WO2016072075A1

WO2016072075A1 - Electric motor, control device, and motor control system

Info

Publication number: WO2016072075A1
Application number: PCT/JP2015/005451
Authority: WO
Inventors: 伊藤　功治; 真範安田; 牧田　真治; 潤山岡; 徳永　政男; 悦郎吉野; 淳一朝間
Original assignee: 株式会社デンソー; 株式会社日本自動車部品総合研究所; 国立大学法人静岡大学
Priority date: 2014-11-03
Filing date: 2015-10-29
Publication date: 2016-05-12

Abstract

In this electric motor (10), electromagnetic force is generated among a plurality of permanent magnets (61) and coils (50a, 50b, 50c), and a magnetic bearing for rotatably supporting a rotating shaft (30) at the other end side in the axial direction thereof is configured. The configuration is such that it is possible for the rotating shaft (30) to incline with respect to the rotation center axis (M1), with a bearing (32) side of the rotating shaft (30) as the fulcrum. An electronic control device (70), using the electromagnetic force among the plurality of permanent magnets (61) and the coils (50a, 50b, 50c) as bearing power (Fa), controls the electrical current flowing to the coils (50a, 50b, 50c), in such a way that the axis (M2) of the rotating shaft (30) is brought near the rotation center axis (M1). In so doing, the rotating shaft (30) is rotatably supported by a single magnetic bearing and the bearing (32).

Description

Electric motor, control device, and motor control system

Cross-reference of related applications

This application includes Japanese Patent Application No. 2014-223870 filed on November 3, 2014, Japanese Patent Application No. 2015-2015 filed on April 24, 2015, the disclosure of which is incorporated herein by reference. No. 89634, Japanese Patent Application No. 2015-155172 filed on Aug. 5, 2015 and Japanese Patent Application No. 2015-203209 filed on Oct. 14, 2015.

The present disclosure relates to an electric motor, a control device, and a motor control system.

Conventionally, there is an electric motor in which a rotating shaft is rotatably supported by two magnetic bearings (for example, see Patent Document 1).

In this case, for each magnetic bearing, an excitation coil for rotating the rotor and an excitation coil for the magnetic bearing are wound around a common starter. Thereby, size reduction and a number of parts can be reduced.

Here, the rotor is provided with a permanent magnet along with the rotating shaft. A rotating magnetic field generated from an excitation coil for rotation driving is applied to the permanent magnet, thereby generating a rotational force on the rotor and the rotating shaft. A magnetic force generated from an excitation coil for a magnetic bearing is applied to the permanent magnet, thereby generating a supporting force that rotatably supports the rotating shaft.

JP 59-69522 A

In the electric motor disclosed in Patent Document 1, since the rotating shaft is supported using two magnetic bearings, power consumption required to support the rotating shaft increases.

In view of the above points, an object of the present disclosure is to provide an electric motor, a control device, and a motor control system that can reduce power consumption.

In the first aspect of the present disclosure, a support member that rotatably supports one side in the axial direction of the rotation shaft via a mechanical bearing;
A rotor attached to a rotating shaft and provided with a permanent magnet;
A first coil that is attached to the support member and generates a magnetic field that generates a rotational force that rotates the rotor together with the rotation shaft;
A second coil that is attached to the support member and generates a magnetic force between the permanent magnet and a magnetic bearing that rotatably supports the other axial side of the rotating shaft rather than the mechanical bearing. ,
The rotary shaft is configured such that the rotary shaft can tilt with respect to the rotation center line of the rotary shaft, with the mechanical bearing side as a fulcrum.
The current flowing through the second coil is controlled by the control device so as to prevent the axis of the rotation shaft from being inclined from the rotation center line by the electromagnetic force between the permanent magnet and the second coil.

According to the first aspect, since one side in the axial direction of the rotating shaft is supported by the mechanical bearing and the other side in the axial direction of the rotating shaft is supported by the magnetic bearing, power consumption required to support the rotating shaft is reduced. can do.

Here, the mechanical bearing means any one of a rolling bearing, a sliding bearing, and a fluid bearing. The rolling bearing is a bearing that includes a raceway disposed on the outer peripheral side of the rotating shaft and a rolling element that is disposed between the rotating shaft and the track, and supports the rotating shaft by the rolling motion of the rolling element. . A sliding bearing is a bearing that receives a shaft on a sliding surface. A fluid dynamic bearing is a bearing supported by liquid or gas.

In the second aspect of the present disclosure, the first coil is disposed closer to the rotor than the second coil.

Thereby, the distance between the first coil and the rotor can be shortened as compared with the case where the second coil is arranged closer to the rotor than the first coil. For this reason, since the rotational torque which rotates a rotor can be raised efficiently, the power consumption consumed by a 1st coil can be reduced.

In the third aspect of the present disclosure, the first stator core is attached to the support member, the first coil is wound around, and the magnetic field generated from the first coil is allowed to pass through.
A second stator core attached to the support member and provided separately from the first stator core, wherein the second coil is wound to pass a magnetic field generated from the second coil, and
The first coil and the second coil are arranged on the other side in the axial direction of the rotating shaft with respect to the permanent magnet.

According to the third aspect, since the first stator and the second stator are provided separately, the magnetic flux is saturated in the stator core when the load torque is large and the current flowing through the first coil becomes excessive. A situation in which the force for supporting the rotating shaft is reduced can be avoided. For this reason, even when the load torque increases, stable control of the rotating shaft is possible, and an increase in vibration of the rotating shaft can be suppressed.

