JPS61202406A - Magnetic levitation apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a magnetic levitation system, and in particular to a magnetic levitation system that uses an axially symmetrical magnetic levitation system to generate a lift force that supports the weight of an object to be levitated in response to a magnetic field. The present invention relates to a magnetic levitation device that utilizes a diverging magnetic field.

[Conventional technology]

There are two basic types of magnetic levitation systems.

That is, (1) one is based on an axial attractive force between two magnetic elements, and (2) one is based on an axial repulsive force between two magnetic elements.

In attraction type levitation systems, an element generating a fixed magnetic field is placed above the levitation member. The levitation member has an element responsive to a magnetic field. An attractive force exists between these fixed magnetic fields and the floating member. To ensure long-term stability of the axial position of the flotation member, the axial component of the suction force increases as the height of the flotation member increases.

It must be something that increases and decreases. To ensure long-term stability of the lateral position of the flotation member, the horizontal component of the suction force must be counterbalanced by errors in the lateral position of the flotation member.

In magnetic levitation systems of the attraction type, in which the levitation member is levitated in a gravitational field without any visible means of support, a variable magnetic field is generated by a fixed element, and the levitation member has an element responsive to the magnetic field. Must be. The fixed magnetic field can be generated by an electromagnet or by a combination of N11 stones and permanent magnets.

In repulsion type levitation systems, the element generating the fixed magnetic field is placed below the levitation member. The levitation member has an element that includes a permanent magnet and is responsive to a magnetic field. A repulsive force exists between these fixed magnetic fields and the floating member. In order to ensure long-term stability of the axial position of the flotation member, the axial component of the repulsive force must decrease with increasing height of the flotation member. To ensure long-term stability of the lateral position of the levitation member, the lateral component of the repulsion force must be counterbalanced by errors in the lateral position of the levitation member.

In magnetic levitation systems of the repulsive force type, in which the levitation member is levitated in a gravitational field without any visible means of support, a magnetic field is generated by the fixed element, whose asymmetry about the axis can be controlled, and the levitation member It must have an element that responds to magnetic fields. The fixed magnetic field can be generated by an array of electromagnets or by a combination of permanent magnets and an array of electromagnets. The magnetic field sensitive elements are permanent magnets or permanent magnet arrays.

In all practical systems of the attraction type for generating a supporting magnetic field, the gradient of the magnetic field is much larger than the gradient of the gravitational field, so in a stationary supporting system the magnetic levitation blade is in just balance with the gravitational force. There is only one position where the net force on the levitating object is zero.

However, in practical systems, very small perturbations displace the floating object from its position, and the object follows the force gradient in the direction of the applied net force, so that the net force is zero. It is not possible to achieve the desired levitation at the position of .

Therefore, a practical magnetic levitation system requires a dynamic system with some type of feedback servomechanism that is responsive to the net force field and can adjust the gravitational field with a faster response than the actual movement of the levitation object. Such dynamic levitation systems include one or more electromagnetic field coils for deploying a magnetic levitation field and monitoring the actual position of the levitation member and detecting any perturbations or small changes in the instantaneous position of the levitation member. This can be quite easily achieved by using a sensor coupled to the current level applied to the electromagnetic field generating element with sufficient speed to compensate for this.

[Problem that the invention seeks to solve]

In levitation systems of the type described so far, large amounts of electrical power are required to deploy the electromagnetic field. Arrangements of practical interest therefore generally include a combination of permanent magnets with an electromagnetic field generator, and
It does not rely on continuous application of an electromagnetic field to support the levitating object. By including a suitable combination of permanent magnets in the levitation system, the power consumption required to establish magnetic levitation can be substantially reduced. In such a system, only the electrical power necessary to restore the equilibrium position between the magnetic and gravitational forces of the permanent magnet is required.

SUMMARY OF THE INVENTION Briefly, the arrangement according to the invention consists of a magnetic levitation device with an arrangement suitable for carrying out the principles set forth herein. It should be understood that the principle of operation of embodiments of the invention can be applied to many different configurations, for example in the field of rotating machinery. The scope of application of the detailed explanation of the invention in the description of pyramidal shapes as floating members should not be limited.

A device embodying the invention according to a specific application of a suction type flotation system has the shape of a rectangular parallelepiped with an upper box and a lower box interconnected by three legs extending into the space between them. Eggplant. The legs are used to support the upper box and hide the conductive wires between the boxes. The levitation element has the shape of a truncated pyramid and is placed for levitation in a confined space between the two boxes. The pyramid shape has aesthetic and functional advantages. For both of the above reasons, the pyramid has an elongated cylindrical magnetic element extending substantially the height of the truncated pyramid. Near the base of the pyramid there is a magnetic element surrounding the magnetic element and An electric wire having a diameter substantially larger than that of the magnetic element, consisting of several turns of solid wire, and connected in a series closed circuit with a parallel combination of a capacitor and a resistor for tuning. A target coil in the form of a coil is provided.

The upper box also has an elongated cylindrical magnetic element. The magnetic element has a multi-turn force coil surrounding the magnetic element.

This coil is externally connected to an electrical drive circuit. Either of the magnetic elements of the pyramid and the upper box may be permanent magnets.

The lower coil has at least a relatively small number of turns of sensing coils arranged generally horizontally with an average diameter that exceeds the average diameter of the target coil in the pyramid for interacting with the pyramid coil. The sensing coil of the lower box is connected within the tuned launch circuit. The tuned oscillator circuit detects the position and movement of the pyramid through interaction with the target coil, and performs appropriate rectification, filtering and damping (
Detected null (braking) via the circuit element
Apply a signal to the force coil drive circuit in the upper box to compensate for the deviation of the pyramid from position. The null position is defined as the position where the pyramid is supported purely by the balance of the permanent magnetic field opposing the gravitational field. This null position changes, for example, if the weight of the pyramid changes, or if the permanent magnetic or gravitational fields are not constant.

For proper support as a floating element, the pyramid must be stabilized against movement in multiple modes. The main modes are defined as follows. Mode 1 concerns vertical or axial movement up and down from the null position. Mode 2
includes an element of pyramid rotation, such that the pyramid is deflected laterally from the null position, but primarily
Lateral movement from one side to the other between the null positions.

Mode 3 is primarily a tilt mode about several pivot points within the pyramid. Each of these modes includes oscillations about the null position. The vibrations are damped under the influence of control circuit elements. Typically, vibrations in mode 1 have a natural resonant frequency of about 1.5H2, vibrations in mode 2 have a resonance of about 1H2, and vibrations in mode 3 have a natural resonance frequency of about 1.5H2.
The resonance is approximately 5Hz. None of these modes concerns the rotation of the floating object about its alignment axis. And the rotation typically does not affect the stabilization of the object unless the object exhibits some essential imbalance with respect to its axis of rotation.

