CN1330955C - High-precise uniaxial magnetic-levitation revolving table - Google Patents

Abstract

The present invention relates to a high precision single shaft magnetic suspension rotary table which is composed of a torque motor, a lower protection bearing, a lower radial /axial integration displacement sensor, a lower radial magnetic suspension bearing, a lower bottom seat, a lower axial magnetic suspension bearing, a core shaft, an upper axial magnetic suspension bearing, an upper radial magnetic suspension bearing, an upper radial /axial integration displacement sensor, an upper bottom seat, an upper protection bearing, an angular position encoder and a working table, wherein the rotor part of the torque motor, the rotor part of the lower radial magnetic suspension bearing, the rotor part of the lower axial magnetic suspension bearing, the core shaft, the rotor part of the upper axial magnetic suspension bearing, the rotor part of the upper radial magnetic suspension bearing, the rotary part of the angular position encoder and the working table are rotary parts, and the rest are stationary parts. A stator and a rotor are in stable suspension in the way of not mechanically contacted through a radial magnetic suspension bearing and an axial suspension bearing. The present invention obviously reduces friction torque, improves control precision and system safety, and reduces the volume, the weight and the noise of a whole rotary table system.

Description

Single axis magnetic levitation turntable

technical field

The invention relates to a single-axis magnetic levitation turntable, which can be used for dynamic simulation of spacecraft and high-precision testing of the performance of components such as spacecraft actuators, and can also be used for calibration of inertial navigation systems and establishment of corresponding error models.

Background technique

Both the spacecraft dynamics simulation turntable and the spacecraft actuator test turntable (hereinafter collectively referred to as the turntable) are high-precision equipment, requiring small frictional torque and high test accuracy. Its simulation and test accuracy directly affect the control accuracy and stability of the spacecraft's actuators on the attitude of the spacecraft. At present, the turntable is generally supported by air static pressure bearings and mechanical bearings. Since the structural design of the air static pressure bearings is very complicated, the processing and manufacturing precision requirements are very high, and a set of air source devices (including air compressors, air storage tanks, Dryer, filter, etc.), which leads to the need for professionals to maintain the aerostatic bearing, and because of the high-pressure gas, there are potential safety hazards, large vibration and noise, large space occupation, high maintenance costs, and difficult transportation. However, for the turntable supported by mechanical bearings, there are disadvantages such as large mechanical friction torque, serious nonlinearity, complicated control system, and low control precision.

Contents of the invention

The technical problem of the present invention is: to overcome the deficiencies of the prior art, apply the magnetic levitation technology to the turntable system, and provide a single-axis magnetic levitation turntable, which can be used for spacecraft dynamics simulation and high performance of spacecraft actuators and other components. Accuracy testing can also be used to calibrate the inertial navigation system and establish a corresponding error model. The test equipment has the advantages of no mechanical contact, low friction torque, safety, and high precision.

The technical solution of the present invention is a single-axis magnetic levitation turntable, which is characterized in that it is mainly composed of a torque motor, a lower protective bearing, a lower radial/axial integrated displacement sensor, a lower radial magnetic levitation bearing, a lower base, and a lower axial Magnetic suspension bearing, mandrel, upper axial magnetic suspension bearing, upper radial magnetic suspension bearing, upper radial/axial integrated displacement sensor, upper base, upper protective bearing, angular position encoder and workbench, in which the rotor of the torque motor part, the rotor part of the lower radial magnetic bearing, the rotor part of the lower axial magnetic bearing, the mandrel, the rotor part of the upper axial magnetic bearing, the rotor part of the upper radial magnetic bearing, the rotating part of the angular position encoder and the working The table is the rotating part of the turntable, and the rest are the stationary parts of the turntable. The radial and axial magnetic suspension bearings are used to achieve non-mechanical contact and stable suspension between the stator and the rotor; the upper axial magnetic suspension bearing and the lower axial magnetic suspension bearing are located on the single shaft The middle part of the magnetic levitation turntable, its static part is connected with the upper base and the lower base respectively, and outwards are the upper radial magnetic levitation bearing and the lower radial magnetic levitation bearing, the upper radial/axial integrated displacement sensor and the lower radial/axial Axial integrated displacement sensor, upper and lower protective bearings, workbench and torque motor, angular position encoder is installed under the workbench; the static parts of the upper radial magnetic suspension bearing and the lower radial magnetic suspension The base and the lower base are connected together, and its rotor part is connected together with the mandrel.

