JP2023113394A - Magnetic levitation control device - Google Patents

Abstract

To provide a magnetic levitation control device with excellent start-up stability when raising an object.SOLUTION: A magnetic levitation control device incudes: a levitation body levitated by magnetic force; levitation control means for controlling the elevation or descent of the levitation body from below; and auxiliary means for changing a direction of a magnetic field under the influence of the magnetic field of the levitation control means, wherein the levitation control means controls the rotation or reversal of the N/S magnetic poles.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a magnetic levitation device for levitating an object using magnetic force, and more particularly to a magnetic levitation control device with excellent start-up stability at the start of levitation.

Techniques for levitating an object using the principle that like poles of magnets repel each other are well known.
In this case, the object levitates in a state in which the gravity of the object and the repulsive force due to the magnetic force are balanced. However, the early stages of trying to levitate the object were unstable.
For example, the technique disclosed in Patent Document 1 also provides a through-hole in an object to guide the ascent of the object so that the object does not shift laterally when the object starts to float, and a rod passed through the through-hole moves the object. is to increase

WO2017/039540

SUMMARY OF THE INVENTION It is an object of the present invention to provide a magnetic levitation control device having excellent start-up stability when raising an object.

A magnetic levitation control apparatus according to the present invention comprises a levitation body that levitates by magnetic force, levitation control means for controlling the levitation body to ascend or descend from below, and the direction of the magnetic field under the influence of the magnetic field of the levitation control means. and auxiliary means for changing the levitation control means, wherein the levitation control means controls the rotation or reversal of the N and S magnetic poles.

Here, the levitation body levitated by the magnetic force levitates by the repulsive force of the synthetic magnetic force generated from below, and is provided with a magnet.
In the present invention, the levitation control means applies a magnetic field in the direction of attraction to the levitation body when the levitation body is seated on the upper side of the levitation control means, and applies a magnetic field in the direction of repulsion to the levitation body when it is levitated in the air. It is what makes
A characteristic feature of the present invention is that when the levitation control means is switched between the attracting direction and the repelling direction, the magnetic field of the levitation control means causes the seating of the levitation body as the N and S magnetic poles rotate or reverse. The point is that an auxiliary means is provided in which an attraction force acts toward the center in the horizontal direction at times, and a repulsive force acts to support the levitation force when the levitation body floats.

In the levitation control means of the present invention, the rotation or reversal of the N and S magnetic poles may be performed by mechanically rotating or reversing the magnet, or by electrically controlling the current of the levitation electromagnet.
Here, the electromagnet for levitation may be one in which a coil is wound around a core. However, if a vertical coil and a horizontal coil are wound around a substantially cross-shaped core, current control of the vertical coil and the horizontal coil can be easily performed. can rotate or reverse the composite magnetic field.

In the present invention, the auxiliary means may be an electromagnet in which a coil is wound around a core. By doing so, the core is affected by the magnetic field of the levitation control means, and one of the upper surface and the lower surface of the core becomes (N ) pole or (S) pole.

In the present invention, it is preferable that the levitation control means has a plurality of magnets or levitation electromagnets arranged concentrically, and the auxiliary means has the electromagnets arranged inside the levitation control means.
In this way, the direction of the magnetic field synthesized by a plurality of concentrically arranged magnets or levitation electromagnets is generated in the vertical direction of the center of the circle. .

In the present invention, it is preferable that a plurality of the electromagnets used in the auxiliary means are arranged concentrically, and the horizontal position of the levitation body is controlled by the magnetic force difference in the X-axis direction and the Y-axis direction.
In this way, the auxiliary means can simultaneously control the position in the horizontal direction while directing the repulsive force to the levitation body.

INDUSTRIAL APPLICABILITY The magnetic levitation control device according to the present invention can smoothly start up the levitation of an object, and can control the levitation height after considering the stability of the levitation body in the vertical direction and the horizontal direction while having a simple structure.
By stabilizing the levitation to a sufficient levitation height from the time of start-up, the user can easily use it safely and easily enjoy the change in levitation height.