The upper box is substantially covered by a metal plate for shielding. The four side surfaces and the top surface of the box are formed of thin iron plates, and the bottom surface of the box is not shielded and is made of a thin aluminum plate, a thin plastic plate, or the like. Electrical connections to the coils in the upper box extend downwardly to the circuitry in the lower box and are connected to one of the legs supporting the upper box.
hidden inside. The power supply and all electrical circuitry are contained within the lower box.

The primary ill is a battery unit, which allows the system to operate without any visible connection to a power source. However, a built-in battery charger is connected to an electrical outlet to recharge the battery. Circuitry in the base includes suitably positioned magnetically responsive reed switches. The switch is myst 1que with respect to the model of the present invention.
) can be controlled to extend aspects of the process.

Some configurations according to the invention include a combination of circuit elements including filters and damping elements to achieve step changes in the control of the modes of vibration of the floating pyramid. One or other of these several configurations is selected for control functionality depending on how strongly a particular mode of imaging is desired for control.

Generally, circuitry for controlling the embodiments described herein includes an amplitude control circuit coupled to drive a sensing or excitation coil. This circuit includes providing amplitude adjustment when assembling the levitation system. This circuit drives the sensing coil, detects the degree of loading applied to the circuit by coupling with the target coil at the base of the pyramid, and generates position and velocity signals for the corresponding pyramid movement. The output of the amplitude control circuit is coupled to a precision rectifier circuit, then fed through a low pass filter to a damping circuit, and then to a coupled power circuit to drive the force coil in the upper box. Further, a feedback circuit from the force coil to the drive circuit is provided to reduce power consumption to zero when the position of the pyramid is stable.

A first variant configuration of the invention is one with two additional target coils placed within the pyramid.

These are arranged in mutually orthogonal vertical planes and are independent of the signal generated by the coils about the axis in the horizontal plane at the base of the pyramid (pi
tch) and yaw. Since these additional pitch and roll coils provide marginal damping of mode 2 and 3 vibrations, they can eliminate the excitation of both modes encountered in single coil systems.

A variation of the first configuration includes adding a passive eddy current element centrally located within the sensing coil within the lower box. This element is a copper ring or plate and shapes the magnetic field coupling the sensing coil and the pyramid coil, resulting in the effect of damping vibrations in both modes 2 and 3. The beneficial effect of this deformation decreases with increasing space between the pyramid and the lower box.

In another arrangement according to the invention, a viscous magnetic damper is installed in the lower box, typically centrally located within the ring of sensing coils.

This may be a micromagnet placed within the viscous fluid to follow the movement of the pyramid. The natural frequency of the damper is tuned to mode 2 and 3 vibrations, which provides effective viscous damping of the lateral and tilting motion of the pyramid. As before, this is more effective if the gap between the pyramid and the lower box is small.

In other configurations, an auxiliary force coil is provided around the cylinder housing the viscous damper. is,
and is connected to be driven by the braking and power signals provided from the above-mentioned low-pass filter. Additional force coils are also provided within the upper box. In such a configuration, the upper coil is used only for static positioning. The phase lag of the control current is created to counteract manual perturbations of the pyramid, such as when the pyramid is touched, pushed, or other manual disturbances are applied.

In still other configurations of the invention, the force coils and associated circuitry for the upper box are removed to provide support from the force coils and associated circuitry for the lower box in a repulsion type flotation system. It becomes effective. It is effective to provide static support and damping control for all vibration modes. It can be utilized with or without an optional viscous damper. Now that both coils are in the lower box, it is not easy to prevent unintended interactions between the force coil's magnetic field and the excitation 1a/sense coil.

Other configurations according to the invention incorporate both axial and radial sensing coil arrays and axial and radial force coil arrays located in the lower box below the levitation member. There is. These arrays are generally in the form of quadrature (90° out of phase) coil segments. The sense coil quadrature segments are generally connected in two figure eights rotated 90'' from each other.

The use of two figure-eight coils for pyramid position detection is valid for all three modes and allows braking about three coordinate axes.

When the pyramid is arranged so that its center lies on the axis of the two figure-eight coils, opposite voltages are generated in the two halves of each figure-eight, and these threshold voltages are canceled out. When the pyramid moves toward one end of the shaft, this is detected by unequal fluctuations in the induced voltage, and the direction of movement is determined by the phase of the detection signal. In other configurations,
An additional circumferential excitation coil is provided, which acts in conjunction with the double figure eight arrangement of the sensing coil array.

In still other configurations, various combinations of permanent magnets are provided as support magnets as well as magnets in the levitation member. In one variation, a support magnet is placed below the levitation member in a repulsion type levitation system.

〔Example〕

FIG. 1 shows an embodiment of the invention in a specific form of flotation device 10. There is shown an upper box 12 mounted above a lower box or base 16 and supported on three legs 14 . A space is defined between the upper and lower boxes, within which the circuit elements of the device W110 are in operation.
A truncated pyramid 18 is placed without visible support. The fourth leg is designed for aesthetic reasons and to prevent entry and exit of the pyramid (although the dimensions of the pyramid are such that it can be removed from the space between the boxes between the two posterolateral legs). For simplicity, the corners of the support structure shown in the foreground of FIG. 1 have been omitted.

In this embodiment, which is an attraction type levitation system, one in the upper box 12 and one in the upper box 12 to deploy a magnetic field that exactly balances the gravity when the pyramid is in a given null position. Levitation of the pyramid 18 is achieved using a set of permanent magnets placed within the pyramid 18. This permanent magnet magnetic field is applied over a suitable operating range by a magnetic coil consisting of one or more combinations energized according to signals obtained by sensing coils and associated circuitry that monitor the movement of the pyramid. Changes may be made within the scope as necessary. For example, if you place a coin on the floating pyramid 18 in Figure 1,
The added load tends to drive the pyramid downward from its initial null position. However, the new null position of the pyramid to which the additional load is applied is above the initial null position. This is because a stronger permanent magnet field at the null position is then required to support the additional load. A new null position is established by electrical circuitry and a force coil. When the pyramid is in the null position, it can be fully supported by the permanent magnet field, so there is no need for the force coil to be powered to support the pyramid, and its only purpose is to support the pyramid from the null position. The purpose is to adjust the pyramid to compensate for movement.

The movement of the pyramid can be analyzed in terms of three vibrational modes. These are each indicated by a pair of arrows in FIG. That is, pure parallel (axial) movement in the vertical direction (Mode 1), broad parallel (radial) movement in the horizontal direction including some rocking of the pyramid (Mode 2), and pure rotation of the pyramid. Movement (mode 3) is shown. In Figure 2,
The upper and lower arrows in each mode indicate the movement of points on the top and bottom surfaces of the pyramid, respectively. It will be appreciated that these movements can occur with respect to any vertical plane passing through the center of the pyramid, as shown.