In the fourth aspect of the present disclosure, a rotation shaft that is rotatably arranged around the rotation center;
A rotor attached to a rotating shaft and provided with a permanent magnet;
A first coil that is supported by the support member and is arranged in a radial direction around the rotation center with respect to the permanent magnet, and generates a rotational force that applies a magnetic field to the permanent magnet and rotates the rotor together with the rotation shaft;
Supported by the support member and arranged in the radial direction around the rotation center with respect to the permanent magnet, generates electromagnetic force between the permanent magnet and floats around the rotation axis to rotate around the rotation center line A second coil constituting a magnetic bearing to be freely supported;
A positional deviation detection sensor for detecting an amount of deviation of the axis of the rotation axis from the rotation center line based on a magnetic field generated from the permanent magnet,
The control device controls the current flowing through the second coil based on the detection value of the misalignment detection sensor so as to prevent the axis of the rotation shaft from separating from the rotation center line due to the electromagnetic force between the permanent magnet and the second coil. And
The displacement detection sensor is arranged between the rotation center line and the permanent magnet,
The distance between the misalignment detection sensor and the rotating shaft is larger than the distance between the misalignment detection sensor and the permanent magnet.

According to the fourth aspect, the magnetic bearing is configured such that an electromagnetic force is generated between the second coil and the permanent magnet to float the rotating shaft and to support the rotating shaft about the rotation center line. For this reason, a rotating shaft can be rotatably supported by the magnetic bearing comprised from a 2nd coil and a permanent magnet, without using a mechanical bearing. Therefore, similarly to the first aspect, it is possible to reduce the power consumption required to support the rotating shaft.

Furthermore, according to the fifth aspect of the present disclosure, the distance between the positional deviation detection sensor and the rotating shaft is larger than the distance between the positional deviation detection sensor and the permanent magnet. For this reason, since the position shift detection sensor can detect the magnetic flux from the permanent magnet satisfactorily, it is possible to accurately detect the amount of deviation of the axis of the rotation shaft from the rotation center line. As a result, the axis of the rotation axis can be brought close to the rotation center line with high accuracy.

In a sixth aspect of the present disclosure, a stator that forms a plurality of magnetic poles arranged in a circumferential direction around the rotation center line of the rotation shaft and supports the rotation shaft rotatably via a mechanical bearing When,
A plurality of first coils and a plurality of second coils supported by the rotating shaft;
A plurality of first segments supported by the rotating shaft and arranged in the circumferential direction are provided, and a plurality of first segments are connected to end portions of corresponding first coils among the plurality of first coils. 1 commutator,
As the first commutator rotates, the first segment that contacts the plurality of first segments by sliding to the plurality of first segments is sequentially changed, and the current passes through the first segment that contacts the plurality of first coils. A plurality of first brushes that output
A plurality of second segments supported by the rotating shaft and arranged in the circumferential direction are provided, and a plurality of second segments are connected to end portions of corresponding second coils among the plurality of second coils. Two commutators,
As the second commutator rotates, the second segments that slide on the plurality of second segments and contact with each other among the plurality of second segments are sequentially changed, and through the second segments that contact the plurality of second coils. A plurality of second brushes for outputting current,
The plurality of first coils have, as electromagnetic force, a rotational force that rotates a rotation axis about a rotation center line based on currents output through segments that are in contact with the plurality of first brushes and magnetic fluxes from the plurality of magnetic poles. Occur,
The plurality of second coils are displaced from the mechanical bearings of the rotating shaft by generating an electromagnetic force between the plurality of magnetic poles based on the current output through the second segment in contact with the plurality of second brushes. The magnetic bearing which supports a part rotatably is comprised.

According to the sixth aspect, since one side in the axial direction of the rotating shaft is supported by the mechanical bearing and the other side in the axial direction of the rotating shaft is supported by the magnetic bearing, power consumption required to support the rotating shaft is reduced. can do.

However, the mechanical bearing means any one of a rolling bearing, a sliding bearing, and a fluid bearing. The rolling bearing is a bearing that includes a raceway disposed on the outer peripheral side of the rotating shaft and a rolling element that is disposed between the rotating shaft and the track, and supports the rotating shaft by the rolling motion of the rolling element. . A sliding bearing is a bearing that receives a shaft on a sliding surface. A fluid dynamic bearing is a bearing supported by liquid or gas. Furthermore, in the present disclosure, the extending direction of the rotation center line is a direction in which the rotation center line extends.

In the seventh aspect of the present disclosure, the stator is provided with a rotating shaft support member that supports the rotating shaft so as to be swingable via the mechanical bearing with a portion of the axis of the rotating shaft shifted from the mechanical bearing as a fulcrum. The first and second commutators are arranged on the fulcrum side with respect to the mechanical bearing.

According to the seventh aspect of the present disclosure, it is possible to suppress the displacement of the contact portion of the first commutator that contacts the first brush when the rotation shaft swings about the fulcrum. For this reason, it can suppress that the poor contact between a 1st commutator and a 1st brush arises.

In addition to this, when the rotating shaft swings around the fulcrum, it is possible to suppress the displacement of the contact portion of the second commutator that contacts the second brush. For this reason, it can suppress that the poor contact between a 2nd commutator and a 2nd brush arises.