1 shows an arrangement example of magnets and auxiliary electromagnets as part of the magnetic levitation control device according to the present invention. Examples of the levitation height of the levitation body are shown, (a) when the upper side of the magnet is the S pole (angle of 0° or 360°), and (b) when the magnet is rotated inward by 90°. show. (c) shows an example of the levitation height of the levitation body when the magnet in FIG. 2(a) is rotated inward by 180°, and (d) is an example of the levitation height when the magnet is rotated by 270°. Regarding the forces acting when trying to forcibly move the levitation body (at a magnet angle of 0° and 180°) in the vertical and horizontal directions, (a) is the vertical force, and (b) is the horizontal force. shows the analysis results of the force of Regarding changes in the flying height and horizontal stiffness with respect to the angle of the magnet, (a) shows the analysis results of the flying height and (b) shows the analysis results of the horizontal stiffness. Graphs of levitation height and levitation force are shown, (a) when the magnet is rotated inward (180° from the magnet angle of 0° to 90°), 180° via 270°). 1 shows an example of a control system.

A structural example of the magnetic levitation control device according to the present invention will be described below with reference to the drawings.
In the magnetic levitation control apparatus of this embodiment, as shown in FIG. 1, a plurality of magnets 11 as levitation control means are arranged concentrically, and electromagnets (hereinafter referred to as auxiliary means) are arranged inside the plurality of magnets 11. A plurality of auxiliary electromagnets 12 are arranged concentrically.
In the levitation control means, instead of the magnet 11, an electromagnet having a core wound with a coil (hereinafter referred to as a levitation electromagnet) may be used, and rotation or reversal of the N and S magnetic poles rotates the magnet 360 degrees, or current control is performed. It is also possible to change the direction of the magnetic field by
For example, the magnet may be rotated by a stepper motor.
If the electromagnet for levitation is a substantially cross-shaped core (for example, an iron core) wound with a vertical coil in the vertical direction and a horizontal coil in the horizontal direction, the AC current to be supplied is either the vertical coil or the horizontal coil. may be energized and the amount of current and direction of energization may be controlled.
In this embodiment, a neodymium magnet (one-way magnetized) having a diameter of 14 mm and a thickness of 3.5 mm is selected as the magnet 11, and eight magnets 11 are arranged concentrically on the substrate 13. It may be a levitation electromagnet.
The auxiliary electromagnet 12 is an iron core coil with an iron core 12a having a diameter of 6 mm, an outer diameter of 20 mm, an inner diameter of 8 mm, and a copper wire diameter of 0.5 mm. Four auxiliary electromagnets 12 are arranged concentrically. There is.
As a result, although the details will be described later, when the north and south magnetic poles of the magnet 11 rotate or reverse, the (N) pole or (S) pole of the iron core 12a changes under the influence of the direction of the magnetic field.
In addition, position control in the X-axis direction and the Y-axis direction of the levitation body becomes possible by the difference in strength of the opposing magnetic forces of the four auxiliary electromagnets 12 indicated by the arrows in FIG.

The levitation body may be anything in which a permanent magnet such as a neodymium magnet is fixed, and various products such as cages, bells, toys, dolls, and lamps can be used.
As shown in FIGS. 2 and 3, the levitation body 20 is an example in which permanent magnets are attached to the upper and lower surfaces of a disc-shaped soft magnetic member 21 having a diameter of 50 mm and a thickness of 2 mm, and the mass of the levitation body is 130 g.
The N pole 22 on the upper side is disk-shaped with a diameter of 48 mm and a thickness of 5 mm, and the S pole 23 on the lower side is a disk-shaped with a diameter of 30 mm and a thickness of 5 mm.

In this embodiment, the magnet angle is 0° or 360° when the S pole is positioned above the magnet 11 and the N pole is positioned below the magnet 11 as shown in FIG. 2(a).
2(b), 3(c), and 3(d) are obtained by rotating the S pole inward (toward the auxiliary electromagnet 12) by 90°, 180°, and 270°, respectively, about the center of gravity of the magnet. Indicates status.
At a magnet angle of 0°, the S pole of the magnet 11 and the S pole 23 of the levitation body 20 repel each other, and the upper side of the iron core 12a becomes the (N) pole under the influence of the magnetic field of the magnet 11. Since the S pole 23 of the levitation body corresponds to the (N) pole, an attractive force acts on the levitation body 20 vertically downward.
In this state, the levitation body 20 is passively stable in the horizontal direction and has no levitation force, and sits on the upper surface of the auxiliary electromagnet 12, for example.
On the other hand, when the N pole is positioned above the magnet 11 as shown in FIG. Since the south pole 23 of 20 corresponds, a repulsive force acts on the levitation body 20 upward in the vertical direction.
At this time, by differentially connecting two diagonal electromagnets of the four auxiliary electromagnets 12 to control two horizontal axes, the lateral displacement force acting in the horizontal direction is actively controlled.
2(a) through 90° in FIG. 2(b) to 180° in FIG. 3(c). There are two directions of outward rotation from 360° in 2(a) to 180° in FIG. 3(c) via 270° in FIG. 3(d).

