JP2009527207A - Levitating equipment - Google Patents

Abstract

In an apparatus that causes levitation by magnetic force, an object that is stable against rotation (that is, overturning) along an unspecified horizontal axis by a plurality of magnets repelling along a vertical direction. Can be freely rotated about a vertical or inclined axis and / or can be rotated constantly while optimizing the levitating distance.
A set of magnets used for free rotation about a vertical axis is inside a base body 18 and / or inside an airborne object and has cylindrical symmetry. The arrangement of multiple magnets used to rotate freely about the tilt axis provides cylindrical symmetry only inside the airborne object, while asymmetry is introduced into the base magnet assembly. Thus, a gradient magnetic field is generated at the equilibrium point of the levitating object.
[Selection] Figure 1

Description

  The present invention relates to the principle and implementation of a non-inverted magnetic levitation device for various objects.

  This device can be applied to objects for decoration, advertising communication, or industrial applications where objects need to be levitated.

  At the state of the art of air levitation devices, air levitation devices consist of magnetically levitated objects such as globes. In such a device, a magnet is attached to the apex (at the north pole in the case of the globe), and it is designed to float in the air below the magnet, and the electromagnet controls the attraction force of the levitated object. The distance between the support and the support is kept constant. In such conventional systems, the electromagnet is controlled by measuring the magnetic field generated by the object at the level of support. A Hall effect sensor is used to measure the magnetic field at the support level, and the Hall effect sensor generates an electromotive force proportional to the measured magnetic field.

  According to the present invention, the levitated object does not float in the air below the magnetic device, but levitates above the base body having the magnetic field generation source.

  According to the present invention, the levitated object may be heavy. Also, the process of levitation is calm. The surface directly under which the object levitates is flat or at least homogeneous. There is no device in the space between the surface and the object, and it is empty. Arrangements made for levitation are inconspicuous or cannot be perceived. Airborne objects are also stable against tipping.

  According to embodiments of the present invention, the levitating object is freely rotated or maintained to rotate about a vertical or tilted axis. Air levitation consumes little energy, i.e. it can be permanently air levitation, or is at least self-sustaining (i.e., independent of power supply) for an extended period of time.

  Patent Document 1 describes that an object is levitated in the air by placing an assembly of permanent magnets (FIG. 13) directly below. It is not intended to be stabilized so as not to return (column 4, line 6 to column 5, line 11). As described in Patent Document 1, in order to be an appropriate support as a member that is levitated in the air, there are a number of movements that should not be performed for the stability of the pyramid. Main examples include vertical or axial movement mode 1 that moves up and down from the origin position, and includes a member that pivots the pyramid as the pyramid deviates from the origin position in the transverse direction. On the other hand, various aspects are defined such as an aspect 2 mainly consisting of parallel movement from one side to the other side, and an aspect 3 mainly consisting of an aspect inclined from the center of some axis rotation inside the pyramid. The Each of these modes includes an amplitude with respect to the origin position, and the amplitude is damped by a circuit for controlling the influence. Resonant frequencies of modes 1, 2, and 3 may be 1.5 Hz, 1 Hz, and 5 Hz, for example.

  In Patent Document 1, only the possibility of vertical stability and horizontal instability is considered, and other possibilities are excluded (second column, lines 30 to 68). In this situation, amplitude mode 2 only occurs when the servomechanism is active. However, according to the Ernshaw theorem, when only the permanent magnet is working, in Mode 2, such an amplitude cannot occur. That is why the purpose and result of combining the permanent magnets in this way does not consider the stability of translation as separate from the stability that is difficult to flip. As a result, without the correction coil, the levitated object will be turned over, and will fall on the base body and stick to it.

  The above-described modes 2 and 3 exist in two vertical directions on the horizontal plane. Therefore, in this situation, at least four independent correction coils are required, but in exchange, only one or two coils are required in the present invention, and the levitated object is stable so that it is not turned over by the permanent magnet alone. Yes. The present invention achieves such a goal by not providing sufficient accuracy in the magnet shape and balance in both the base body and the airborne object.

  The motion mode described in Patent Document 1 is defined as a mode that is not a major one. In such a motion mode, it may be necessary to attach an extra coil in order to stabilize the motion corresponding thereto. There are only five aspects that can be imagined as separate from the system, regardless of the situation with the magnet, consisting of three translations and two rotations. This is because the vertical axis corresponds to free rotation. As defined above, aspects 2 and 3 are overlapping. Thus, the non-major aspect should be a combination of aspects 1, 2, and 3, and from this it is clear that the motion of the levitating object is not understood.

  Secondly, the correction coil of Patent Document 1 is not independent. Only one current is given to each of the two sets, that is, a total of two currents. As a result, it is mathematically impossible to control four-dimensional instability. Furthermore, the position of such a coil is essentially positioned so as to provide stability against overturning, correcting very little displacement from the equilibrium point in translation. Thus, such a coil cannot correct translational displacements in normal daily situations. In this system, the user must position the equilibrium point in the correct translation, and no solution is provided for it.

  Third, such a coil is in a predetermined proper position where it is impossible to receive the iron core, in which the iron core takes in a magnetic field at the top of the coronal part of the base body, From the place where the magnetic field is normally directly directed to the bottom side of the base of the coronal part of the base body, the coil does not touch the floating object at its proper position, and the floating object is no longer suspended in the air. do not do. Without an iron core, the coil current must be so high that it cannot be used at all times. Since the magnetic permeability of iron can easily reach the value 1000, the absence of iron reduces the energy supplied by one coil in such a configuration by a factor of 1000, and thus this is a magnetic instability. Cannot be compensated at all.