It is a figure showing the whole motor control system composition in a 1st embodiment of this indication. FIG. 2 is a sectional view taken along line II-II in FIG. FIG. 3 is a sectional view taken along line III-III in FIG. It is sectional drawing which shows arrangement | positioning of the coil for inclination control in FIG. It is sectional drawing which shows arrangement | positioning of the coil for rotation control in FIG. It is a figure which shows the inclination of a rotating shaft in XY coordinate. It is a figure which shows the inclination of a rotating shaft in a XYZ coordinate. It is an electric circuit diagram which shows the electric circuit structure of the electronic controller in FIG. It is a figure which shows the electromagnetic force produced by the u1 phase coil for inclination control in 1st Embodiment. It is a figure which shows the electromagnetic force produced by the v1 phase coil for inclination control in 1st Embodiment. It is a figure which shows the electromagnetic force produced by the w1 phase coil for inclination control in 1st Embodiment. It is a figure which shows the electromagnetic force produced by the coil for rotation control in 1st Embodiment. It is a flowchart which shows the control processing of the electronic controller in FIG. It is a flowchart which shows the detail of the step in FIG. It is a flowchart which shows the detail of the step in FIG. It is a figure which shows the output value etc. of the Hall sensor in FIG. FIG. 2 is a diagram illustrating a relationship between a supporting force Fa of a rotating shaft in FIG. It is a figure which shows the relationship between the transfer function-rotation speed of the electric motor of FIG. It is a figure which shows the relationship of the vibration acceleration-rotation speed of the electric motor of FIG. 10 is a flowchart illustrating a support process of a control circuit according to a second embodiment of the present disclosure. It is a figure which shows the electromagnetic force produced by the coil for inclination control in 2nd Embodiment. It is a figure which shows the transfer function-rotation speed relationship of the electric motor in 2nd Embodiment. It is a figure showing the whole motor control system composition in a 3rd embodiment of this indication. FIG. 6 is a cross-sectional view illustrating the arrangement of a tilt control coil and a rotation control coil according to a fourth embodiment of the present disclosure, and corresponds to FIG. 3. It is sectional drawing which shows the arrangement | sequence of the coil for inclination control in 4th Embodiment. It is sectional drawing which shows the arrangement | sequence of the coil for rotation control in 4th Embodiment. It is sectional drawing which shows the electromagnetic force produced by the u1 phase coil for inclination control in 4th Embodiment. It is sectional drawing which shows the electromagnetic force produced by the v1 phase coil for inclination control in 4th Embodiment. It is sectional drawing which shows the electromagnetic force produced by the w1 phase coil for inclination control in 4th Embodiment. It is sectional drawing which shows the electromagnetic force produced by the coil for rotation control in 4th Embodiment. It is sectional drawing which shows arrangement | positioning of the coil for inclination control in the 1st modification of 4th Embodiment of this indication, and the coil for rotation control. It is sectional drawing which shows arrangement | positioning of the coil for inclination control in the 2nd modification of 4th Embodiment of this indication, and the coil for rotation control. It is sectional drawing which shows arrangement | positioning of the coil for inclination control in the 3rd modification of 4th Embodiment of this indication, and the coil for rotation control. It is a partial enlarged view showing arrangement of a coil for inclination control and a coil for rotation control in the 4th modification of a 4th embodiment of this indication. It is a figure showing the whole motor control system composition in a 5th embodiment of this indication. FIG. 36 is a sectional view taken along the line XXXVI-XXXVI in FIG. FIG. 37 is a cross-sectional view of a first modified example of the fifth embodiment of the present disclosure, corresponding to FIG. 36. It is a figure showing the whole motor control system composition in the 2nd modification of a 5th embodiment of this indication. It is a figure showing the whole motor control system composition in a 6th embodiment of this indication. FIG. 40 is a sectional view taken along line XL-XL in FIG. FIG. 40 is a sectional view taken along line XLI-XLI in FIG. 39. It is a figure which shows the fluctuation reduction effect of the supporting force in 6th Embodiment of this indication. It is a figure showing the whole electronic control unit composition in a 7th embodiment of this indication. It is a figure which shows the electromagnetic force between the coil for inclination control, and a some permanent magnet in 7th Embodiment. It is a flowchart which shows the support control by an electronic controller in 7th Embodiment. FIG. 41 is a cross-sectional view corresponding to FIG. 40 in another embodiment of the present disclosure. FIG. 42 is a cross-sectional view corresponding to FIG. 41 in another embodiment. It is a figure showing the whole motor control system composition in an 8th embodiment of this indication. FIG. 49 is a cross-sectional view of XLIX-XLIX in FIG. 48. FIG. 49 is a cross-sectional view taken along line LL in FIG. 48. It is LI-LI sectional drawing in FIG. FIG. 49 is a sectional view taken along line LII-LII in FIG. 48. It is sectional drawing which shows arrangement | positioning of the coil for inclination control in FIG. 48, and the coil for rotation control. It is a figure which shows the inclination of a rotating shaft in XY coordinate. It is a figure which shows the inclination of a rotating shaft in a XYZ coordinate. It is an electric circuit diagram which shows the electric circuit structure of the electronic controller in FIG. It is a flowchart which shows the control processing of the electronic controller in FIG. 61 is a flowchart showing details of steps in FIG. 60. It is a figure which shows the output value etc. of the Hall sensor in FIG. It is a figure which shows the output value etc. of the Hall sensor in FIG. FIG. 49 is a diagram showing a relationship between a supporting force Fa of the rotating shaft in FIG. 48, an angle, and a rotational speed. It is a figure which shows the relationship between the transfer function-rotation speed of the electric motor of FIG. It is a figure which shows the relationship of the vibration acceleration-rotation speed of the electric motor of FIG. It is a figure showing the whole motor control system composition in the comparative example of this indication. It is a flowchart which shows the support process of the control circuit in 9th Embodiment of this indication. It is a figure which shows the electromagnetic force produced by the coil for inclination control in 9th Embodiment. It is a figure which shows the transfer function-rotation speed relationship of the electric motor in 9th Embodiment. It is a figure showing the whole motor control system composition in a 10th embodiment of this indication. FIG. 68 is a partially enlarged view in FIG. 67. It is a figure showing the whole motor control system composition in an 11th embodiment of this indication. It is a figure showing the whole motor control system composition in a 12th embodiment of this indication.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following embodiments, parts that are the same or equivalent to each other are given the same reference numerals in the drawings in order to simplify the description.

(First embodiment)
FIG. 1 shows an overall configuration of a first embodiment of a motor control system 1 of the present disclosure.

The motor control system 1 of this embodiment includes an electric motor 10 and a fan 20 as shown in FIG.

As shown in FIGS. 1, 2, and 3, the electric motor 10 includes a rotating shaft 30, a center piece 31, a bearing 32, a holding portion 33,

permanent magnets

34a and 34b, a stator 35, a rotor 36, and a hall sensor 37a. , 37b, 37c, 37d.

