wire, each element has two ends, the winding and manufacturing process of each element are identical, and 12 outer winding 14 elements are uniformly distributed and arranged along the outer circumferential side wall according to serial numbers, wherein odd elements: 1. the leading-out wires of the head and tail ports of the

elements

3, 5, 7, 9 and 11 are consistent, and the even elements: 2. and the leading-out wires of the head and tail ports of the

elements

4, 6, 8, 10 and 12 are turned 180 degrees relative to the leading-out wires of the head and tail ports of the odd elements, and the three-phase windings are further constructed through the ports of the connecting elements. The number Z/m=12/3=4 of each phase is even, the U-phase winding has 1, 2, 7, 8 four element windings, the V-phase winding has 3, 4, 9, 10 four element windings, the W-phase winding has 5, 6, 11, 12 four element windings, the winding method of all windings is the same, the head ends of the U-phase windings are connected in parallel and become U-phase ports, the tail ends are connected in parallel and become U-phase points O, thus, the U-phase windings form two pairs of windings which are symmetrically distributed at 180 degrees and are 1, 7, 2 and 8, the mechanical and electromagnetic structures are symmetrical at 180 degrees, and when the motor rotates and the radial air gap is uniform and equal, the counter-potential in each pair of 180-degree symmetrical windings is necessarily equal.

Similarly, the head ends of the V-phase windings are connected in parallel to form V-phase ports, and the tail ends of the V-phase windings are connected in parallel to form V-phase points O; similarly, the head end of the W-phase winding is connected in parallel to form a W-phase port, the tail end of the W-phase winding is connected in parallel to form a W-phase point O, so that a special outer winding 14UVW three-phase winding is formed, and 6 pairs of windings distributed symmetrically at 180 degrees are formed; when the motor rotates and radial deviation exists due to unequal radial air gaps, the magnet is attracted to the side with small air gaps, counter electromotive force of the pole winding on the side with small air gaps becomes larger, current becomes smaller, counter electromotive force of the pole winding on the side with large air gaps becomes smaller, three-phase current becomes larger, radial pulling force on the side with large air gaps becomes larger, radial pulling force on the side with small air gaps becomes smaller, the radial air gaps are inevitably changed in the direction with smaller deviation, and the deviation of the air gaps is stabilized, so that after the motor rotates, Z=12 winding elements on the outer circular side wall of the stator base 111 can generate and have radial natural magnetic suspension capability, and each conductor of the motor can naturally and actively generate centering restoration capability to enable the radial deviation to be smaller when the radial deviation exists on a rotor.

Similarly, z=12 inner winding 13 elements on the inner circular sidewall of the stator base 111, each element may be wound into an arc ring winding element by using a self-adhesive enameled wire, each inner winding 13 element has two ends, the winding and manufacturing process of each inner winding 13 element are identical, and 12 inner winding 13 elements are uniformly distributed and arranged along the outer circular sidewall according to serial numbers, wherein odd elements: 1. 3, 5, 7, 9, 11, the leading-out lines of the head and tail ports of the components of the number 13 of the inner windings are consistent, and the components with even numbers are: 2. and the leading-out wires of the head and tail ports of the

elements

4, 6, 8, 10 and 12 are turned 180 degrees relative to the leading-out wires of the head and tail ports of the odd elements, and the three-phase windings are further constructed through the ports of the connecting elements. The number Z/m=12/3=4 of each phase is even, the U-phase winding has 1, 2, 7, 8 four inner winding 13 elements, the V-phase winding has 3, 4, 9, 10 four element windings, the W-phase winding has 5, 6, 11, 12 four element windings, the winding method of all inner windings 13 is the same, the head ends of the U-phase windings are connected in parallel and become U-phase ports, the tail ends are connected in parallel and become U-phase points O, so the U-phase windings form two pairs of windings which are symmetrically distributed at 180 degrees and are 1, 7, 2 and 8, the mechanical and electromagnetic structures are symmetrical at 180 degrees, and when the motor rotates and the radial air gap is uniform, the counter potential in each pair of 180-degree symmetrical windings is necessarily equal.

Similarly, the head ends of the V-phase windings are connected in parallel to form V-phase ports, and the tail ends of the V-phase windings are connected in parallel to form V-phase points O; similarly, the head end of the W-phase winding is connected in parallel to form a W-phase port, the tail end of the W-phase winding is connected in parallel to form a W-phase point O, so that a special inner winding 13UVW three-phase winding is formed, and 6 pairs of windings distributed symmetrically at 180 degrees are formed; when the motor rotates and radial deviation exists due to unequal radial air gaps, the magnet is attracted to the side with small air gaps, counter electromotive force of the pole winding on the side with small air gaps becomes larger, current becomes smaller, counter electromotive force of the pole winding on the side with large air gaps becomes smaller, three-phase current becomes larger, radial pulling force on the side with large air gaps becomes larger, radial pulling force on the side with small air gaps becomes smaller, the radial air gaps are inevitably changed in the direction with smaller deviation, and the air gap deviation is stabilized, so that after the motor rotates, Z=12 winding elements on the inner circular side wall of the stator base 111 can generate and have radial natural magnetic suspension capability, and each conductor of the motor can naturally and actively generate centering restoration capability to enable the radial deviation to be smaller when the radial deviation exists on a rotor.