  However, the goal aimed by the present invention is achieved with currently available magnets presented in the arrangement described and illustrated herein, such magnets being neodymium iron boron alloy units.

  The strength of a coil that does not contain iron components and that is high enough to allow the coil to heat 50 ° C or more above room temperature is the drift of an upward magnet that is only 10 microns away from the center in one horizontal direction. It is only a compensation. In short, it is impossible to stabilize an airborne object against any environmental fluctuations or drifts. The explanation alone is not sufficient to reach the goal of the present invention. Thus, the application of the technology presented in the present invention has never been demonstrated before.

  The plurality of vibration circuits used in Patent Document 1 are used to measure each displacement of a levitated object, but are not applied to detect an accurate equilibrium point. This requirement is essential for minimizing power consumption, since this equilibrium point is not permanent. This equilibrium point moves with temperature, because the magnet is not temperature, the influence of the surrounding magnetic source, the influence of the surrounding iron, and the surface on which the levitation device is placed is not horizontal. It is because it is not stable because of the fact that it may be.

  Patent Document 2 describes an automatic stationary magnetic air levitation system aiming at an equilibrium state, which has a base body and an air levitation member. This system uses a magnetic repulsion force generated by a magnet positioned at the base body to balance the air levitation member with the magnet in the system directly above the base body. However, in this magnetic levitation system, two air levitation permanent magnets must be connected in the air levitation member and placed horizontally, so that the system can usually be levitated in the air. Is only an object such as a rectangle or an ellipse, and the levitating object cannot rotate horizontally around its vertical axis.

  Patent Document 3, Patent Document 4, and Patent Document 5 describe several types of magnetic levitation systems in addition to the above-described ones. In these systems, the members are suspended above the base body. It is not possible to float and rotate the member freely and horizontally.

  The device described in Patent Document 6 claims to float directly above the magnetic field source, but is different from the present invention. The difference between the present invention and this document is easier to understand when considered in light of the physical limitations of airborne levitation.

  According to Arnshaw's theorem, it is proved impossible to achieve stationary levitation using a combination of fixed magnets. Static levitation means that an object is stably suspended in the air against gravity.

The magnetostatic energy and gravitational energy Em, Eg, and total E of any system are given by:
Em = ∫vm. Bdv
Eg = ∫vρPdv
E = Em + Eg = ∫vm. B + ρPdv

  In these equations, m and ρ are the magnetic moment and mass density of the levitated object, and B and P are the in-situ magnetic flux density and the gravitational potential.

The coordinates of the center of gravity of the object to be placed in the airborne state are called the X axis, Y axis, and axis. Equilibrium occurs in the X-axis direction when the first derivative of E along the X-axis is zero. Whether this equilibrium is stable or unstable for small displacements depends on the X-axis. Depending on whether the second derivative of E along the line is positive or negative, ie:
∂ ² E / ∂X ² > 0, or ∂ ² E / ∂X ² <0 (1)
The same applies to the Y axis and the Z axis. However,
∂ ² E / ∂X ² + ∂ ² E / ∂ ² Y + ∂ ² E / ∂Z ^{2
= ∫v (m (∂ 2 /} ∂X 2 + ∂ 2 / ∂Y 2 + ∂ 2 / ∂Z 2) B + ρ (∂ 2 / ∂X 2 + ∂ 2 / ∂
Y ² + ∂ ² / ∂Z ² ) P) dv
= 0 and
This is because, in a stable state, the B and P Laplace operators are zero, except for the question of which is the source.

  The sum of these three stability criteria will inevitably be zero. Regardless of how you choose three axes that are perpendicular to each other, the object will always be unstable in one direction or at most in two directions, and if it stabilizes in one direction, it will become more unstable in the other two directions. Become.

  This theorem applies to flexible and paramagnetic objects (but not diamagnetic objects). A flexible, paramagnetic object is always unstable with respect to the translational movement of the entire object, regardless of the equilibrium position.

  Some embodiments of the levitation device described in US Pat. No. 6,057,086 can control the position of a supported object using various magnetic fields to avoid the limits of the Arnshaw theorem. I have to.

  According to the principle presented there, the object, ie the magnet, is stable in one horizontal plane due to the magnetic field produced by several permanent magnets, but is unstable with respect to the vertical axis, and the position of the object is It is stabilized by an electromagnet controlled by measurement.

  In either case, the magnet is unstable in rotation. In fact, the supported magnet flips over unexpectedly and sticks to the permanent magnet, but no solution is shown to prevent this situation. A method for preventing tipping by connecting two or more air levitation magnets over two or more base bodies has been described. However, this system also has a limited lifting efficiency in terms of being dense, and is completely exposed to the eyes of the onlookers. In addition, these conventional systems do not address the effects of gravity on objects and the consequences that this gravity can have on the stability of levitation. In fact, it seems that the expert of the road has to realize this levitation in a weightless state, but this significantly reduces the function of Patent Document 6. It is clearly stated that the functioning of the device is independent of the surrounding gravity, and in fact it is very inefficient with the described means unless it is in the absence of gravity. With NdFeB magnets, even the best ferromagnetic alloy currently available, it seems impossible to support only the ferromagnetic alloy itself in the support area provided by the designated magnetic device (Patent Document 6). 5, 6, 10, 11).