The rotary shaft 30 is a rotary shaft that transmits the rotational force of the rotor 36 to the fan 20. The fan 20 is connected to the fan 20 so that the rotary shaft 30 is connected to the hole 20 a by fitting the other end of the rotary shaft 30 in the axial direction. In the present embodiment, for example, a centrifugal fan is used as the fan 20.

The center piece 31 is a support member including a cylindrical portion 31a and a flange portion 31b. The cylinder portion 31a is formed in a cylindrical shape centered on the rotation center line M1 (see FIG. 7) of the rotation shaft 30. A rotating shaft 30 is disposed in the hollow portion of the cylindrical portion 31a. The flange portion 31b is formed so as to protrude outward in the radial direction from one axial direction side of the cylindrical portion 31a. The center piece 31 is fixed to the plate 40. The radial direction is a radial direction around the rotation center line M <b> 1 of the rotation shaft 30.

The bearing 32 is a mechanical bearing that rotatably supports one side in the axial direction of the rotating shaft 30. The bearing 32 is disposed radially inward with respect to the cylindrical portion 31 a of the center piece 31. The bearing 32 is supported by the cylinder part 31a. The bearing 32 is supported by the holding plate 41 from one side in the axial direction. In the present embodiment, for example, a rolling bearing is used as the bearing 32. The rolling bearing includes a track disposed on the outer peripheral side of the rotating shaft 30 and a rolling element disposed between the rotating shaft 30 and the track, and supports the rotating shaft 30 by the rolling motion of the rolling element. It is a bearing.

The

permanent magnets

34 a and 34 b are arranged on the other side in the axial direction with respect to the bearing 32 of the rotating shaft 30. The

permanent magnets

34 a and 34 b are located on the radially inner side with respect to the other axial side of the stator core 52. The

permanent magnets

34 a and 34 b are fixed to the rotary shaft 30. The

permanent magnets

34a and 34b are each formed in an arc shape as shown in FIG. The

permanent magnets

34 a and 34 b are combined so as to cover the outer periphery of the rotating shaft 30. Out of the

permanent magnets

34a and 34b, one of the permanent magnets in the radial direction forms an S pole, and the other permanent magnet in the radial direction forms an N pole. The

permanent magnets

34a, 34b apply magnetic flux to the

hall sensors

37a, 37b, 37c, 37d.

The holding portion 33 is disposed between the bearing 32 and the

permanent magnets

34a and 34b. The restraining portion 33 is formed in a ring shape with the rotation center line M1 of the rotation shaft 30 as the center.

A gap is formed between the holding portion 33 and the rotating shaft 30. As will be described later, the restraining portion 33 is a bearing portion that supports the rotating shaft 30 in a state where the rotating shaft 30 is largely inclined from the rotation center line M1 of the rotating shaft 30. The holding part 33 is supported by the cylinder part 31 a of the center piece 31. The holding part 33 of this embodiment is formed of a resin material having lubricity.

The stator 35 includes

coils

50a, 50b, 50c,

coils

51a, 51b, 51c, and a stator core 52, as shown in FIGS.

The stator core 52 allows a magnetic flux (that is, a magnetic field) generated from the

coils

50a, 50b, and 50c to pass therethrough. Further, the stator core 52 allows a magnetic flux (that is, a magnetic field) generated from the

coils

51a, 51b, 51c to pass therethrough. The stator core 52 constitutes a magnetic circuit together with the plurality of permanent magnets 61.

Specifically, as shown in FIG. 3, the stator core 52 includes a ring portion 53 and

teeth

54a, 54b, 54c, 54d, 54e, 54f, 54g, 54h, 54i, 54j, 54k, and 54l. The ring portion 53 is disposed on the outer side in the radial direction with respect to the cylindrical portion 31 a of the center piece 31. The ring part 53 is fixed to the cylinder part 31a.

Teeth

54a, 54b,... 54l are formed so as to protrude radially outward from the ring portion 53. The

teeth

54a, 54b,... 54l are arranged at equal intervals in the circumferential direction around the rotation center line M1 of the rotation shaft 30. Each of the

teeth

54a, 54b,... 54l is formed such that the tip side extends in the circumferential direction.

The

coils

50a, 50b, and 50c of the present embodiment are tilt control coils that generate the supporting force of the rotating shaft 30. FIG. 4 shows the arrangement of the

coils

50a, 50b, and 50c of this embodiment. In FIG. 4, the illustration of the

coils

51a, 51b, and 51c is omitted for convenience of explanation. In FIG. 4, in the

coils

50a, 50b, and 50c, black dots indicate a state in which current flows toward the back side in the vertical direction of the paper surface, and x indicates a state in which current flows toward the front side in the vertical direction of the paper surface.

First, the coil 50a is a U1-phase coil, and is wound around the

teeth

54a, 54d, 54g, and 54j as shown in FIG. The

teeth

54a, 54d, 54g, 54j are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

The coil 50b is a V1-phase coil and is wound around the

teeth

54c, 54f, 54i, and 54l. The

teeth

54c, 54f, 54i, 54l are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

The coil 50c is a W1-phase coil, and is wound around the

teeth

54b, 54e, 54h, and 54k. The

teeth

54b, 54e, 54h, and 54k are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

Note that the coil 50a constitutes a U1-phase coil, the coil 50b constitutes a V1-phase coil, and the coil 50c constitutes a W1-phase coil.

The

coils

51 a, 51 b, 51 c of the present embodiment are rotational drive coils that generate a rotating magnetic field for rotating the rotor 36. FIG. 5 shows the arrangement of the

coils

51a, 51b, 51c of this embodiment. In FIG. 5, the illustration of the

coils

50a, 50b, and 50c is omitted for convenience of explanation. In FIG. 5, in the

coils

51 a, 51 b, 51 c, black dots indicate a state in which a current flows toward the back side in the vertical direction on the paper surface, and x indicates a state in which a current flows toward the front side in the vertical direction on the paper surface.