4(a) and 4(b) show the analysis results of the forces acting when the levitation body 20 is forcibly moved in the vertical and horizontal directions.
Stability in each direction can be confirmed by evaluating the slope (rigidity) of the graph.
5A and 5B show changes in the floating height and horizontal rigidity of the levitation body 20 with respect to the angle of the magnet 11, respectively.
Further, FIGS. 6A and 6B show the relationship between the levitation height and levitation force of the levitation body 20 when the magnet 11 is rotated inwardly and outwardly, respectively.
It should be noted that these are the results when the auxiliary electromagnet is not actively controlled in the horizontal direction.

Looking at the relationship between the levitation height of the levitation body and the force required for vertical movement shown in FIG. In the state, it can be confirmed that the repulsive force decreases as the height increases.
Further, from the graph of FIG. 4B, it can be confirmed that the levitation body is stably seated at the center of the levitation control means because a force acts toward the center in the suction state of 0°.
The relationship between the angle of the magnet 11 and the height of the levitation body shown in FIG. .
From FIG. 5(b), the force in the horizontal direction is most unstable when the outer angle of the magnet 11 is around 200°.
For this reason, when the S pole is arranged on the lower surface of the levitation body as in this embodiment, the magnet 11 can be started up while avoiding the most instability in the horizontal direction by rotating the magnet 11 inwardly. I understand.
As in the present invention, if the levitation body is lifted by adjusting the magnetic field of the magnet while the levitation body is seated, there is no need for a jig for fixing the horizontal position before the start of active control, and the power is turned on. It is possible to stably levitate from time to time to a sufficient levitation height.

6(a), it can be confirmed that the levitation force increases as the angle of the magnet 11 increases when the magnet 11 is turned inward, and the repulsive force can be obtained above the self weight of the levitation body 20. FIG.
When the magnet angle is 180°, there are two points of intersection between the dashed line indicating the weight of the levitation body 20 and the levitation force curve. Since it is presumed to be a stable point (the flying height is about 2 mm), while actively controlling the vertical direction with the auxiliary electromagnet, the magnet is rotated abducted so that the angle is reduced from 180° to 60°, for example. It is suggested that the levitation state can be obtained even if the
Active control in the vertical direction by the auxiliary electromagnets can be achieved by in-phase excitation of the four auxiliary electromagnets.
Considering the result of FIG. 6(b) together, for example, when the auxiliary electromagnet is used to actively control the horizontal direction, the control is started from the state in which the levitation body is seated on the spacer of a predetermined height. It is suggested that abduction from 210° to 150° provides levitation.
By doing so, a flying height of up to 28 mm was obtained by combining the repulsive force of the auxiliary electromagnet and the repulsive force of the magnet.
For example, as shown in FIG. 7, the control system can be composed of a magnet rotation motor, a rotation angle detection sensor, a gain adjustment means, etc. so that the feedback gain can be adjusted according to the rotation angle of the magnet 11 .

INDUSTRIAL APPLICABILITY The present invention can be applied to various products that require a series of operations from a seated state to a floating state and then to a seated state.
For example, if orin, which is a Buddhist altar fitting, can be automatically floated in a non-contact manner like the present invention, attractive effects can be expected in its tone color and reverberation, and it can be enjoyed as an interior decoration.

11 magnet 12 auxiliary electromagnet 12a iron core 20 levitation body

Claims (4)

a levitation body levitated by magnetic force;
a levitation control means for controlling the elevation or descent of the levitation body from below;
an auxiliary means for changing the direction of the magnetic field under the influence of the magnetic field of the levitation control means;
A magnetic levitation control apparatus, wherein the levitation control means controls rotation or reversal of N and S magnetic poles. 2. A magnetic levitation control apparatus according to claim 1, wherein said auxiliary means is an electromagnet having a core wound with a coil. The levitation control means comprises a plurality of magnets or levitation electromagnets arranged concentrically,
3. A magnetic levitation control apparatus according to claim 2, wherein said auxiliary means has said electromagnet disposed inside said levitation control means. 3. A plurality of said electromagnets used as said auxiliary means are arranged concentrically, and the horizontal position of said levitation body is controlled by the magnetic force difference between the X-axis direction and the Y-axis direction. The magnetic levitation control device according to .

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