FIG. 3 shows an example of a specific circuit configuration according to the present invention. This shows the pyramid 18 being suspended between the upper box 12 and the lower box 16. All of the circuit elements shown in FIG. 3 and subsequent figures, although shown outside of the lower box 16, are not contained within the upper box 12 and pyramid 18 and are within the lower box 16. It is installed in

As shown in FIG. 3, the pyramid consists of a permanent magnet 20
The permanent magnet is located at the center of the pyramid and extends between the top and bottom surfaces. The magnet is surrounded by a conductive target coil 22, the winding of which is connected to a parallel circuit of a capacitor 24 and a resistor 26 which serves for partial tuning of the coil 22 to provide a quality factor of approximately 1o. connected in series.

The upper box 12 also has a multi-turn force coil 3.
2, and houses a permanent magnet 30 that is coaxially arranged. The two magnets 20.30 are arranged with opposite poles facing each other for attraction. Each side and top of the upper box are made of thin steel plates for shielding. The bottom of the upper box 12 is made of a thin aluminum alloy plate.

The illustrated lower box 1G houses a sense or excitation coil 40 coaxially near its upper surface. The coil 40 is energized by an oscillator within the sensor circuit 42 to induce a current in the pyramid target coil 22. The interaction between the coils 22.40 varies depending on the spacing and orientation of each coil.

This change in interaction is then detected by the sensor circuit 42. The output of sensor circuit 42 is coupled to a precision rectifier 44 and then provided to a low pass filter 46. The low pass filter 46 provides an output to a fade out circuit 48, an upper damping circuit 50, and an upper power circuit 52 coupled to the output of the damping circuit 50. The output of the fade-out circuit 48 is also applied to the upper power circuit 52 and a time-out circuit 69 shown in FIG. 4 of the accompanying drawings.

The upper power circuit 52 connects the force coil 3 of the upper box.
2 and vary the overall magnetic field to compensate for any separation of the pyramid from the true null position. Null circuit 54 is connected to the output of power circuit 52 and provides a feedback signal that zeros the current to coil 32 when a pyramid is detected in the null position.

Although the configuration of the present invention shown in FIG. 3 effectively levitates the pyramid, the phase shift in the damping servo system tends to excite rather than damp the vibrations of the pyramid in modes 2 and 3. tend to shoot in these modes. The first mode of imaging (vertical motion) is critical
Iy) Braked.

FIG. 4 mainly shows power supply circuit elements configured according to the present invention. The figure shows a power turn-off stage 6 for controlling the supply of power to electrical circuit elements such as those shown in FIG.
0 is shown. Battery voltage [62 is turn-off stage 6
0 and a battery monitor circuit 64 connects the battery 62 and power turn-off stage 60 to turn off power when the battery is about to discharge.
is connected between. The built-in battery charger 66 is adapted to connect to external electrical circuitry, and its output is connected to the battery 6 via a voltage regulator 68.
2. Power turn-off stage 60 receives additional input control signals from an attached on/off switch as shown in FIG. The power turnoff stage 60 also receives a signal from a timeout circuit 69. The purpose is to prevent the power turn-off stage 60 from dissipating the detection signal provided by the fade-out circuitry of FIG. This is to turn off all power.

Figures 5A and B illustrate the configuration of the pyramid used in the circuit of Figure 3, except that the pyramid in this case comprises three closed circuits consisting of a tuned target coil and one other. It shows. As shown in FIG. 5B, which is a plan view of the pyramid coil, additional target coils 72 and 74 are positioned in vertical planes that are perpendicular to each other.

Coils 72 and 74 allow roll and pitch motion, respectively, to be detected more effectively than single coil 22. According to this system, mode 1 imaging is criNcally damped.

Oscillations in modes 2 and 3 are damped slightly, but such movements are suppressed by the combined servo system in the third mode.
It is not energized as in the case of the configuration shown.

6A and 6B have roughly the same configuration as that shown in FIG. 3, except that an eddy current damping element is added concentrically with the sensing coil 40 near the top surface of the lower box 16. It shows. The element is
Although preferably comprised of a copper plate 76 as shown in FIG. 6A, it may also be a closed copper ring 78 as shown in FIG. 6B. The effect of the eddy current elements is to distort and shape the magnetic field coupling the coils 22.40 to improve the detection of pyramid motion in modes 2 and 3. This improved detection of pyramid movement is even more effective when the axial spacing between the pyramid and the eddy current damping element is small. The eddy current element reduces the magnetic flux density at the center of the transmit coil 40. Thus, damping the bottom of the pyramid 18 increases the number of magnetic field lines intercepted by the receiver coil 22, which simulates a decrease in pyramid height, and the control circuitry increases the lift field.

Phase leading (le) provided by damping circuit elements
ad) produces the effect of mode 2 and 3 vibration suppression.

FIG. 7A shows another damping arrangement included in the circuit elements of FIG. In this configuration, a magnetically coupled viscous damper 80 is connected to the lower box 16.
are installed concentrically within the sensing coil 40 of. Damper 80 contains a viscous fluid 82 and within which a permanent magnet 83 pivots on spindle 84.
l movelent) Supported to obtain L/. A weight 86 is attached to the spindle 84 to prevent the permanent magnet of the pyramid from pulling the magnet out of its pivot socket in the base 88. This viscous damper 80 can be used, if desired, in FIG.
eddy current damping ring 18. Magnet 83 is coupled to permanent magnet 20 in pyramid 18 and is adapted to follow its radial movement in modes 2 and 3. The viscous damping of magnet 83 effectively damps such movement of pyramid 18. This arrangement works particularly well when the axial gap between the bottom of the pyramid 18 and the damping element 80 is small enough that the damping magnet 83 moves closer to the pyramid 18. The operating frequency of the magnet 83 in the damping mode is tuned to the imaging frequency of modes 2 and/or 3, in which case the deflection of the magnet 83 even exceeds the lateral movement of the pyramid 18, Effectively brakes the shooting of images.

FIG. 7B shows another embodiment in which the sensing coil 40- is mounted within the upper box 12 rather than the lower box 16. The floating object is also formed in the shape of a cylinder 18' rather than a pyramid. The upper box 12 includes a shield 41 formed like a partition wall between the sensing coil 40- and the force coil 32. The shield 41 is made of a conductive material such as copper or aluminum. Since the sensing coil 40' is located within the upper box 12, the target coil 22' is located near the top of the floating object 18'.