The invention connects two special three-phase windings of the outer winding 14 and the inner winding 13 on the inner and outer side walls of the stator base 111 in parallel, 12 pairs of the windings are arranged on the inner and outer ends of the iron core 12, the inner winding 13 and the outer winding 14 are connected in parallel, at this time, if the inner air gap and the outer air gap are unequal and have deviation, if the magnet rotates, counter potential can be generated in the inner winding 13 and the outer winding 14, one counter potential with a small air gap is large, current can be reduced, and attractive force between the stator component 1 and the rotor component 2 is reduced; the counter potential of the air gap with the larger side is small, the current can be increased, and the attractive force between the stator assembly 1 and the rotor assembly 2 is increased; therefore, the deviation of the inner air gap and the outer air gap is reduced, and the minimum deviation of the air gap is finally recovered; the radial active natural magnetic levitation capability of the invention is enhanced, and larger radial natural electromagnetic magnetic levitation force can be obtained.

The flywheel motor further comprises a drive controller 4, which contains a drive and control circuit and has only three wires to the outside, for example: power+, power ground, USB, high reliability. The flywheel 24 can operate independently, can also be connected with an external system control system through a three-wire interface, and can read parameters such as voltage, current, rotor rotating speed, flywheel 24 momentum, moment and the like through a USB serial port interface, and the upper control system is used.

In this embodiment, the driving controller 4 is located at the outer ring or the inner ring of the stator frame 11 to detect the rotation speed and current of the motor in real time by detecting the rotation of the rotor assembly 2. Specifically, the drive controller 4 may be capable of actively detecting the rotation speed and the current of the motor in real time, and estimating the change of the momentum through the rotation speed, estimating the moment of the motor through the rotation speed and the current, and estimating the change of the power, the moment and the vibration performance of the flywheel motor through the transient change of the rotation speed and the current; the control accuracy is high because the flywheel 24 rotates in a vacuum and friction-free environment. The invention does not need any additional sensor and controller, and naturally comprises: the invention has the advantages of ensuring the reliable suspension of the flywheel motor and having excellent synchronous motor driving and torque control functions.

When the natural magnetic suspension flywheel motor is surrounded by the outer vacuum cavity, the vacuum cavity is positioned outside the flywheel motor, and the flywheel motor is sealed in the vacuum cavity. The rotor assembly 2 achieves the aim of attitude control by utilizing the controllable change of momentum. In order to limit the air gap deviation between the stator assembly 1 and the rotor assembly 2 not to be too large and to improve the design reliability, an auxiliary bearing 311 and an elastic washer 312 are arranged between the rotating seat 21 and the supporting shaft 31, the auxiliary bearing 311 is sleeved outside the supporting shaft 31, and the elastic washer 312 is sleeved outside the auxiliary bearing 311 and is matched with the rotating seat 21.

Preferably, the flywheel motor uses a pair of additional auxiliary bearings 311 with bearing gaps of 0.1-0.5 mm, and an elastic washer 312 can be added on the outer ring of the auxiliary bearings 311; the auxiliary bearing 311 may be smaller in size than conventional bearings in order to reduce bearing friction: the elastic washer 312 of the outer ring of the auxiliary bearing 311 can provide mechanical buffering to reduce vibration and noise of the motor; the axial center of the motor output shaft can be naturally kept stable under the action of natural electromagnetic magnetic suspension restoring force; at this time, although the auxiliary bearing 311 is provided, the natural electromagnetic magnetic suspension can still enable the motor rotor to rotate in a state that the energy loss tends to be minimum, and at this time, the vibration and the noise are minimum, like the natural rotation of the earth and the sun in space.

When the motor rotor does not rotate, the counter potential is zero, so that the motor rotor does not have static electromagnetic magnetic suspension capability, and only has radial passive magnetic suspension capability, and the auxiliary bearing 311 can be utilized to play a role in auxiliary radial support: because the rotating speed of the motor is zero, the auxiliary bearing 311 is very small in stress, and once the motor is started, the radial electromagnetic magnetic suspension of the motor immediately acts, so that the motor has the functions of dynamic radial natural electromagnetic magnetic suspension, axial dynamic natural electromagnetic magnetic suspension and passive radial magnetic suspension.

The invention provides a technology for controlling flywheel 24 by natural magnetic suspension radial magnetic circuit gesture, which utilizes natural electromagnetic magnetic suspension to realize electromagnetic support of a lossless flywheel 24, and utilizes current in a motor stator winding to generate effective radial electromagnetic magnetic suspension and axial passive magnetic suspension when a flywheel motor rotates.

The invention does not need any additional sensor and controller, and naturally comprises: the invention has the advantages of ensuring the reliable suspension of the flywheel motor, along with excellent synchronous motor driving and torque control functions. The invention adopts a radial magnetic circuit gearless motor, has the characteristic of zero positioning moment, and is matched with a magnetic suspension technology to truly realize the high-precision and high-moment resolution gesture control without friction and dead zone.