The coil 51a is a U2-phase coil, and is wound around

teeth

54c, 54d, 54i, 54j as shown in FIG. The

teeth

54c and 54d and the

teeth

54i and 54j are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51a wound around the tooth 54c and the coil 51a wound around the tooth 54d are wound in different directions. The coil 51a wound around the teeth 54i and the coil 51a wound around the teeth 54j are wound in different directions.

The coil 51b is a V2-phase coil and is wound around the

teeth

54a, 54b, 54g, and 54h. The

teeth

54a, 54b and the

teeth

54g, 54h are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51b wound around the teeth 54a and the coil 51b wound around the teeth 54b are wound in different directions. The coil 51b wound around the tooth 54g and the coil 51b wound around the tooth 54h are wound in different directions.

The coil 51c is a W2-phase coil and is wound around the

teeth

54e, 54f, 54k, and 54l. The

teeth

54e and 54f and the teeth 54k and 54l are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51c wound around the tooth 54e and the coil 51c wound around the tooth 54f are wound in different directions. It is wound in a different direction from the coil 51c wound around the tooth 54k and the coil 51c wound around the tooth 54l.

In this embodiment, the

coils

50a, 50b, and 50c are disposed on the rotor 36 side (that is, radially outside) with respect to the

coils

51a, 51b, and 51c.

Thus, the

coils

50a, 50b, 50c and the

coils

51a, 51b, 51c are wound around the common stator core 52. That is, the

coils

50 a, 50 b, 50 c and the

coils

51 a, 51 b, 51 c are attached to the center piece 31 via the stator core 52. The current flowing through the

coils

50a, 50b, and 50c and the current flowing through the

coils

51a, 51b, and 51c are controlled by an electronic control unit (denoted as ECU in FIG. 1) 70.

The rotor 36 includes a rotor case 60 and a plurality of permanent magnets 61. The rotor case 60 is formed in a cylindrical shape centered on the rotation center line M1 of the rotation shaft 30. The rotor case 60 is disposed radially outside the rotation center line M1 of the rotation shaft 30 with respect to the stator core 52 and the

coils

50a, 50b, 50c, 51a, 51b, 51c.

1 in the rotor case 60 of FIG. 1, the other side in the axial direction is closed with a lid 60a. The lid portion 60a is provided with a through hole 60b that allows the rotary shaft 30 to pass therethrough. The lid 60 a of the rotor case 60 is fixed by the rotating shaft 30. That is, the rotor 36 is attached to the rotating shaft 30.

The plurality of permanent magnets 61 are arranged in the circumferential direction around the rotation center line M1 of the rotation shaft 30. The plurality of permanent magnets 61 are arranged on the radially inner side with respect to the rotor case 60. The plurality of permanent magnets 61 are fixed to the rotor case 60. The plurality of permanent magnets 61 are arranged so that each magnetic pole faces in the radial direction. The plurality of permanent magnets 61 are arranged so that the S poles and the N poles are alternately arranged in the circumferential direction on each magnetic pole of the plurality of permanent magnets 61. In the present embodiment, twelve permanent magnets 61 are arranged.

The

hall sensors

37a, 37b, 37c, and 37d are disposed on the outer side in the radial direction around the rotation center line M1 of the rotation shaft 30 with respect to the

permanent magnets

34a and 34b. Gaps are formed between the

hall sensors

37a, 37b, 37c, and 37d and the

permanent magnets

34a and 34b. The

hall sensors

37a, 37b, 37c, and 37d are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30. The

hall sensors

37a, 37b, 37c, and 37d are fixed to the cylindrical portion 31a of the center piece 31. The

hall sensors

37a, 37b, 37c, and 37d are for detecting the rotational speed and inclination angle of the rotary shaft 30, and are constituted by hall elements that detect magnetic fields generated from the

permanent magnets

34a and 34b.

The electric motor 10 configured as described above is configured such that the rotation shaft 30 can be inclined from the rotation center line M1 of the rotation shaft 30 with the bearing 32 side of the rotation shaft 30 as a fulcrum (FIGS. 6 and 7). FIG. 8).

6 and 7, the fulcrum is the origin 0, the rotation center line M1 of the rotation shaft 30 is the Z axis, the X and Y axes orthogonal to the rotation center line M1 are set, and rotation is performed with respect to the Z axis. An example in which the shaft 30 is inclined at an angle θ is shown. In FIG. 6, (x0, y0) indicates the XY coordinates of the end on the other side in the axial direction of the rotating shaft 30 (that is, the fan 20).

Next, the electrical configuration of the motor control system 1 of the present embodiment will be described.

The electronic control device 70 includes

inverter circuits

71 and 72 and a control circuit 73 as shown in FIG.

The inverter circuit 71 includes transistors SW1, SW2, SW3, SW4, SW5, and SW6.

The transistors SW1 and SW2 are connected in series between the positive electrode bus 71a and the negative electrode bus 71b. Transistors SW3 and SW4 are connected in series between positive electrode bus 71a and negative electrode bus 71b. The transistors SW5 and SW6 are connected in series between the positive electrode bus 71a and the negative electrode bus 71b.

The common connection terminal T1 between the transistors SW1 and SW2 is connected to the coil 50a. A common connection terminal T2 between the transistors SW3 and SW4 is connected to the coil 50b. A common connection terminal T3 between the transistors SW5 and SW6 is connected to the coil 50c. The

coils

50a, 50b, 50c are connected by star connection.

The inverter circuit 72 includes transistors SY1, SY2, SY3, SY4, SY5, and SY6.

The transistors SY1 and SY2 are connected in series between the positive electrode bus 72a and the negative electrode bus 72b. Transistors SY3 and SY4 are connected in series between positive electrode bus 72a and negative electrode bus 72b. Transistors SY5 and SY6 are connected in series between positive electrode bus 72a and negative electrode bus 72b.