The configuration of FIG. 7B also shows an optional configuration in which the upper box 12 is equipped with a permanent magnet 30' with viscous damping similar to the viscous damping structure described above in connection with FIG. 7A. . In FIG. 7B, magnet 3 is supported within a chamber 43 filled with viscous damping fluid 45.
0- is shown. The support mechanism for the magnet 30' is
0' and extends through the central hollow of the upper box 12.
It has a rod 47 pivotably mounted on the top of the holder. This rod 47 is pressurized by the attractive force of the magnet 30' against the top 36.

The illustrated floating cylinder 18' has two permanent magnets 2OA 1
It has 20B. Magnet 2OA is located at the top end of the cylinder, and magnet 20B is located at the bottom end. When a viscous damping structure is used in the upper box, a viscous damper 80 will be applied to the lower box. In this case, lower magnet 2
0B is not necessary. In the configuration of FIG. 7B, the damping signal sensitivity to the velocity 5 of the floating object in any of the three resonant modes described above allows effective control of these modes without the need for frequency dependence by phase shift filters. . This is because the detection signal is synchronized to the velocity of the floating object, whereas it is not synchronized when the sensing coil is in the lower box.

FIGS. 8A and 8B are essentially the same as FIGS. 5A and 5B, with the addition of an eddy current damping plate 76 as in FIG. 6B. This configuration according to the invention provides a roll and pitch receiving coil 12.0 to prevent mode 2 and 3 vibrations from being biased by the servo system and to allow for moderate electromagnetic damping of these modes. 74 and the passive eddy current plate 7G can be used. The ring 78 in FIG. 6B is
Instead of plate 76, a viscous damper 80, shown in FIG. 7A, may also be used. Such a combination also allows electromagnetically coupled radial damping of the pyramid movement.

The aluminum alloy plate 38 shown on the bottom of the upper box 12 in FIG. 3 has been removed in the configuration of FIG. 8A. A plastic sheet or other non-magnetic material is placed there.

FIG. 9 shows a different circuit configuration for the flotation device of FIG. 1, in which the upper box 12 has additional coils (
or a substantially greater number of turns in the force coil 32) and the sensing coil 4 in the lower box 16.
Auxiliary force generating coil 94 arranged concentrically within 0
is provided. In addition to the signal applied to upper force coil 32, a motion detection signal is applied to force coil 94.
A lower damping circuit 90 is connected to a lower power circuit 92 that drives the
given through. Electromagnetic coupling viscous damper 80 in Fig. 7
It is desirable, although not essential, to adopt In this configuration, the upper force coil 32 is primarily used for static position control I (mode 1 vibration damping).
Although used for damping mode 2 and 3 vibrations in early embodiments, it may also be used for damping mode 2 and 3 vibrations. The force coil 94 in the lower box 16 is used in conjunction with the upper force coil 32 to provide some damping of mode 1 vibrations, although it is most effective in damping vibrations in modes 2 and 3. can be done.

FIG. 10 shows yet another configuration in which the force coils and field excitation in the upper box 12 are removed and all position control is transferred to the lower box 16.
It is realized by In this configuration, null circuit 54 is connected within the circuit that drives force coil 94. As in the case of FIG. 9, an electromagnetically coupled viscous damper 80 may be optionally added. In the embodiment of FIG. 10, the force coil 94 in the lower box 16 additionally enhances the passive radial damper 80 for static positioning and damping open control for all modes of vibration. To prevent oscillations in the electrical circuit, care must be taken to avoid unintended interactions between the magnetic field of sense coil 40 and force coil 94. As in FIG. 8A, the aluminum plate 38 may be replaced by a plastic sheet.

The circuit configuration of FIG. 11 is the same as that of FIG. 9 except for the difference in the force coil and sense coil of the lower box 16. The coils are in the form of radial and axial coil arrays as shown in FIGS. 14 and 15. 1st
The force coil array in Figure 1 is indicated by reference numeral 102 and the sensing coil array is indicated by 104.
It is shown in These are discussed in more detail in connection with FIGS. 14 and 15. By providing a radial and axial array of force coils 102 in the lower box 14, there is no longer a need for force coils 32 in the upper box. Removal of force coil 32 from upper box 12 eliminates the need for upper damping circuit 50 and power circuit 52, in which case force/power nulling circuit 54 is removed as shown in FIG. Connected to the side circuit.

FIG. 12 shows yet another modification of the invention similar to FIG. 11, in which a permanent magnet 105 is added to the lower box 16. Magnet 105 may be a disk (disc-shaped) or ring magnet, if desired. In addition, as in the modification shown in FIG. 11, the upper box 1
It is optional whether or not to provide the force coil 32 to the coil 2.

If the lower box is provided with a permanent magnet 105, the levitation system consists of a combination of the above-mentioned attraction and repulsion types.

The repulsion magnet 105 in FIG. 12 can be a plug magnet made of ceramic material with an axial ring magnet at least twice the diameter of the magnet in the levitation member, if a small hole is provided in the center. It can function even better. Plug-type repelling magnets create a significant radial negative spring rate, which tends to induce lateral off-centering in the absence of drag generated by radial position sensing circuitry. . By using a large diameter ring magnet, these negative radial spring rates can be reduced and the positive axial rebound spring rates will be insensitive to the radial position of the floating member.

FIG. 13 shows a variant of the invention which is a pure repulsion type flotation system. In this example, the permanent magnet 30 and force coil 32 of the upper box 12 have been removed along with the circuitry for driving the upper force coil depending thereon. The lower box 16 houses a permanent magnet element 105 formed by a plurality of ring magnets 106. The floating member 107, which is shown more cylindrical here, includes a ring magnet 108 having the illustrated polarity and a concentrically arranged magnet 11.
It has a built-in value of 0. The polarity of the magnets 110 is opposite to that of the ring magnet 108, and they generate a magnetic field and a magnetic field that exhibits a greater repulsive force upon interaction with the magnetic field and field lines generated by the permanent magnet 105 of the lower box. This causes lines of magnetic force to form. The levitation member 107 includes a target coil connected in a resonant closed circuit with a capacitor and a resistor (the capacitor and resistor have been omitted from FIG. 13 for convenience of illustration) as shown and described above. 2
It has 2 built-in.

Another arrangement of permanent magnets in the levitation member 107 of FIG. 13 is made with limited dimensions in the axial direction to ensure that the "center of levitation force" is located over the center of gravity. The repulsion magnet 105 below the floating member in FIG. 13 is a ring magnet with a diameter equal to or larger than that of the ring magnet 108 in the floating member. The holes in the lower repulsion magnet, the levitation ring magnet and the holes in the opposite magnetic plug magnet 110 increase the resistance to tipping of the levitation member. The configuration of the permanent magnet elements in the variant of FIG. 13 ensures long-term stability (resistance to centering) both in the vertical direction and in the overturning direction. Due to the negative radial spring rate, lateral off-centering occurs for purely passive systems. This is overcome by a lateral motion servo system. The resonance response in all three modes is
Effectively braked by an axial and radial sense coil array and an active servo system with axial and radial sense coils.