  However, these deficiencies are predictable for conventional systems, because the equilibrium along the X axis (perpendicular to the stable surface) is unstable and that unstable equilibrium occurs. This is because it is far away from the magnet, which is necessarily clearly larger than the magnet in the support area normally used. In this case, the gravitational field moves this equilibrium point further away from the magnet, but as the distance to the magnet increases, the supporting force by the magnet decreases very rapidly. Thus, such conventional systems are intended for applications with low or zero gravity.

  FIGS. 4 and 5 show the potential of the toroidal surface of the magnet with and without the addition of gravity, respectively. The upper and lower curves respectively correspond to the situation of Patent Document 6 and the situation of the present invention as a whole. Unstable equilibrium points 41 and 51 are thus obtained in US Pat. No. 6,057,049, and stable equilibrium points 42 and 52 are those of the present invention. Obviously, the stability point 51 is much lower than the equilibrium point 52.

(Stabilization equipment)
The equation of the one-dimensional motion of the mass m in the X direction in the magnetic field E (X) with the addition of the damping force D (∂X / ∂t) and the random force R (t) is obtained in the following form.
m∂ ² X / ∂t ² = −∂E / ∂X + D + R (2)

In the case of the present invention, the random force is due to airflow and electronic noise, and the damping force D is basically due to the relationship between the viscosity and velocity of the air thus linearized. It is expressed by a formula.
D = −a∂X / ∂t (3)
From this equation, a stable equilibrium is obtained if ∂ ² E / 安定 X ² > 0, or an unstable equilibrium is obtained if ∂ ² E / ∂X ² <0.

Current art methods consist of adding a correction potential C (X) that returns the object to the equilibrium point as soon as the object goes out of equilibrium. It is represented by the following formula.
∂C / ∂X = 0 and ∂ ² C / ∂X ² > −∂ ² E / ∂X ²
c> e (4)

The power used for this should not exceed the power required for the random force R. However, in reality, it is impossible to place the center of C (X) exactly on X = 0, and it will be on X ₀ ≠ 0. In that case, the equilibrium point is not X = 0 but X = (c / (c + e)) X ₀ . However, what is actually inconvenient then is that the force (c ² / (c + e)) X ₀ must be constantly generated by the correction system, which consumes energy.

  For example, levitating a 100 gram object would require well a few watts to stabilize the balance along each dimension requiring balance.

Here, the drawings will be briefly described.
1 and 1a are cross-sectional views of the present invention.
FIG. 2 is an amplifier circuit for the present invention of FIG.
FIG. 3 is a perspective view of the present invention of FIG.
FIG. 4 is a graph of the magnetic potential of the present invention without gravity.
FIG. 5 is a graph of the magnetic potential of the present invention with gravity.
FIG. 6 is a schematic diagram of an electronic circuit that includes two Hall effect sensors that are optimized for processing Hall effect signals and suppressing power in the coil and that prevent the influence of the electromagnet of FIG. FIG.
FIG. 7 is a cross-sectional view of the present invention.
FIG. 8 is a cross-sectional view of the electromagnet of FIG.
FIG. 9 is a suppression sequence for the base body of the present invention of FIG.
FIG. 10 shows the entire coronal portion of the base body of FIG.
FIG. 11 is a schematic diagram of an electronic circuit including a coil that prevents the influence of the electromagnet of FIG.
U.S. Pat. No. 4,585,282 Chinese Patent No. 2569440Y Specification Chinese Patent No. 115607C Specification Chinese Patent No. 2726048Y Specification Chinese Patent No. 1267121A Specification US Pat. No. 5,168,183

  Therefore, the present invention aims at an object that is stable against rotation (i.e., flipping) along a non-predesignated horizontal axis by means of a plurality of magnets repelling along the vertical direction. To achieve a levitating of an object that allows it to rotate freely about a tilt axis and / or allows it to rotate constantly while optimizing the levitating distance.

  In the present invention, the set of magnets used for free rotation about the vertical axis is inside the base body and / or inside the airborne object and has cylindrical symmetry. The arrangement of multiple magnets used to rotate freely about the tilt axis provides cylindrical symmetry only inside the airborne object, while asymmetry is introduced into the base magnet assembly. Thus, a gradient magnetic field is generated at the equilibrium point of the levitating object.

  The basis of the present invention consists of using one magnet similar to the annular surface, for example in the shape of a circular hole in the disk. One such magnet is placed in the base body as shown in FIG. 1, but its plane is horizontal and its polarity is vertical. Instead of such a single magnet, a collection of magnets with the same polarity and approximately the same polarity may be arranged on the circle at equal intervals, but you want to make the airborne object rotate freely. In some cases, it is a condition that the assembly of the levitating magnets has cylindrical symmetry.

  When the magnet of the base body has cylindrical symmetry, the assembly of the levitating magnets may or may not have cylindrical symmetry.

The three basic embodiments of the present invention exhibit the following characteristics.
1-stability of translation along the vertical axis, instability of translation along the two horizontal axes.
2-stability of translation along the vertical axis and one horizontal axis, instability of translation along the second horizontal axis.
3- Stability of translation along the horizontal axis, instability of translation along the vertical axis.

  According to one embodiment of the present invention, stability is obtained without consuming power in addition to the sensor that controls the maintenance device. The choice of such sensors and devices is selected by their inherently low power, thereby enabling long-term independence with batteries or solar combined with rechargeable batteries. A photovoltaic device allows complete independence.

  The constant power supply by such a converter for converting the internal electromotive force is also performed again in the object of the present invention. Thus, low power is one low cost criterion for the converter.