The common connection terminal D1 between the transistors SY1 and SY2 is connected to the coil 51a. A common connection terminal D2 between the transistors SY3 and SY4 is connected to the coil 51b. A common connection terminal D3 between the transistors SY5 and SY6 is connected to the coil 51c. The

coils

51a, 51b, 51c are connected by star connection. The

positive buses

71a and 72a are connected to the positive electrode of the DC power supply Ba. The negative

electrode bus lines

71b and 72b are connected to the negative electrode of the DC power supply Ba.

The control circuit 73 is configured by a microcomputer, a memory, and the like, and generates a rotational force for the rotor 36 and outputs a supporting force for supporting the rotary shaft 30 in accordance with a computer program stored in the memory. Execute control processing. The control circuit 73 controls switching of the transistors SW1, SW2,... SW6 and the transistors SY1, SY2,... SY6 based on the output signals of the

hall sensors

37a, 37b, 37c, and 37d as the control process is executed. To do.

When current is output to the coil 50a from the common connection terminals T1, T2, T3, as shown in FIG. 9, between the coil 50a and the plurality of permanent magnets 61, electromagnetic waves are generated based on the magnetic flux G generated by the coil 50a. A repulsive force and a suction force are generated as force.

Specifically, repulsive force and attractive force as electromagnetic force are generated between the coil 50a wound around the

teeth

54a, 54d, 54g, and 54j and the plurality of permanent magnets 61. The repulsive force and the attractive force generated between the coil 50a and the plurality of permanent magnets 61 are combined to generate the electromagnetic force fu1. The electromagnetic force fu1 is a force that moves the rotor 36 in the first direction. The first direction is a direction rotated 225 ° clockwise from the X axis, where the X axis is the axis extending to the right side of the page with the axis of the rotation axis 30 as the center.

In FIG. 9, FIG. 10, and FIG. 11, the arrow pointing radially outward indicates the repulsive force, and the arrow pointing radially inward indicates the suction force.

When current is output from the common connection terminals T1, T2, T3 to the coil 50b, the magnetic flux G generated by the plurality of permanent magnets 61 is between the coil 50b and the plurality of permanent magnets 61, as shown in FIG. As a result, repulsive force and attractive force are generated as electromagnetic force.

Specifically, repulsive force and attractive force as electromagnetic force are generated between the coil 50b wound around the

teeth

54c, 54f, 54i, and 54l and the plurality of permanent magnets 61. The repulsive force and the attractive force generated between the coil 50b and the plurality of permanent magnets 61 are combined to generate the electromagnetic force fv1. The electromagnetic force fv1 is a force that moves the rotor 36 in the second direction. The second direction is a direction rotated 105 ° clockwise from the X axis.

When current is output from the common connection terminals T1, T2, and T3 to the coil 50c, the magnetic flux G generated by the plurality of permanent magnets 61 is between the coil 50c and the plurality of permanent magnets 61, as shown in FIG. Thus, repulsive force and attractive force are generated as electromagnetic force.

Specifically, repulsive force and attractive force as electromagnetic force are generated between the coil 50c wound around the

teeth

54b, 54e, 54h, and 54k and the plurality of permanent magnets 61. The repulsive force and the attractive force generated between the coil 50c and the plurality of permanent magnets 61 are combined to generate the electromagnetic force fw1. The electromagnetic force fw1 is a force that moves the rotor 36 in the third direction. The third direction is a direction rotated 15 ° counterclockwise from the X axis.

Here, the direction of the electromagnetic force fu1, the direction of the electromagnetic force fv1, and the direction of the electromagnetic force fw1 are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotating shaft 30. Specifically, the direction of the electromagnetic force fu1 is offset by 120 ° with respect to the direction of the electromagnetic force fv1. The direction of the electromagnetic force fv1 is offset by 120 ° with respect to the direction of the electromagnetic force fw1. The direction of the electromagnetic force fw1 is offset by 120 ° with respect to the direction of the electromagnetic force fu1. Here, the electromagnetic forces fu1, fv1, and fw1 are unit vectors, respectively.

Using such electromagnetic forces fu1, fv1, fw1 and coefficients K1, K2, K3 applied to the electromagnetic forces fu1, fv1, fw1 to bring the axis M2 (see FIG. 7) of the rotary shaft 30 closer to the rotation center line M1. Can be expressed by the following mathematical formula 1.

Fa = K1 · fu1 + K2 · fv1 + K3 · fw1 (Formula 1)
The control circuit 73 controls the transistors SW1, SW2,... SW6 to control the current flowing from the common connection terminals T1, T2, T3 to the

coils

50a, 50b, 50c. For this reason, by controlling the coefficients K1, K2, and K3, the magnitude and direction of the supporting force Fa can be controlled.

The control circuit 73 controls the transistors SY1, SY2,... SY6, and outputs current from the common connection terminals S1, S2, S3 to the

coils

51a, 51b, 51c. For this reason, rotating magnetic fields Ya, Yb, Yc are sequentially generated from the

coils

51a, 51b, 51c (see FIG. 12). The rotating magnetic fields Ya, Yb, and Yc cause the plurality of permanent magnets 61 to generate a rotational force.

The rotating magnetic field Ya is generated from the coil 51a disposed between the

teeth

54c and 54d and the coil 51a disposed between the

teeth

54i and 54j. The rotating magnetic field Yb is generated from a coil 51b disposed between the

teeth

54g and 54h and a coil 51b disposed between the

teeth

54a and 54b. The rotating magnetic field Yc is generated from a coil 51c disposed between the

teeth

54e and 54f and a coil 51c disposed between the teeth 54k and 54l.

Next, control processing of the control circuit 73 of this embodiment will be described with reference to FIGS.

The control circuit 73 executes control processing according to the flowcharts of FIGS. FIG. 13 is a flowchart showing the control process.