Figure 14 (AlB and C) shows the radial and axial sensing coil array 1 in Figures 11-13.
04 are shown in three different configurations. Any one of these configurations is used in the circuits in each of the figures above.

Figure 14A shows hemispherical coils with overlapping spacing of 90'' as shown. The coils are #1, #2, #3 in the north-south/east-west direction. and #4.The connection of the coil is 9 on the circumference.
The current flows synchronously in the direction of the arrow.

This results in cancellation of the current magnetic field at the center of the array and field enhancement about the periphery.

FIG. 14B shows the sensing array 10 of FIGS. 11-13.
4 shows some specific coil group orientations for 4.

This consists of four quadrature coils numbered #1 to #4 through which current flows in the direction of the arrow. Similar to FIG. 14A, the current magnetic fields cancel within the array, but are mutually enhanced around the array due to the direction of the current.

The sensing coil array 104 of FIGS. 14A-14C is effective in detecting horizontal or lateral excursions of the target coil 22 of an axisymmetric levitated object. The array also detects vertical spacing to the target coil. The coil configurations in FIGS. 14A and B are 4
act as four inductive elements in two tuned tank circuits. The Q of each circuit, and therefore the oscillation amplitude of the tank circuit, dictates the proximity of the target coil. Figure 14A
The circuit to which these individual coils of and B are connected will be explained in connection with FIG.

The sensing coil array 104 in FIG. 14C includes #1 to
It differs from the others in that #4 individual quadrature coils are added and surrounding excitation coils 112 are included in the array. It will also be noted that the opposing quadrature coils are interconnected in series in a double figure eight. Therefore, coils #1 and #2 are connected in series with each other to generate a combined north-south signal, and coils #3 and #4 similarly generate a combined east-picture signal. Connected to The sense or excitation coil 112 requires circuitry similar to that shown in FIG. 16 for excitation drive.

Each individual quadrature coil is linked to it (
Detects alternating magnetic field lines (induced by an excitation coil). If the target coil 22 of the floating member is one 8
If placed symmetrically on a figure-eight pair, the voltages produced in the two halves of one figure-eight pair cancel each other out. If the target coil is displaced from the center of the figure-eight coil pair, the voltages generated in the two individual coils will not cancel out. The phase of the resulting signal indicates the direction of lateral translation of the target coil, and the amplitude of the signal indicates the magnitude of the translation.

The special circuitry that operates with the 1411C sense array 104 is shown in FIG.

FIG. 15 schematically illustrates the arrangement of coils as the electromagnetic coil array 102 that generates the forces in the lateral and axial directions shown in FIGS. 11-13. This array is
Generates both upward and downward vertical forces as well as lateral forces in all directions. The magnitude of these forces can be controlled by circuitry such as that shown in FIG. 18 as a function of the levitation member's longitudinal and lateral position and velocity, as detected by the sense coil array 104.

FIG. 15A shows quadrature coils A-D in which magnetic fields are generated by individual coils with polarities such as to generate a levitation force on the levitation member. The polarity of the magnetic field is shown in Figure 15A.
, there is an arrow tail (mark) 114 surrounded by a circle corresponding to the direction of the magnetic field lines toward the paper surface.
It is shown in In the opposite direction (from the paper toward your hand)
Magnetic field lines directed toward exhibit an anti-buoyancy force. In the front axial direction, the magnetic field strengths in all coils A to D are equal.

FIG. 15B shows the force coil array 102 being driven to exhibit a lateral force in the north direction (following the precedent adopted for FIG. 14). In FIG. 15B, coil A exhibits a magnetic field that produces 11 field lines (indicated by arrow tail 114) pointing toward the page as shown. Coil B is rotated 180 degrees and exhibits a magnetic field that generates lines of magnetic force in the opposite direction (direction toward the front from the page - indicated by arrowhead 115). Coils C and D
does not generate any magnetic field in the example of FIG. 15B. Reversal of magnetic field direction in coils A and B is in opposite directions (south)
exhibits a lateral force to By energizing coils C and D while coils A and B are not energized, lateral forces can be directed either eastward or westward.

With the proper combination of magnetic fields in all four coils, transverse forces in any direction in all directions can be generated.

FIG. 16 schematically shows an example of circuit elements for monitoring the position and movement of a pyramid, such as those used in the block diagram of FIG. 3, for example.

In the upper left-hand corner of the figure there is a sensing circuit 42 in the form of an oscillator with an operational amplifier 130 connected to an excitation or sensing coil 40 . The tuning capacitor 132 is
It is connected within the feedback circuit of the operational amplifier 130. A potentiometer 134 is provided in the return path to the low voltage input of the operational amplifier 130 to allow adjustment of circuit operation when the flotation device is installed for experimentation.

The output of the oscillation circuit is given to a clamp circuit 140,
Therefore, it is adapted to a differential amplifier 150, in which a lead angle phase shift is applied by a capacitor 152 and a resistor 154 connected in the feedback path of an operational amplifier 156. The signal from the potentiometer 134 provides proportional feedback to the operational amplifier 130, and at the same time clamped feedback from the diodes 137, 138 of the clamp circuit 140 is provided via the resistor 141 at the same point. Clamp circuit 140 and differential amplifier 150 constitute precision rectifier 44 in the overall circuit configuration (see FIG. 3). The signal from the differential amplifier stage is applied to a low pass filter 46 that operates in conjunction with an operational amplifier 160 of a damping circuit 90.

The signal applied to operational amplifier 160 is coupled to the output of null circuit 54 of FIG. the operational amplifier 160 and its associated resistor-capacitor network 162.1
The circuit element comprising 64 acts as a signal current source for power circuit 92 .

FIG. 17 is a block diagram illustrating the construction of a portion of the present invention by which the operator of the flotation device, ie, the surgeon, can convince even the most inflexible observer. This circuit shows an on/off switch for controlling a portion of the power turn-off stage 60 of FIG. These switches 1
70.172 is connected in a circuit of series resistor 174 to the set/reset input of flip-flop 176 provided between battery power supply 62 and power supply output 61. The switches 170 , 172 are magnetically responsive reed switches and are suitably positioned within the lower box 16 between different pairs of legs 14 . When using this configuration, the operator of the device can pass the pyramid 18 (which was supported in the floating mode) from the space between the boxes 12.16 and between the two legs 14 on the off switch 172. Remove. This allows switch 172
is closed, and the power supply 61 is connected via the flip-flop 116.
is turned off. The pyramid is then handed to the viewer with an invitation to insert the pyramid between the two boxes for levitation. Repassing the extraction path for turning on the power supply is not effective, nor is it effective to insert the pyramid through the missing space of the fourth leg. The power is turned on only by inserting the pyramid through the space in which the on-switch 170 is located between the other adjacent legs;
The pyramid is relevant.