  1-Stability of translation along vertical axis, instability of translation along two horizontal axes

  FIG. 1 shows this basic embodiment, but the present invention is not limited to this. The member of the code | symbol 11 is the crown-shaped part magnetized perpendicularly | vertically, for example, the north-pole has faced up and is installed in the base body.

  This coronal part pushes up the magnet 16 in the levitated object and its north pole is at the top, because the magnetic field lines of the magnet 11 are folded in this area.

  For the base body, a large and thick coronal portion may be used. For example, the largest is the largest magnetic material required to lift the levitated object to the highest degree. In one embodiment of the invention, the highest crown / outer radius ratio is 2 for both rotational stability and minimal translational instability in the horizontal plane. The crown may be as thick as the width, but should not be exceeded, because the effect of the crown decreases with height.

  For airborne objects, weight is compensated by placement, so the central magnet must be flattened so that the magnetic material stays as close as possible to the base body so that the force of airborne is maximized .

  The central magnet may be as large as the central hole in the crown of the base body. This means that the levitated magnetic material may be a continuous disk that changes its polarity per radius equal to the inner radius of the crown of the base body.

  In that case, the stability of the center magnet in rotation about the horizontal axis is optimized because the diameter of the center magnet is the same as the inner diameter of the annular surface of the base body. This is the case when it is flat.

  If the diameter is lower, it remains stable, but the stability is reduced in proportion to the ratio of the diameters.

  If the stability against overturning is too weak, the airborne crown may be strengthened, but the polarity of the central magnet may be reversed and the polarity of the crown may be similar. All this applies to Case 2.

  In this embodiment, the position of the object in the horizontal plane is maintained in a stable state by at least two independent servo systems.

  The base body includes, for example, three electromagnets such as A1, B1, and C1, or six electromagnets such as A1, B1, C1, A2, B2, and C2 (FIG. 1). The magnetic field of the base body is corrected according to the position of the floating object. When there are an even number of electromagnets, the electromagnets have opposite polarities by connecting them in opposition so that a reverse current flows through them (FIG. 8).

  Since the core, which is the magnetic core of the electromagnet, is made of iron with low hysteresis and high magnetic permeability, the emitted magnetic field is optimized. In the present invention, for example, iron having a magnetic permeability of about 1000 is used, and the electromagnet is levitated above 5 mm from the center point that is pulled back to the center through a moderate current that does not cause the coil to heat. A magnet may be used.

  The core, which is the magnetic core of the electromagnet, is easily saturated with the magnetic field emitted from the magnet assembly of the base body and the object. It appears that the magnetic field emanating from the magnet assembly of the object is larger, and as a result, the efficiency of the magnetic core can be reduced to 1/30 of its normal value. This saturation can be counteracted by providing reverse saturation by installing a magnetic rod for the coil whose polarity can be selected.

  The signal amplifier circuit shown in FIG. 2 includes sensors A, B, and C, or A0, B0, and C0. The amplified signal is sent to the electromagnet described above.

  According to the present invention, when the object moves toward the left in FIG. 1, A1 will exhibit a repulsive south pole when facing the south pole of the magnet 16.

  It should be remembered that in the shape shown in FIG. 1, the object is stable along the vertical axis and stable overturning around two horizontal axes, but in the horizontal plane. The translation is unstable.

  Thus, the fine horizontal translation is corrected by the confrontation of the magnet 16 and the south pole of A1.

  According to a non-limiting embodiment of the invention with six electromagnets, the translation to the left is compensated by a combination of the action of the S1 pole of A1 and the N pole of A2. Each electromagnet is made up of a copper wire coil 12 and a ferromagnetic core 13.

  Stabilization of the object position can also be achieved by giving the electromagnet axis a horizontal orientation towards the center of the lifting magnet.

  Although the stabilizing force acting on the magnet at the center of the levitated object depends on the polarity of the electromagnet, this horizontal orientation of the electromagnet further causes the electromagnet to couple to the crown of the base body. Work. Therefore, this is taken into account when using a pressure sensor below the crown of the base body.

  According to one non-limiting example, the measurement of the displacement of the levitating object in the horizontal plane is made with two or more sensors A that can change the type of resistance in response to pressure. The sensor includes two electrodes in contact with a carbon-filled polymer whose resistance decreases with applied pressure.

  Such a sensor is provided, for example, by the company Interlink Electronics® under the name FSR® force sensing resistor. The model 402 has, for example, no load, a resistance of 10 MΩ, and its conductivity is proportional to the applied pressure or applied force. A resistance of about 100 g corresponds to 30 kΩ, which means that the current consumption per 3 V is 0.1 mA.

  The potential measured between this sensor and, for example, another 30 kΩ resistor thus varies linearly depending on the weight exerted on the sensor.

  The sensor may also be a strain gauge, a capacitive sensor or the like. A fine displacement toward the left of the object causes an increase in pressure on sensor A and a decrease in pressure on B and C, resulting in a decrease in resistance value A, thus reducing the measured value of electromotive force of sensor A. . 1 and 2 show an increase in B and C because the center of gravity of the entire structure supported by sensors A, B and C moves to the left.

  In this non-limiting embodiment of the invention, the force consumption for the sensors is less than 0.3 mA for three sensors.

  In order to use the pressure sensor in the best conditions in terms of sensitivity and accuracy, it is advantageous to place the lifting magnets on the base body on one common plate, which is a flexible inclusion such as a spring or rubber. It is held by adjusting screws that support the plate through. The pressure sensor is also fixed to the common plate, but uses substantially more rigid inclusions.