The present invention has the advantages of simplicity and reliability, which are all of principle, namely the naturally owned advantages, simplicity and reliability.

It will be appreciated that the above technical features may be used in any combination without limitation.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims

1. A natural electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor, characterized by comprising:

the stator assembly (1) comprises a stator support (11), iron cores (12), inner windings (13) and outer windings (14), wherein the stator support (11) is annular, a plurality of the iron cores (12) are circumferentially distributed on the stator support (11) at intervals, each iron core (12) is symmetrical relative to the center of the axis of the stator support (11), the inner windings (13) and the outer windings (14) are respectively wound at the inner end and the outer end of the iron cores (12) in the radial direction, and the inner windings (13) and the outer windings (14) on each iron core (12) are connected in parallel;

the rotor assembly (2) comprises a rotating seat (21), an inner magnet (22) and an outer magnet (23), wherein the rotating seat (21) is rotatably arranged, the rotating axis is coaxial with the stator bracket (11), and the rotating seat (21) comprises an inner supporting part (211) positioned at the inner side of the inner winding (13) and an outer supporting part (212) positioned at the outer side of the outer winding (14);

a plurality of inner magnets (22) are symmetrically distributed on the inner support part (211) along the circumferential center, the polarities of the inner magnets (22) are alternately arranged along the arrangement direction according to N poles and S poles, the inner magnets (22) are opposite to the inner side of the stator assembly (1) and are arranged at intervals, and an inner air gap with uniform width is formed in the circumferential direction;

a plurality of outer magnets (23) are symmetrically distributed on the outer support part (212) along the circumferential center, the polarities of the outer magnets (23) are alternately arranged along the arrangement direction according to N poles and S poles, the outer magnets (23) are opposite to the outer side of the stator assembly (1) and are arranged at intervals, and an outer air gap with uniform width is formed in the circumferential direction;

the potential between the inner magnet (22) and the inner winding (13) is the same as the potential between the outer magnet (23) and the outer winding (14).

2. A natural electromagnetic magnetic levitation radial magnetic path gesture control flywheel motor according to claim 1, wherein the inner winding (13) and the outer winding (14) at the inner and outer ends of each iron core (12) are wound in the same manner, the inner windings (13) are symmetrically distributed along the center of the stator support (11), and the outer windings (14) are symmetrically distributed along the center of the stator support (11).

3. A natural electromagnetic magnetic levitation radial magnetic path gesture control flywheel motor according to claim 1, characterized in that the outer side of the inner support portion (211) is provided with a plurality of inner magnets (22) symmetrically distributed along the circumferential center, and the inner side of the outer support portion (212) is provided with a plurality of outer magnets (23) symmetrically distributed along the circumferential center.

4. A natural electromagnetic magnetic levitation radial magnetic path gesture control flywheel motor according to claim 3, characterized in that the number of the inner magnet (22) and the outer magnet (23) is the same, and the polarities of the inner magnet (22) and the outer magnet (23) at the same angle position are opposite, and the widths of the inner air gap and the outer air gap are the same.

5. A natural electromagnetic maglev radial magnetic circuit-posture-control flywheel motor according to claim 4, characterized in that each of the inner magnets (22) is circumferentially arranged to form a closed ring shape, each of the outer magnets (23) is circumferentially arranged to form a closed ring shape, and the number of the cores (12) is larger than the number of the inner magnets (22) and the number of the outer magnets (23).

6. A natural electromagnetic maglev radial magnetic path attitude control flywheel motor according to any of claims 1-5, characterized in that the width of the core (12) in the axial direction is the same as the width of the inner magnet (22), outer magnet (23) in the axial direction, and the core (12), inner magnet (22), outer magnet (23) are aligned in the axial direction.

7. A natural electromagnetic maglev radial magnetic circuit attitude control flywheel motor according to any of claims 1-5 further comprising a drive controller (4), the drive controller (4) being located on the outer or inner ring of the stator frame (11) to detect the rotational speed, current of the motor in real time by detecting the rotation of the rotor assembly (2).

8. A natural electromagnetic magnetic levitation radial magnetic path attitude control flywheel motor according to any one of claims 1 to 5, further comprising a support shaft (31) for the rotor assembly (2) to rotate, wherein an auxiliary bearing (311) and an elastic washer (312) are arranged between the rotating base (21) and the support shaft (31), the auxiliary bearing (311) is sleeved outside the support shaft (31), and the elastic washer (312) is sleeved outside the auxiliary bearing (311) and is matched with the rotating base (21).

9. A natural electromagnetic maglev radial magnetic circuit attitude control flywheel motor as defined in any of claims 1-5, characterized in that the rotor assembly (2) further comprises an annular flywheel (24), the flywheel (24) being disposed on the rotating seat (21) and concentric with the rotating seat (21).

10. A natural electromagnetic maglev radial magnetic circuit attitude control flywheel motor as claimed in any of claims 1-5 further comprising a housing (3), the stator assembly (1), rotor assembly (2) being located within the housing (3), the interior of the housing (3) being sealed from the exterior.