FIG. 18 is a functional schematic diagram of circuit elements used with the radial and axial sensing array 104 and radial and axial force coil array 102 of FIGS. 11 and 13. FIG.

More specifically, the circuit of FIG.
The circuit of FIG. 19 is adapted for use with the sensing coil array of FIG. 14C, whereas the circuit of FIG. 19 is adapted for use with the sensing coil array of FIG.

The circuit of FIG. 18 shows separated coils #1-#4, each of which is connected to a corresponding oscillator tank circuit. The circuit elements operating with each of the individual coils are similar, so the description for coil #1 shown at the top of the figure can be substituted. Coil #1 is fixed capacitor 1
82 and serves as an inductance in a tuned tank circuit 180 having a variable capacitor 184 for tuning. The signal from the tank circuit is provided to a voltage follower type amplifier 186 which acts as a buffer. The detection signal from the amplifier 186 is sent to the bypass filter 18.
8 to a precision rectification stage 190. Figure 14A
and B, coils #1 and #2 are adapted to detect north-south lateral movement of the levitation member, and coils #3 and #4 are adapted to detect east-west lateral movement. , and all four coils are used for axial motion detection.

The signal processing channels of coils #1 and #2 are connected as two inputs of a differential amplifier 192 with finite gain, which is connected to a low-pass filter 19.
4 to a dump circuit 196 with signal discrimination function and DC gain. Similar circuitry is also provided for the two signal channels associated with sensing coils #3 and #4. The signal at the input of dump circuit 196 connected in series with the channels from coils #1 and #2 indicates lateral position with respect to the north-south direction. Discrimination of this signal in dump circuit 19G is combined at the output with a lateral position signal and provides a lateral velocity signal for driving force coils A, B (of FIG. 15) to effect the desired correction of the flotation member. provide a signal. Similarly, for the lower channel coupled to coils #3 and #4, a combined east-west lateral position and velocity signal is applied to east-west force coils C and D.

In addition to the circuit elements previously described for Figure 18,
Is the voltage-current (voltage→current) converter stage 200 a buffer? It is coupled to the signal input of amplifier 186. This converter stage has an adjustable gain and is adapted to provide a controlled current to the current injection circuit at this point. The voltage provided to each voltage-to-current converter 200 is determined by an averaging stage that receives as input the signal at the output of each bypass filter stage 188.
stage ), that is, the average signal from the averaging circuit 204 is commonly generated from the nonlinear amplifier. The averaging circuit 204 also outputs a signal through a precision rectification stage 206 that is provided to a low pass amplifier 208 and a dump circuit 210, such as the dump circuit 196 described above.

The output of the dump circuit 210 is given to a common connection point of all force coils A to D.

In operation of the circuit of FIG. 18, the tank circuits of coils #1 to #4 are coupled to the target coils in the levitation member via the coils. These resonant circuits are all tuned to the same frequency.

The tank circuit 180 has a corresponding voltage-to-current converter 2
The tank circuit is excited by the current injection from 00 to the natural frequency of the tank circuit or a frequency close to the natural frequency. buffer amplifier 1
86 protects subsequent circuits from loading the tank circuit. The output of the buffer amplifier 186 is dominated by a bypass filter 188 that is adjusted so that there is no phase angle shift between the input and the output at the frequency of the tank circuit. This filter operates to remove low frequency signals induced in the tank circuit by the force coil.

Averaging the signals from bypass filter stage 188 and applying this average signal to converter stage 200 through nonlinear gain stage 202 ensures that all tank circuits are driven at the same frequency.

The nonlinear gain stage 202 has a combination of amplitude clamped and unclamped signals and uses signal clamping techniques to provide a signal that is phase locked to the oscillation of the tank circuit.

The phase angles of all four tank circuits 180 can be set to the same value by adjusting the variable resistance of each tank circuit. The nonlinear gain stage is designed such that the amplitude of each tank circuit's oscillation is essentially a linear function of the axial and lateral distance of the target coil to each coil of the sense coil array.

Precision rectification of the output of bypass filter 188 produces a DC signal that is linearly proportional to the target coil position. This precision commutation also eliminates almost all residual low frequency signals induced in the sense coil array by the force generating coil array. As a result of the subtraction of the difference signals between each other in the differential amplifier 192, the north-south (
Sensitivity is obtained only for horizontal, lateral, parallel motion (regarding coils #1 and #2). Coil #3 and #
A similar subtraction in the corresponding differential amplifier for the signals from 4 provides a similar type of signal for east-west operation. The averaged tank signal from averaging stage 204 is converted by precision rectifier circuit 206 into a signal proportional to the height or axial position of the flotation member. Processing of the transverse translation signal in filter 194 and dump circuit 196 provides a signal that is guided to the position of the floating member without delay. These signals are then amplified as necessary to compensate for the movement of the levitated object as detected by the sense coil, force coil A of FIG.
A driving current is applied to the radial and axial force generating electromagnet array 102 consisting of B, C and D.

FIG. 19 is a functional schematic diagram of signal processing circuitry used in connection with the sense coil array of FIG. 14C and the force coil configuration of FIG. 15. 8 of coils #1 and #2 (north-south) and #3 and #4 (east-west)
The circuit for the cross-section sense coil combination is much the same as that shown and described in connection with FIG. The sense coil 112 serving as an excitation coil is the 16th
A circuit very similar to that shown in the figure is used, comprising a sensor circuit 42 coupled to an excitation coil 112 via a precision rectifier 44 to a low-pass filter stage 46 and a dump circuit 90. Outputs the signal given to . The detection signals from the figure-eight coils, which are applied to the output of the buffer amplifier, are each passed through a multiplier stage (multiplier stage) which also receives a signal from each sensor circuit 42.
age) 220. The output of the multiplier stage 220 is processed in a manner similar to that described with respect to FIG. 18 via a low pass filter 194 and a dump circuit 196. The final signals of these three channels are applied to force coils A, B in the manner shown and described above. obtained from a figure-of-eight coil, processed and in this case perhaps coils A and B or C and D.
Signals applied to a common junction between the coils provide lateral position and lateral velocity signals for the north-south and east-west coils, respectively (or appropriate vector components of actual lateral movement). The signal processed from the excitation coil 112 and applied to the common connection point of all force coils A-D corresponds to the axial position and velocity of the levitation member. The combination of these signals provides the necessary compensating force in the force coil.