The principle of the above scheme is: the single-axis magnetic levitation turntable maintains the radial clearance between the rotating part and the stationary part of the turntable system and the radial clearance between the stator and rotor of the torque motor through the upper radial magnetic suspension bearing and the lower radial magnetic suspension bearing. The magnetic levitation bearing and the lower axial magnetic levitation bearing maintain the axial alignment of the rotating part of the turntable system with the stationary part of the turntable system, while maintaining the axial alignment of the stator and rotor of the torque motor. When the rotating part of the turntable system is disturbed by a certain factor, and the radial or axial clearance of the rotating part of the turntable system changes, the upper radial/axial integrated displacement sensor and the lower radial/axial integrated displacement sensor The sensor will detect the change of the radial or axial gap in time, and send a detection signal to the external controller. The external controller increases or decreases the upper radial magnetic bearing and the lower radial magnetic bearing, or the upper axial magnetic bearing and the lower The current in the electromagnetic coil of the axial magnetic bearing increases or decreases the magnetic force of the upper radial magnetic bearing and the lower radial magnetic bearing, or the upper axial magnetic bearing and the lower axial magnetic bearing, thereby maintaining the stationary part of the turntable system The radial and axial gaps with the rotating part are uniform, eliminating the influence of interference and maintaining the normal and stable operation of the turntable system.

Compared with the prior art, the present invention has the advantages that: due to the adoption of the magnetic suspension bearing technology, the present invention eliminates the friction torque of the mechanical bearing, improves the control accuracy, reduces the volume and vibration noise of the turntable system, and improves the system performance. reliability, security and maintainability.

Description of drawings

Fig. 1 is a schematic structural view of a single-axis magnetic levitation turntable according to the present invention;

Fig. 2 is the cross-sectional view of the permanent magnet bias active type external magnetic steel radial magnetic bearing of the present invention;

3 is a sectional view of the permanent magnet bias active inner magnetic steel radial magnetic bearing according to the present invention;

Fig. 4 is a sectional view of the radial electromagnetic bearing of the present invention;

Fig. 5 is a sectional view of the axial magnetic bearing according to the present invention;

6 is a cross-sectional view of the permanent magnet bias active external magnetic steel axial magnetic bearing according to the present invention;

Fig. 7 is a cross-sectional view of the permanent magnet bias active inner magnetic steel axial magnetic bearing according to the present invention;

Fig. 8 is a sectional view of the radial/axial integrated displacement sensor according to the present invention;

Fig. 9 is an axial sectional view of a torque motor according to the present invention;

Fig. 10 is an axial sectional view of the protection bearing configuration scheme of the present invention.

Detailed ways

As shown in Figure 1, the present invention mainly consists of a torque motor 1, a lower protective bearing 2, a lower radial/axial integrated displacement sensor 3, a lower radial magnetic suspension bearing 4, a lower base 5, a lower axial magnetic suspension bearing 6, a core Shaft 7, upper axial magnetic suspension bearing 8, upper radial magnetic suspension bearing 9, upper radial/axial integrated displacement sensor 10, upper base 11, upper protective bearing 12, angular position encoder 13 and workbench 14. Wherein the rotor portion of the torque motor 1, the rotor portion of the lower radial magnetic suspension bearing 4, the rotor portion of the lower axial magnetic suspension bearing 6, the mandrel 7, the rotor portion of the upper axial magnetic suspension bearing 8, and the rotor of the upper radial magnetic suspension bearing 9 part, the rotating part of the angular position encoder 13 and the worktable 14 are rotating parts, and the rest are stationary parts. The radial magnetic suspension bearing and the axial magnetic suspension bearing are used to realize non-mechanical contact and stable suspension between the stator and the rotor; the upper axial magnetic suspension bearing 8 and the lower axial magnetic suspension bearing 6 are located in the middle of the single-axis magnetic suspension turntable, and their static parts are respectively connected with the upper base 11 and the lower base 5, and outwardly there are the upper radial magnetic suspension bearing 9 and the lower radial magnetic suspension bearing 4, Its static part is connected with the upper base 11 and the lower base 5 respectively, and its rotating part is connected with the mandrel 7; the upper protective bearing 12 and the lower protective bearing 2 are respectively located at the ends of the mandrel 7, and the upper protective bearing 12 Between the upper radial magnetic suspension bearing 9 is the upper radial/axial integrated displacement sensor 10, between the lower protective bearing 2 and the lower radial magnetic suspension bearing 4 is the lower radial/axial integrated displacement sensor 3, and the torque motor 1 is at the bottom of the turntable system, and the workbench 14 is at the top of the turntable system. An angular position encoder 13 is installed under the workbench. If necessary, a conductive ring can be installed at the bottom of the single-axis magnetic levitation turntable for signal and energy transmission. .