  As described above, when the adjusting screw is used, the pressure that the pressure sensor can hold can be adjusted at the center of the operating range of the pressure sensor.

  The adjusting screw may be distributed around the center of gravity of the common plate and the entire lifting magnet of the base body, and may be a single screw disposed below the center of gravity. The pressure sensor is arranged closer to the center of gravity so as to be sensitive to the displacement of an object that has been levitated.

The following two types of electromagnet fixing methods are considered.
・ Fix it together with the lifting magnet of the base body. In this case, the electromagnet is transmitted to the lifting magnet, and thus also to the sensor, and transmits a reaction force that is opposite to that transmitted to the airborne object.
-Fix to the base body independently of the coronal part of the base body. In this case, the electromagnet exerts a force on it, and thus on the sensor, proportional to the current through them. This force can be removed mechanically when the electromagnet is in a vertical position.

  In both cases, this must be taken into account when processing the signal.

  According to another non-limiting embodiment of the invention, displacement measurements are made using Hall effect probes A0, B0, and C0. The Honeywell (registered trademark) probe SS49 has excellent sensitivity stability and linearity in a weak magnetic field, and can be used.

  According to the invention, in this embodiment the measurement of the displacement of the object towards the left is the interference by the probe A0 located in an area not affected by the magnetic field lines of the electromagnets A1, B1, C1, A2, B2, C2. Can be done without receiving.

  This area is in the center of the electromagnet crown. The displacement toward the left of the object increases the horizontal component of the magnetic field of the electromagnet 16, which decreases the output voltage of the probe.

  Probe SS49 consumes 5 mA. That is, for example, it is 15 mA for the three sensors A0, B0, and C0.

  A sequel to that principle is shown in FIG. The sensor A or A0 generates a drop in electromotive force, which is derived by the capacitor 23 and transmitted by the resistor 24. The sum of the derivative and the signal is then amplified by an operational amplifier 21 coupled to a resistor 22.

  The outlet of the operational amplifier supplies power to the electromagnets A1 and A2 at a ratio and direction that compensates for the minute displacement. The reference voltage provided by the resistor 29 and the capacitor 26 is common to the plurality of operational amplifiers.

  In addition to compensating for the displacement, by generating a pull-back force, the device is provided with a damping function, thereby making it impossible to maintain vibration.

  The damping function is associated with the capacitor 23. Thereby, it is possible to cope with any fast displacement of the object.

  A fast, low noise operational amplifier, such as National Semiconductor's LMV651, consumes only 0.1 mA and is used in the examples.

  The electricity consumption of such three operational amplifiers is then reduced to about 0.3 mA.

  According to the present invention, the consumption of electromagnets is only exceptional.

  When the globe is centered and in equilibrium, there is no current through the electromagnet.

  Regarding the power consumption of the circuit, the current becomes 0.6 mA when the sensor is a force sensor, and the current becomes 15 mA when the sensor is a probe with a Hall effect array.

  A balance is obtained at zero with respect to the power consumption of the electromagnet when the electromotive forces provided by such a plurality of sensors are all the same. Since this is difficult, it is possible to realize this condition by combining three arrays.

  The adjusting device consisting of the protrusions Va, Vb, Vc enables the orientation of the base body. Sensor A, B, C or A0, B0, C0 imbalance affects the compensation current in the electromagnet. This average current is then visualized by the light emitting diodes Da, Db, Dc.

  According to the principle, the user turns the protrusion until the three light emitting diodes Da, Db, Dc disappear. Then, the non-zero average residual error is compensated by the resistor 29 that slowly moves the reference of the operational amplifier so that, on average, the operational amplifier does not produce any current. The user finds an equilibrium position for each protrusion between the two positions where the light emitting diode begins to emit light.

  According to this process, the total current consumption is reduced to 0.6 mA on average by using a force sensor.

  In addition, a light emitting diode D may be considered for illumination.

  Shown in FIG. 6 is an arrangement that completely suppresses the power consumption of the coil, whether the airborne object is above the base body or not above the base body. . The structure shown is associated with one stabilization axis, and in the case of two stabilization axes, this structure is implemented twice.

  One Hall effect sensor H3 controls the electronic switch 61 by detecting the presence of a floating object. In the absence of airborne objects, electronic switch 61 must be open, that is, the voltage injected into the capacitor, and the + input of the operational amplifier through resistor 62 has the opposite reaction. . Thereby, the electric current in a coil can be suppressed completely.

  If the levitating object is above the base body at a position that is not exactly on the vertex of the energy curve, the force generated by the coil acts to pull the object back to that vertex. The strategy to reach the apex is to increase its force, and this has the surprising effect of moving the position of the levitator closer to the apex, where less force is required.

  In this way, the system of the present invention compensates for these conditions.

  If the object is above the base body, it is detected by the Hall effect sensor H3 and the electronic switch 61 is opened, a signal proportional to the force is emitted and transmitted through the resistor 63, and the operational amplifier plus Creates a current that charges the two capacitors connected to the side, thereby enhancing this force.

  After a certain time, in this case a few seconds, the force decreases to zero, the object reaches the peak of the magnetic potential energy, and there is no longer any average current through the coil. This realizes the dream of Anneshaw's theorem on energization. That is, no more energy is needed to stabilize the magnetic levitation, except for the sensor.

  FIG. 6 shows a better arrangement for detecting the position of an object using two Hall effect sensors H1, H2.