Some discussion of the various variants of flotation devices as shown in the drawings will clarify the discussion. The modification shown in FIG. 9 uses 'R11 force coils both above and below the floating object. These coils are driven by circuitry that uses signals from sense coils in the lower box to determine the position and velocity of the levitation member. Axial position and velocity are determined explicitly by the sense coil, but lateral position and velocity are determined without information as to sign (e.g., lateral position is 27° or 2
07°) and the amplitude. In this variation, the sense coil used to drive the lower electromagnetic force coil must be below the levitation member. Any sense coils used to drive the upper electromagnet must be provided to the information of the levitation member. Such a configuration facilitates having a force applied to both ends of the flotation member without delay and applied 180'' apart from the relevant end position of the flotation member in directional phase, and is capable of controlling any of the three modes of vibration. Only the variant shown in FIG. 9 has the sense coil located at the base.

The mode 1 vibration results in the same phase movement at the top and base of the floating member. Mode 2 vibration has the same movement at both the top and base in terms of phase, but
In the case of the illustrated pyramid, the base moves more than the top (see FIG. 2), so the ffi widths are different. Mode 3 vibration causes movements that are 180° out of phase at the top and base of the head, but the magnitudes of the two movements are approximately equal. The servo system coil variant of Figure 9 then has a 180° phase reversal plus phase advance over the entire frequency band of all three modes of the force generating coil in the lower box for optimal stabilization. Should. The servo system must provide the upper N81 force coil with 180° plus phase lead for mode 1 and 2 imaging, and at the same time provide 180° phase reversal plus lag for mode 3 vibration.

Considering the example of FIG. 10, the power required for the base force coil to produce a given axial force on the levitation member is less than for the upper force coil used in other variations.

There are three reasons for this. (1) The spacing between the permanent magnet of the floating member and the electromagnetic force coil is smaller with respect to the base force coil than with respect to the top of the head. (2
) The size of the base force coil is smaller, creating fewer magnetic field lines that do not disturb the levitation member magnets.

(3) If the magnetic forcing of the upper lift permanent magnet does not need to be overcome, it is possible to update the route of the magnetic field lines radiated from the magnet in the floating member by Nv! It is easy for one force coil. This works well for the use of electromagnetic force coils and support magnets only in the lower box, as in the variant of FIG. 13. Unfortunately, there is a disadvantage in relying on the lower force coil to generate all the electromagnetic forces required by the servo system. The lower force coil may exhibit a relatively large mutual inductance with the sense coil, which is also located at the base. Either limiting this mutual inductance or reducing the effect of mutual inductance in gain inductively coupled servo systems, via electronic circuit means, is required to avoid the excavation of electromagnetically coupled systems.

One way to reduce this problem is to excite the sense coil at a sufficiently high frequency that several turns of the sense coil winding are required.

This solution is very effective because the closed-loop gain, which must be less than unity in a magnetically coupled system, is proportional to the ratio of the number of turns in the sense coil to the number of turns in the force coil.

Another way to address this problem is to orient, dimension, or position the sense and force coils so that they have a small mutual inductance with each other. This method is shown in Figures 16, 18 and 19.
As in the circuit shown in the figure, a combination of a bypass filter and a low-pass filter is used that does not have a phase shift in the oscillation frequency of the sense coil and can attenuate the low-frequency signals generated in the sense coil by the magnetic field of the electromagnetic force coil. It is to use. Also, as in the circuits of Figures 18 and 19, the use of a precision rectifier circuit that creates a DC signal proportional to the area under each half-lobe of the sense coil oscillation signal reduces the low frequency signal superimposed on the sense signal. Each half-cycle of the signal is inverted, resulting in averaging and cancellation of this superimposed signal.

Various configurations of the illustrated form of magnetic levitation device and circuitry for effectively deploying and stabilizing the magnetic levitation system have been illustrated and described above. In these particular configurations of the invention, the device is completely self-contained so that the magnetic levitation device has no external means by which its power is utilized. Of course, that is not essential to the implementation of the invention, but may be of interest in certain applications. These configurations draw only the power necessary to compensate for the deflection of the levitated object from the null position, where it is supported only by the permanent magnet field. Feedback circuit elements are included to control the magnet oscillating coils, thereby reducing power dissipation in the power supply to a minimum.

Various circuit, coil, and magnet configurations are disclosed to achieve desired damping of the translation and velocity of a levitated object in eigenmode imaging. Such effective damping is provided for axial movement, lateral movement and rotation of the flotation member relative to the static force null position. Provisions for charging the internal battery power source may be incorporated within the device, as well as special arrangements for turning off the circuit power supply upon system hibernation for a predetermined period of time or at any time chosen by the user operating the device. It is.

〔Effect of the invention〕

According to the present invention, by including a suitable combination of permanent magnets in the levitation system, it is possible to substantially reduce the power consumption required to establish magnetic levitation, and the magnetic levitation system is relatively simple to construct. A flotation device can be provided.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the external appearance of a magnetic levitation device according to an embodiment of the present invention, FIG. 2 is a diagram showing the mode of vibration that defines the movement of the levitation object in FIG. 1 within a magnetic field, and FIG. 4 is a block diagram and a schematic configuration diagram showing an example of a part of the specific configuration in the same embodiment, FIG. 4 is a block diagram showing an example of another part of the specific configuration in the same embodiment, and FIG. FIG. 3 is a schematic configuration diagram showing an example of the configuration of a pond in the non-block diagram portion of FIG. 3, FIG. 6 is a schematic configuration diagram showing other configuration examples of the non-block diagram portion of FIG. 3, and FIGS. FIG. 9 is a block diagram and a schematic configuration diagram showing another configuration example of the non-block diagram portion of FIG. 3; FIG. 11 to 13 are blocks and schematic configuration diagrams showing other configuration examples of FIG. 3, and FIG. 14 is a configuration example of a sense coil used in the same embodiment. FIG. 15 is a schematic diagram showing another configuration example of the same sense coil, FIG. 16 is a circuit diagram showing a specific configuration example of a part of the same embodiment, and FIG. 17 is a schematic diagram showing the same example. FIG. 18 is a block diagram showing a specific configuration example of another part of the
A block diagram showing a specific example of a part of the circuit configuration when using the sense and force coil arrays shown in FIGS. A, B and FIG. 15, and FIG. 19 is the sense and force coil array shown in FIGS. FIG. 2 is a block diagram illustrating a specific example of a part of a circuit configuration when using. 12... Box, 18.18-, 107... Levitating member, 20, 30.30-, 105... Permanent magnet element, 22, 72.74... Target coil, 24... Tuning capacitor , 32.94.102...
・Magnetic field generating coil, 38...aluminum alloy thin plate,
40.40-, 104... sense coil, 42...
・Sensor circuit, 44...#I tight flow device 46...Low pass filter, 52.92...Power circuit, 54...
- Null circuit, 76, 78... eddy current braking element,
90...Dump circuit, 106...Ring magnet, 110...Plug magnet, 180...Tank circuit. Applicant's representative Patent attorney Takehiko Suzue e4+ e-do・2
E-4,37￥E? --' Taro A 17s, No. 4, J
1a・74L Otsu, 7B Sui 81～・168 Director General of the Patent Office Michibe Uga 1. Indication of the matter Patent Application No. 60-40970 2, Title of the invention - 1 Magnetic levitation device 3, Person making the amendment -' Relationship to the case Patent applicant Levi 1 ~ Ron International Ltd. 4, Agent Tokyo 1-26-5 Toranomon, Miyakominato-ku @ Daiichi Mori Building ■1
05 Telephone 03 (502>3181 (main representative) Showa 6
June 25, 06, Subject of amendment 7, Contents of amendment
Figure 8A (F i CJ, 8A) and Figure 8B are shown in Figure 8A (F i CJ, 8A) and Figure 8B, respectively, as shown in the attached sheet.
Correct it as (F i Q, 8B). ”-゛) S lmu, 6A lyu, aA !mu, iθ Imu・74