First, in step 100 of FIG. 13, the magnetic fields generated by the

permanent magnets

34a, 34b are detected by the

hall sensors

37a, 37b, 37c, 37d.

Here, in the XY coordinates, the direction in which the

hall sensors

37a and 37c are arranged is defined as the X direction, and the direction in which the

hall sensors

37b and 37d are arranged is defined as the Y direction. A difference dS (= Ha−Hc: see FIG. 16) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c is obtained. The difference dS indicates rotation angle information of the rotation shaft 30. Based on the difference dS, the rotation angle (that is, the rotation position) of the rotation shaft 30 at the current time is calculated (step 110).

Next, support control (step 120) for preventing the rotation shaft 30 from being inclined from the rotation center line S1 and rotation control (step 130) for rotating the rotation shaft 30 are executed in parallel. Details of support control (step 120) and rotation control (step 130) will be described later. Next, it is determined whether or not to continue the rotation of the rotating shaft 30 (step 140). Thereafter, assuming that the rotation of the rotating shaft 30 is continued, if YES is determined in the step 140, the process returns to the step 110. Next, the determination of YES in steps 100, 110, 120, 130 and 140 is repeated until a stop command for stopping the control process is input from the outside. Thereafter, when a stop command is input from the outside, it is determined as NO in step 140, and the control process is terminated.

Next, rotation control (step 130) will be described with reference to FIG. FIG. 14 is a flowchart showing details of step 130 in FIG.

First, in step 131, the coil to be excited is selected from the

coils

51a, 51b, 51c based on the rotation angle of the rotating shaft 30 at the current time calculated in step 110. The current flowing through the selected coil is calculated based on the rotation angle of the rotating shaft 30 at the current time calculated in step 110 (step 132). Thereafter, the transistors SY1, SY2, SY3, SY4, SY5, and SY6 for outputting the calculated current to the selected coil are subjected to switching control (step 133). Thereby, the transistors SY1, SY2, SY3, SY4, SY5, and SY6 of the inverter circuit 71 are switched, and current is output from the common connection terminals D1, D2, and D3 to the selected coil. A known rotation control process can be used for the processes in steps 131 to 133.

Such coil selection processing (step 131), current value calculation processing (step 132), and current output processing (step 133), Hall sensor detection processing (step 100), and rotation angle calculation processing (step 100) in FIG. Step 110) is repeated. Then, the transistors SY1, SY2, SY3, SY4, SY5, and SY6 are switched to output a three-phase alternating current from the common connection terminals D1, D2, and D3 to the

coils

51a, 51b, and 51c.

Therefore, a rotating magnetic field is generated from the

coils

51a, 51b, 51c. Therefore, a rotational force that rotates in synchronization with the rotating magnetic field is generated in the plurality of permanent magnets 61. Along with this, the rotating shaft 30 rotates together with the rotor 36.

Next, support control (step 120) will be described with reference to FIG. FIG. 15 is a flowchart showing details of step 120 in FIG.

First, in step 121, based on the output signals of the

hall sensors

37a, 37b, 37c, and 37d, the inclination θ (see FIG. 7) of the rotation shaft 30 with respect to the rotation center line M1 of the rotation shaft 30 is calculated.

Specifically, the difference dS (= Ha−Hc) between the output signal Ha of the hall sensor 37a at the current time and the output signal Hc of the hall sensor 37c at the current time is obtained. Then, based on the difference dA (= A1-A0: FIG. 16) between the amplitude value A1 of the difference dS and the amplitude value A0 of the reference signal k1, the X coordinate of the fan 20 (the X coordinate of the other end portion in the axial direction of the rotating shaft 30). Ask for.

Here, the amplitude value A1 indicates the amplitude value of the difference dS at the current time. Let ΔT be the time between the timing when the difference dS becomes zero and the current time. The amplitude value A0 is the amplitude of the reference signal k1 when ΔT has elapsed from the timing when the reference signal k1 becomes zero.

The X coordinate (X0) increases as the difference (A1-A0) increases, and the X coordinate (X0) increases as the difference (A1-A0) decreases. The reference signal k1 is a difference (= theoretical value of the output signal Ha−theoretical value of the output signal Hc) between the theoretical value of the output signal Ha of the Hall sensor 37a and the theoretical value of the output signal Hc of the Hall sensor 37c.

Here, the output signal Ha output from the hall sensor 37a when the rotary shaft 30 rotates in a state where the axis of the rotary shaft 30 coincides with the rotation center line M1 of the rotary shaft 30 is used as the theoretical value of the output signal Ha. An output signal Hc output from the hall sensor 37c when the rotary shaft 30 rotates in a state where the axis of the rotary shaft 30 coincides with the rotation center line M1 of the rotary shaft 30 is a theoretical value of the output signal Hc.

A difference dq (= Hb−Hd) between the output signal Hb of the hall sensor 37b at the current time and the output signal Hd of the hall sensor 37d at the current time is obtained, and the amplitude B1 of the difference dq and the amplitude value B0 of the reference signal k2 are obtained. Based on the difference dB (= B1−B0), the Y coordinate of the fan 20 (that is, the Y coordinate of the other end portion in the axial direction of the rotating shaft 30) is obtained.

The reference signal k2 is a difference (= theoretical value of the output signal Hb−theoretical value of the output signal Hd) between the theoretical value of the output signal Hb of the Hall sensor 37b and the theoretical value of the output signal Hd of the Hall sensor 37d. Here, the output signal Hb output from the hall sensor 37b when the rotary shaft 30 rotates in a state where the axis of the rotary shaft 30 coincides with the rotation center line M1 of the rotary shaft 30 is used as a theoretical value of the output signal Hb. An output signal Hd output from the Hall sensor 37d when the rotary shaft 30 rotates in a state where the axis of the rotary shaft 30 coincides with the rotation center line M1 of the rotary shaft 30 is used as a theoretical value of the output signal Hd.