  The problem with the detection by the Hall effect sensor is to detect the position of the magnet and suppress the influence of the magnetic field generated by the two coils based on this measurement. If this suppression is done efficiently, the gain of the operational amplifier can be increased without the risk of any unexpected feedback that could cause vibrations.

  It seems that the sum of the two signals of the Hall effect sensor gives the position of the magnet on one axis, but this sum eliminates the contribution of the coil to the magnetic field. In order to completely eliminate the contribution of the coil to the magnetic field, an exquisite balance is realized by the potentiometer 65. In that case, the gain at the operational amplifier stage can reach 1000 without risk of instability.

  According to this arrangement, there is no current passing through the coil when the object is levitating, very little power is required, and long-term independence is obtained with a battery, or for example with solar cells. Activities are possible.

  The light emitting diodes D66 and D67 help the user to place a levitating object and identify the position of the apex, when the light emitting diode does not light up.

  For example, using a standard AA battery, the system can operate for more than six months. In addition, a single solar cell (reference numeral 32 in FIG. 3, reference numeral 27 in FIG. 2) combined with the battery 28 supplies an average of about 90 mW of power per square decimeter surface area. What is required on average for this circuit is about 0.6 × 6 V = 3.6 mW to operate, and thus the system can be powered as needed.

  That's why there is enough difference in ensuring the base's power production requirements without other energy sources. However, batteries that are recharged and some are kept charged by the photosensitive cell contribute to supplying the power necessary to reestablish the balance in the event of a disturbance.

  An electronic circuit with a Hall effect probe consumes 15 mA at 6 volts, which is 90 mW. It can be maintained with 1 square decimeter solar cells.

  According to this basic embodiment, two electromagnets are used, and in case 2 it is positioned with a single horizontal axis in the center of the crossing arrangement.

  According to this basic embodiment, at least two force sensors are used.

  According to this basic embodiment using Hall effect sensors, there are at least two sensors. It is sufficient if the two orthogonal Hall effect sensors are arranged in the center and combined with two horizontal axis electromagnets.

  According to this basic embodiment, at least two amplifier circuits are used. According to this basic embodiment, at least six amplifier circuits control the power transistors.

  According to a variation of this basic embodiment, the amplifier circuit has a power switching device, and is intended to insulate the probe when power is supplied to the electromagnet to avoid unwanted feedback. A probe signal switching device is provided.

  2-Stability of translation along the vertical axis and one horizontal axis, instability of translation along the orthogonal horizontal axis

  Case 1 described above shows that by adding two symmetrical magnets such as magnets 71 and 72 of FIG. 9 with a polarity opposite to that of the crown 11 at the level of the base body, Can be suppressed in the direction. In that case, due to the repulsive force of the N pole, it is large enough to alternate from instability to stability in the “y-axis” direction, but both flipping and vertical stability are reversed. An “entrance” for the magnet 16, that is, a potential cavity, is created. The “entrance” effect is achieved, for example, by magnets 81, 82.

  The electromagnet 12 in the x direction is driven by Hall effect sensors 154 and 152 and is sufficient to control an airborne object according to the principle of FIG. As shown in case 1 above, the electromagnet may be horizontal, but in case 2 it corresponds to one horizontal electromagnet. The Hall effect sensor may be a single device and its position and orientation may be such that it does not sense the magnetic field of the electromagnet. The number of other sensors described above for Case 1 is similarly reduced when moving from two-dimensional to one-dimensional instability.

  As described above, when it is desired to freely rotate the levitating object, the assembly of the levitating magnets must be cylindrically symmetric.

  3-Stability of translation along the horizontal axis, instability of translation along the vertical axis

  In this embodiment, instead of the two magnets 71 and 72 of the above-mentioned case 2, the entire coronal part 11 (as shown in FIG. 10) is used at the base body level, but the polarity of the coronal part 11 The polarity is opposite to the polarity, and the diameter is considerably smaller. One magnetic rod is added with the same polarity to the magnets 16 of the two cases described above. With this arrangement, the equilibrium point can be stabilized with respect to translation along two horizontal axes while maintaining tip-over stability. According to equation (1), this equilibrium point is thus unstable in the vertical direction.

  Sensors of the type described in cases 1 and 2 are still suitable in this embodiment, except for pressure sensors. Only one vertical electromagnet 12 (FIG. 10) is useful. In Case 3, the horizontal electromagnet cannot operate.

  The minimum required number of sensors is the same as in Case 2. In this embodiment, two Hall effect sensors are used to eliminate the influence of the electromagnet on them.

  Contrary to Cases 1 and 2, the levitation height relative to the total mass of the levitating object is not low, but rather reaches a maximum per mass depending on the assembly of the base body and the levitation magnet.

  Stability reversal method

According to a preferred embodiment of the present invention, the correction force ∂C / ∂X dependent on X described above is not added to equation (2), but the following two correction forces are added. K is directly proportional to the acceleration of the object, and L is directly proportional to the speed of the object.
K = k∂ ² X / ∂t ² (5) and F = f∂X / ∂t (6)
In that case, (2) is as follows.
m∂ ² X / ∂t ² = k∂ ² X / ∂t ² -∂E / ∂X + D + F + R
And therefore
(M−k) ∂ ² X / ∂t ² = −∂ E / ∂ X + D + F + R

  Now, if k <m, the instability increases as k and f increase, because the levitation object is basically as if it behaved gradually. However, if k> m, the unstable potential plays the role of a stable potential. Furthermore, if F> −D, a reversal of stability is achieved. The levitating object returns to the point where X = 0, its movement is damped, and with a random fluctuation R, the situation is not changed beyond the normal stable equilibrium.