Claims (22)

[Claims] (1) A first magnetic element installed to support an object to be levitated in a magnetic field, and a second magnetic element placed in a predetermined position by magnetic field interaction between the first magnetic element and the first magnetic element. a magnetic levitation device comprising a magnetic member having a magnetic element, at least one of the magnetic elements being a permanent magnet, and a fixed sense coil for detecting the magnetic member and a magnetic levitation device for changing the levitation magnetic field. a circuit element coupling between at least one magnetic field generating coil, the sense coil and the magnetic field generating coil, and selectively controlling current in the magnetic field generating coil in response to an electrical signal from the sense coil; and a target coil positioned to accommodate movement of the magnetic member and inductively coupled to the stationary sense coil for monitoring both the position and velocity of the magnetic member relative to the null position. A magnetic levitation device characterized by being provided with. (2) The target coil is arranged on a plane coaxial with and generally perpendicular to the axis common to the first and second magnetic elements. The magnetic levitation device according to item 1. (3) The magnetic levitation device according to claim 1 or 2, wherein the target coil is connected in series to the tuning capacitor in a closed loop. (4) The magnetic levitation according to claim 2, wherein the sense coil is coaxially installed on a plane substantially perpendicular to the axis and has a larger diameter than the target coil. Device. (5) The circuit element is connected to the sense coil, has an oscillator for causing the sense coil to generate a current for inducing a current in the target coil, and has a reflected impedance due to the target coil.
2. A magnetic levitation device according to claim 1, further comprising a sensor circuit for detecting changes in sense coil current due to loading due to impedance. (6) Claims characterized in that at least one of the target coil and the sense coil is provided with an additional coil for detecting movement of the second magnetic element in the axial direction, lateral direction, and rotational direction. The magnetic levitation device according to item 5. (7) The magnetic levitation device includes a magnetorheological damper coaxially mounted within the sense coil to damp the detected movement of the magnetic member. The magnetic levitation device according to any one of Item 4. (8) Claims 1 to 7, characterized in that the magnetic levitation device includes an eddy current braking element disposed coaxially with the sense coil and extending generally parallel to the sense coil. A magnetic levitation device according to any one of paragraphs. (9) An additional target coil is inductively coupled to the sense coil so as to exhibit signals corresponding to pitch and roll of the magnetic member when the magnetic member is levitated. The magnetic levitation device according to scope 6. (10) The magnetic levitation device has an aluminum alloy thin plate for eddy current shielding disposed along the bottom surface, and the first
10. The magnetic levitation device according to claim 1, further comprising a casing that accommodates a magnetic element. (11) The magnetic levitation device according to any one of claims 1 to 9, wherein the magnetic field generating coil is disposed below the magnetic member. (12) the circuit elements include a sensor circuit coupled to the sense coil for monitoring the position and velocity of the second magnetic element; a drive circuit coupled to supply current to the magnetic field generating coil; a precision rectifier and low pass filter stage coupled between the sensor circuit and the drive circuit for controlling the current to the magnetic field generating coil in accordance with signals from the sensor circuit corresponding to the position and velocity of the magnetic element. A magnetic levitation device according to any one of claims 1 to 9, characterized in that: (13) Detecting the movement of a plurality of target coils related to the second magnetic element, fixed at positions corresponding to the movement thereof, and arranged in planes orthogonal to each other, and the magnetic member related to three orthogonal axes. Magnetic levitation according to any one of claims 1 to 5, characterized in that it comprises a single stationary sense coil inductively coupled to the mutually orthogonal coils for the purpose of Device. (14) The second magnetic field generating coil is disposed below the floating magnetic member coaxially and approximately on the same plane as the sense coil, and is coupled to the one magnetic field generating coil in order to control the current. a second power circuit coupled to the second magnetic field generating coil for controlling the current thereof; and a second power circuit coupled to the second magnetic field generating coil for controlling the current therein; 14. The magnetic levitation device according to claim 1, further comprising a circuit element for controlling the magnetic levitation device. (15) The circuit element includes a null circuit that provides a return path between the input and output of the first power circuit to minimize the current to the first magnetic field generating coil when the magnetic member is in the null position. A magnetic levitation device according to claim 14, characterized in that: (16) The sense coil is mounted above the magnetic member so as to be coaxially juxtaposed with the first magnetic element and the magnetic field generating coil. The magnetic levitation device according to item 1. (17) The sense coil consists of four quadrature windings arranged at 90° intervals around the central axis, each pair of which is connected to each other in a figure-eight coil shape, and an inductor to these windings. 10. The magnetic levitation device according to claim 6, further comprising: an excitation coil that is coupled to the excitation coil. (18) The sense coil has a plurality of windings disposed within the sense coil array for detecting both axial and lateral excursions of the magnetic member from the null position. The magnetic levitation device according to item 14. (19) The magnetic field generating coil includes a plurality of force generating coils disposed within the force coil array and coupled to exhibit a magnetic field force that repositions the magnetic member to the null position in response to a signal from the sense coil. 19. A magnetic levitation device according to claim 18. (20) The windings of the sense coil array consist of four semicircular windings, with opposing pairs arranged 90° apart, and each individual winding is connected to a corresponding tank. Magnetic levitation according to claim 18, wherein the magnetic levitation circuit is coupled to a circuit, the tank circuit being driven to oscillate with a frequency and phase similar to other wound tank circuits. Device. (21) The magnetic levitation device includes an auxiliary magnetic element installed to support a levitating object, the first magnetic element is arranged above the magnetic member, and the auxiliary magnetic element is arranged above the magnetic member. The magnetic levitation device according to any one of claims 1 to 20, wherein the magnetic levitation device is arranged below. (22) Claim 1, characterized in that the first magnetic element is disposed below the magnetic member to support the second magnetic element with a repulsion type magnetic levitation system.
Magnetic levitation device as described in section.