The angular position encoder 13 described in FIG. 1 may be a photoelectric encoder or a resolver.

The upper radial magnetic suspension bearing 9 and the lower radial magnetic suspension bearing 4 of the present invention are non-mechanical contact bearings, which can be symmetrical structures with equal magnetic forces or asymmetric structures with unequal magnetic forces. It can be a permanent magnetic bias, electromagnetically controlled active magnetic suspension bearing, such as the permanent magnetic bias active outer magnetic steel radial magnetic bearing shown in Figure 2, and the permanent magnetic bias active inner magnetic steel shown in Figure 3 Radial magnetic bearing; it can also be a magnetic suspension bearing with pure electric excitation, such as the active radial magnetic bearing shown in Figure 4, or it can be a passive magnetic suspension bearing with only permanent magnets.

In the permanent magnetic bias active external magnetic steel radial magnetic bearing described in Figure 2, it mainly consists of a stator core 41, an external magnetic ring 42, a magnetic isolation ring 43, an excitation coil 44, a permanent magnet 45, and a rotor core 46 , Inner magnetically permeable ring 47 and magnetic air gap 48, wherein the rotor core 46 and inner magnetically permeable ring 47 are rotating parts, and the rest are stationary parts.

In the permanent magnet bias active internal magnetic steel radial magnetic bearing described in Figure 3, it is mainly composed of a stator core 41', an outer magnetic ring 42', a magnetic isolation ring 43', an excitation coil 44', and a rotor core 45. ', inner magnetic ring 46', permanent magnet 47' and magnetic air gap 48'. The rotor core 45', the inner magnetic ring 46' and the permanent magnet 47' are rotating parts, and the rest are stationary parts.

In the radial electromagnetic bearing described in Figure 4, it is mainly composed of a stator core 41", an excitation coil 42", a magnetic air gap 44' and a rotor core 43", wherein the rotor core 43" is a rotating part, and the rest are stationary parts .

Both the upper axial magnetic suspension bearing 8 and the lower axial magnetic suspension bearing 6 of the present invention are non-mechanical contact bearings, which can be magnetic bearings with pure electric excitation, such as the axial electromagnetic bearings shown in Figure 5; they can also be permanent magnetic bias Electromagnetically controlled axial magnetic bearings, such as the permanent magnetic bias active outer magnetic steel axial magnetic bearing shown in Figure 6, and the permanent magnetic bias active inner magnetic steel axial magnetic bearing shown in Figure 7; it can also be Passive magnetic bearings.

In the axial electromagnetic bearing shown in Fig. 5, it is mainly composed of an excitation coil 83, a bearing body 84, a magnetic air gap 82 and a rotor body 81, wherein the rotor body 81 is a rotating part and the rest are stationary parts.

In the permanent magnetic bias active external magnetic steel axial bearing described in Figure 6, it mainly consists of a magnetic permeable ring 86', a magnetic air gap 82', a permanent magnet 85', an exciting coil 83', a bearing body 84' and The rotor body 81' is composed of rotor body 81', wherein the rotor body 81' is a rotating part, and the rest are stationary parts.

In the permanent magnet bias active internal magnetic steel axial bearing described in Figure 7, it mainly consists of a magnetic permeable ring 86", a magnetic air gap 82", a permanent magnet 85", an exciting coil 83", a bearing body 84" and The rotor body 81" is composed of the rotor body 81", wherein the rotor body 81" is a rotating part, and the rest are stationary parts.

The upper radial/axial integrated displacement sensor 10 and the lower radial/axial integrated displacement sensor 3 of the present invention are non-contact displacement sensors used as the upper radial magnetic suspension bearing 9, the lower radial magnetic suspension bearing 4, The displacement sensors of the upper axial magnetic suspension bearing 8 and the lower axial magnetic suspension bearing 6 may be eddy current sensors as shown in FIG. 8 or capacitive displacement sensors.

In the radial/axial integrated displacement sensor described in Fig. 8, it is mainly made up of two axial displacement sensor probes 35,36 and four radial displacement sensor probes 31,32,33,34, wherein 4 Two radial probes 31-34 respectively detect the displacement signals in the X and Y directions perpendicular to each other, and the other two axial probes 35 and 36 detect the displacement signals in the Z direction, and the errors of the axial detection signals are eliminated through mathematical operations. The amplifier and the probe are integrated into one body, which can detect the displacement signals in the three orthogonal and vertical directions, detect the change of the radial or axial gap in time, and send the detection signal to the external controller.