  In order to add an F term such as F> −D to the current of the electromagnet 12, the value of f> a is chosen in equation (6), taking into account the normal good approximation of D (3). Just do it.

  The first advantage of the present invention is that the energy used by the stabilization device does not exceed the energy required to correct random variations and the energy required for the sensor to measure the position of the object. That is.

  A second advantage is that the sensor is used to measure the derivative of X (Y or Z) instead of X (Y or Z) itself. For example, when a plurality of coils 20 (FIG. 11) are used, one coil is sufficient for each of the X-axis, Y-axis, and Z-axis directions, and the coil positioning is appropriately symmetrical by the pair of coils. When it has the property, the influence of the electromagnet 12 can be prevented.

  FIG. 11 is a schematic diagram of the principle of an electronic circuit from which the sum of signals measured by a pair of coils and its derivative can be obtained.

  According to another preferred embodiment of the present invention, the average current in the coil can be canceled by the action of the resistor 29 and capacitor 26 combination. The slave system compensates for the position of the levitating object above the base body and sends current into the coil. The levitating object is maintained near the apex of the magnetic field repulsion, and the direction of the force is toward the apex. Resistor 29 is arranged to modify the reference voltage after a certain delay time, which increases its power. By this automatic processing, the levitating device reaches the apex of the magnetic field repulsion. At the top of the magnetic field repulsion is a metastable equilibrium point where the slave does not pull back the levitated object.

  This resistor 29, which normally destabilizes the slave system, in fact only helps the device to find a metastable equilibrium point at the apex of the magnetic field repulsion where no energy is required. . This is a very surprising effect and concept of the present invention. This is because unstable electronic processing can, on average, stabilize unstable magnetic systems without energy consumption.

  Constant rotation of levitating objects

  The asymmetry in the levitating magnet assembly 16 is introduced by adding a plurality of small magnets to the magnet assembly 16 or by shifting the center of symmetry relative to the center of gravity of the entire levitating object 19. be able to. In the latter case, the asymmetry is simply due to the inclination.

  Due to such asymmetry, the sensor 15 obtains a signal S corresponding to the rotation of the levitated object.

  Further, such asymmetry follows the moment from the pair of electromagnets 12 when the pair of electromagnets 12 (FIG. 8) receives the signal S. In return, the rotation of the asymmetrical object 19 affects the sensor 15 and thus also the electromagnet 12. Therefore, due to the asymmetry, the levitating object will rotate permanently with the square of its value. However, this is a case where the magnitude of this asymmetry is sufficient as follows.

  As described above, the lack of cylindrical symmetry of both the levitation magnet assembly and the base magnet assembly combined to prevent the object 19 from rotating freely. Yes. The object 19 overcomes this rotational potential when its average rotational kinetic energy is large enough and the maintenance of this kinetic energy released by the viscosity of the air has been explained above. This is the case when it is obtained by sufficient cylindrical asymmetry of an airborne object assembly.

  In this embodiment, if a rotation time of a few seconds is achieved, it is sufficient to overcome the usual magnetic asymmetry of the commercially available ferrite crown 11 for the base body.

  This rotation is more difficult to achieve in case 2 because the strong asymmetry of the base body creates a strong rotational potential and in case 3 the moment is weak and the central electromagnet 12 can work on the levitating magnet.

  According to a non-limiting embodiment of the present invention, the outer top of the base body (reference numeral 18 in FIG. 1 and reference numeral 31 in FIG. 3) is a curved mirror. This curved mirror enhances the subjective height of the levitating object and makes it easier to see the bottom of the object.

  According to a non-limiting embodiment of the present invention, the outer top of the base body (reference numeral 18 in FIG. 1 and reference numeral 31 in FIG. 3) is a holographic image, which looks like what is below the plate. In particular, when the masquerade object is located at infinity, such as a star, planet, moon, etc., the height of the levitating object will be perceived higher by this hologram image. . According to the present invention, the levitating object is, for example, a globe, a Buddha image, a container or a support for various objects, and these examples do not limit the present invention at all.

(Conclusion) Unlike the conventional system, the levitating object may have a heavy appearance. When the balance is adjusted, the levitating object is completely immobile. The floating object and the base body are calm. The surface representing the ground is flat or at least homogeneous. The space above the ground surface and the surroundings of the object are empty without any devices. The arrangement used for levitation is inconspicuous if not noticed. Levitation is permanent and is self-sustaining for long periods of time or is supplied by a low power converter. The airborne object can rotate freely about the vertical axis or about the tilt axis, and this rotation may be assisted.

It is sectional drawing of this invention. 2 is an amplifier circuit for the present invention of FIG. FIG. 2 is a perspective view of the present invention of FIG. 1. 2 is a graph of the magnetic potential of the present invention without gravity. 4 is a graph of the magnetic potential of the present invention with gravity. FIG. 2 is a schematic diagram of an electronic circuit that includes two Hall effect sensors that are optimized for processing Hall effect signals and suppressing power in a coil, and that prevent the influence of the electromagnet of FIG. 1. It is sectional drawing of this invention. It is sectional drawing of the electromagnet of FIG. Fig. 2 is a suppression sequence for the base body of the present invention of Fig. 1; It is the whole coronal part of the base body of FIG. It is the schematic of the electronic circuit containing the coil which prevents the influence of the electromagnet of FIG.

Explanation of symbols

11 Crown (Magnet)
12 Electromagnet 13 Magnetic core 15 Sensor 16 Electromagnet 18 Base body 19 Object 20 Coil 21 Operational amplifier 26 Capacitor 28 Battery 29 Resistor 31 Base body 61 Electronic switch 71, 72 Magnet 81, 82 Magnet 152, 154 Hall effect sensor

Claims (25)

A device that causes magnetic levitation,
One base body,
Consists of one object, the object floats above the base body in a stable arrangement without tipping over, the object is positioned directly above the base body, and the base body is A device that produces magnetic levitation, which is constructed to fit completely under a set of two parallel horizontal planes separated by a certain distance.   The apparatus for producing levitation by magnetic force according to claim 1, wherein the base body is electrically operated.   The apparatus for producing levitation by magnetic force according to claim 1, wherein the base body is supplied with electricity by a low power converter.   The apparatus for producing levitation by magnetic force according to claim 1, wherein the object rotates relative to one of a vertical axis and a tilt axis.   2. A device for producing levitation by magnetic force according to claim 1, wherein the base body consists of at least one lifting permanent magnet distributed in a crown with approximate cylindrical symmetry.   The one or more permanent magnets are further arranged in the object, and when at least the base body does not have cylindrical symmetry, the magnetic field of the object has cylindrical symmetry. A device that causes levitation by the magnetic force described in 1.   The object magnet is oriented such that the magnetic field generated by the magnet pushes back a total amount of force exactly equal to the weight of the object at a constant height against the magnets arranged in the base body. 7. The apparatus for producing levitation by magnetic force according to claim 6.   7. The magnetic lift according to claim 6, wherein the magnet of the object is stable with respect to rotation about a horizontal axis, thereby ensuring that the orientation of the object is stable. apparatus.   The magnet of the object is unstable with respect to translation along at least one axis, but is stabilized by a control device, which has as many sensors as the number of unstable axes, The sensor measures the displacement of the object from the center of gravity with respect to the base body along the axis of instability, and the control device includes at least as many independent processing circuits as the number of axes of instability. The circuit is driven by a signal from a sensor that controls the current to a magnet configured as an electromagnet, and at least as many independent coils as the number of axes of its instability form an electromagnet that generates a magnetic field; 7. The apparatus according to claim 6, wherein the generated magnetic field acts on the magnet of the object to correct the displacement of the object in order to return the object to the equilibrium point.   The electromagnet has a magnetic core, and at least one magnetic rod is placed as close as possible to the corresponding coil, and is placed in parallel with the magnetic core so as not to be saturated, and the polarity is eliminated. Or a magnetic levitation device according to claim 9, wherein the polarity of the magnetic core is reduced.   The object is maintained so as to rotate freely and rotate about the vertical axis, because at least one of the assembly of the levitating magnet and the assembly of the base magnet is cylindrically symmetric. The apparatus according to claim 1, wherein the vertical axis is inclined due to the cylindrical asymmetry of the magnet assembly of the base body.   12. The apparatus for producing levitation by magnetic force according to claim 11, wherein the assembly of magnets of the object comprises cylindrical asymmetry such that the assembly of magnets of the base body rotates the object.   The sensor basically delivers a signal proportional to the change in the position of the object relative to the axis of the base body, and the sensor is a magnetic sensor for a probe for Hall effect measurement, a strain gauge sensor, a polymer with a variable resistor. 10. The apparatus for causing airborne levitation according to claim 9 which is one of the above.   10. The apparatus for producing magnetic levitation according to claim 9, wherein the sensor delivers a signal that is essentially proportional to the derivative of the position of the object with respect to time.   14. The apparatus for producing levitation by magnetic force according to claim 13, wherein each processing circuit comprises an amplifier, a filter, and a power transistor.   16. The device for producing levitation by magnetic force according to claim 15, wherein the control device comprises damping of vibrations by means of an array of derivative filter devices.   16. The apparatus for producing levitation by magnetic force according to claim 15, wherein the controller comprises a diode configured to cause an imbalance of an object in a horizontal plane.   18. The apparatus for producing magnetic levitation according to claim 17, wherein the base body is configured with adjustments to compensate for permanent imbalances.   18. The apparatus for producing magnetically levitated levitation according to claim 17, wherein the electronic circuit is configured to automatically compensate for permanent imbalances, thereby reducing the average coil consumption.   The correction force generated by the electromagnet is the sum of two components, the first of which is proportional to the acceleration of the levitating object and has at least the strength necessary to cause a stability reversal. 15. The apparatus for producing levitation by magnetic force according to claim 14, wherein the second is proportional to the damping of the object, has the opposite direction, and has the strength necessary to dampen the reversal of stability.   The correction force generated by the electromagnet, on the one hand, is proportional to the position of the levitating object, added to it is proportional to the speed of the levitating object, and subtracted from it the proportionality of the correction force as a whole. The apparatus for producing levitation by magnetic force according to claim 9, which is balanced with the difference.   10. The apparatus for producing levitation by magnetic force according to claim 9, wherein the base body is self-supporting by at least one battery and one photosensitive cell, and the sensor and the amplifier are of low power consumption.   14. The magnetic signal levitation according to claim 13, wherein the position signal is delivered by at least two sensors and mixed in a potentiometer so that the signal is not affected by the magnetic field of the coil. apparatus.   The apparatus for producing levitation by magnetic force according to claim 1, wherein the surface of the base body is a mirror so that a user can see the underside of the object.   The apparatus according to claim 1, wherein the surface of the base body projects a hologram.

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