The torque motor 1 of the present invention is the driving part of the single-axis magnetic levitation turntable, and may be a permanent magnet brushless DC torque motor as shown in FIG. 9 , or a permanent magnet synchronous torque motor.

In the torque motor described in Figure 9, it is mainly composed of stator core 87, stator coil 89, permanent magnet 91, rotor core 93 and magnetic air gap 95, wherein stator core 87 and stator coil 89 are stationary parts, and the rest are rotating part.

The upper protection bearing 12 and the lower protection bearing 2 of the present invention are protection devices for the upper radial magnetic suspension bearing 9, the lower radial magnetic suspension bearing 4, the upper axial magnetic suspension bearing 8, the lower axial magnetic suspension bearing 6 and the torque motor 1, and the upper The radial magnetic suspension bearing 9, the lower radial magnetic suspension bearing 4, the upper axial magnetic suspension bearing 8 and the lower axial magnetic suspension bearing 6 play a protective role during the commissioning process, and can be arranged in pairs of angular contact ball bearings as shown in Figure 10 It can also be a configuration scheme of deep groove ball bearings used in pairs, or a combination of the two configuration schemes.

In the axial sectional view of the protection bearing arrangement scheme described in FIG. 10 , it is mainly composed of a lock nut 21 , a bearing seat 22 , an upper mechanical bearing 23 , a lower mechanical bearing 24 , an inner adjusting washer 25 and an outer adjusting washer 26 .

Claims (5)

1. The single-axis magnetic levitation turntable is characterized in that it mainly consists of a torque motor (1), a lower protective bearing (2), a lower radial/axial integrated displacement sensor (3), a lower radial magnetic levitation bearing (4), a lower Base (5), lower axial magnetic suspension bearing (6), mandrel (7), upper axial magnetic suspension bearing (8), upper radial magnetic suspension bearing (9), upper radial/axial integrated displacement sensor (10 ), an upper base (11), an upper protective bearing (12), an angular position encoder (13) and a workbench (14), wherein the rotor part of the torque motor (1) and the rotor of the lower radial magnetic suspension bearing (4) part, the rotor part of the lower axial magnetic suspension bearing (6), the mandrel (7), the rotor part of the upper axial magnetic suspension bearing (8), the rotor part of the upper radial magnetic suspension bearing (9), the angular position encoder (13 ) and the workbench (14) are the rotating parts of the turntable, and the rest are the stationary parts of the turntable. The radial magnetic suspension bearing and the axial magnetic suspension bearing realize non-mechanical contact and stable suspension between the stator and the rotor; the upper axial magnetic suspension bearing (8) and the lower axial magnetic suspension bearing (6) are located in the middle of the single-axis magnetic suspension turntable, and their static parts are connected with the upper base (11) and the lower base (5) respectively, and the upper radial magnetic suspension bearing ( 9) and the lower radial magnetic suspension bearing (4), the upper radial/axial integrated displacement sensor (10) and the lower radial/axial integrated displacement sensor (3), the upper protective bearing (12) and the lower protective bearing (2), workbench (14) and torque motor (1), angular position encoder (13) is installed below the workbench; The stationary position of upper radial magnetic suspension bearing (9) and lower radial magnetic suspension bearing (4) Parts are respectively connected with the upper base (11) and the lower base (5), and its rotor part is connected with the mandrel (7). 2. The single-axis magnetic suspension turntable according to claim 1, characterized in that: the upper radial magnetic suspension bearing (9), the upper axial magnetic suspension bearing (8), the lower radial magnetic suspension bearing (4) and the lower shaft The directional magnetic suspension bearings (6) are all non-mechanical contact magnetic suspension bearings, which can be magnetic suspension bearings with pure electric excitation, or active magnetic suspension bearings controlled by permanent magnetic bias, or active magnetic suspension bearings controlled by electromagnetic, or passive magnetic suspension bearings with permanent magnets bearings. 3. The single-axis magnetic suspension turntable according to claim 1, characterized in that: the upper axial magnetic suspension bearing (8) and the lower axial magnetic suspension bearing (6) are symmetrical structures with equal magnetic forces, or unequal magnetic forces Asymmetric structure. 4. The single-axis magnetic levitation turntable according to claim 1 or 3, characterized in that: the torque motor (1) is a brushless DC torque motor, or a permanent magnet synchronous torque motor. 5. The single-axis magnetic levitation turntable according to claim 1, characterized in that: the angular position encoder (13) is a photoelectric encoder or a resolver.

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