The amplitude value B1 indicates the amplitude value of the difference dq at the current time. The amplitude value B0 is the amplitude of the reference signal k2 when ΔT has elapsed from the timing when the reference signal k1 becomes zero. As the difference dB increases, the Y coordinate (Y0) increases. The smaller the difference dB, the smaller the Y coordinate (Y0).

Based on the XY coordinates (X0, Y0) of the fan 20 thus obtained, the inclination θ (angle) of the rotation shaft 30 with respect to the rotation center line M1 is calculated. In the present embodiment, the inclination θ is an angle formed between the Z axis and the axis M2 of the rotary shaft 30 in the clockwise direction from the Z axis toward the axis M2 of the rotary shaft 30 (see FIG. 7). .

Next, in step 122, based on the XY coordinates (X0, Y0) of the fan 20, a coil to be excited is selected from the

coils

50a, 50b, 50c to bring the axis M2 of the rotating shaft 30 closer to the rotation center line M1. . That is, the coil to be energized to bring the axis M2 of the inclined rotation shaft 30 close to the rotation center line M1 is selected from the

coils

50a, 50b, and 50c. Hereinafter, the coil thus selected is referred to as a selection coil.

Next, in step 123, it is determined whether or not the rotational speed of the rotary shaft 30 is high.

Specifically, a difference (Ha−Hc) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c is obtained, and based on the change of the obtained difference (Ha−Hc) with respect to time, the rotation axis A rotational speed of 30 is calculated. It is determined whether or not the calculated rotation speed (hereinafter referred to as calculated rotation speed V) is equal to or higher than a predetermined speed.

When the calculated rotational speed V is equal to or higher than the predetermined speed, YES is determined in Step 123 as the rotational speed of the rotary shaft 30 is high. In this case, in order to generate the supporting force Fa necessary for bringing the axis M2 of the rotating shaft 30 close to the rotation center line M1 between the

coils

50a, 50b, 50c and the plurality of permanent magnets 61, the output is output to the selection coil. The power current is calculated based on (X0, Y0) and the gradient θ (step 124).

On the other hand, when the calculated rotational speed V is less than the predetermined speed, NO is determined in step 123 as the rotational speed of the rotating shaft 30 is low. In this case, in order to generate the supporting force Fa necessary for bringing the axis M2 of the rotating shaft 30 close to the rotation center line M1 between the

coils

50a, 50b, 50c and the plurality of permanent magnets 61, the output is output to the selection coil. The power current is calculated based on (X0, Y0) and the gradient θ (step 126).

Here, the greater the inclination θ, the greater the supporting force Fa necessary to bring the axis M2 of the rotary shaft 30 closer to the rotation center line M1. In addition to this, the higher the rotational speed of the rotary shaft 30, the smaller the supporting force Fa necessary to bring the axis M2 of the rotary shaft 30 closer to the rotation center line M1. That is, when the rotary shaft 30 rotates at a high speed, the support force Fa is smaller than when the rotary shaft 30 rotates at a low speed (see FIG. 17).

FIG. 17 is a graph showing the relationship between the support force Fa and the tilt angle θ when the vertical axis is the support force Fa, the horizontal axis is the tilt angle θ, and the rotary shaft 30 is rotating at a low speed or a high speed. is there. When the rotary shaft 30 rotates at a low speed, the graph has a larger gradient than the graph when the rotary shaft 30 rotates at a high speed.

Therefore, when the rotary shaft 30 is rotating at high speed, the current to be output to the selection coil is calculated based on the graph showing the relationship between the supporting force Fa and the inclination θ at the time of high speed rotation in FIG. 126).

On the other hand, when the rotary shaft 30 is rotating at a low speed, the current to be output to the selection coil is calculated based on the graph showing the relationship between the supporting force Fa and the inclination θ during the low-speed rotation shown in FIG. 124).

Thus, the current to be output to the selection coil is calculated based on the rotation speed of the rotary shaft 30, (X0, Y0), and the inclination θ. Accordingly, the transistors SW1, SW2,... SW6 of the inverter circuit 71 are controlled in order to output the calculated current to the selection coil. As a result, current is output from the common connection terminals T1, T2, and T3 to the selection coil. For this reason, a supporting force Fa is generated between the selection coil and the permanent magnet 61. Therefore, the rotating shaft 30 can be brought close to the rotation center line M1 by the support force Fa.

Here, in the case of the same tilt angle θ, when the rotating shaft 30 rotates at a low speed, the supporting force between the selection coil and the permanent magnet 61 is larger than when the rotating shaft 30 rotates at a high speed. Fa becomes large.

According to the present embodiment described above, in the electric motor 10, the center piece 31 supports the one side in the axial direction of the rotary shaft 30 via the bearing 32 so as to be rotatable. The rotor 36 is fixed to the rotating shaft 30. The

coils

51 a, 51 b, 51 c are arranged on the centerpiece 31 side and generate a magnetic field that generates a rotational force that rotates the rotor 36 together with the rotary shaft 30. The plurality of permanent magnets 61 are fixed to the rotating shaft 30 side together with the rotor case 60 to constitute the rotor 36. The

coils

50 a, 50 b, and 50 c are arranged on the center piece 31 side, generate electromagnetic force between the plurality of permanent magnets 61, and support a magnetic bearing that rotatably supports the other axial side of the rotary shaft 30. Constitute. Thereby, it is comprised so that the rotating shaft 30 can incline with respect to the rotation center line M1 by using the bearing 32 side among the rotating shafts 30 as a fulcrum.

The electronic control unit 70 controls the current output from the inverter circuit 71 to the

coils

50a, 50b, and 50c for each coil so that the axis M2 of the rotary shaft 30 approaches the rotation center line M1. For this reason, the supporting force Fa can be generated by the electromagnetic force between the plurality of permanent magnets 61 and the

coils

50a, 50b, and 50c. At this time, the larger the inclination θ formed between the axis M2 of the rotation shaft 30 and the rotation center line M1, the greater the supporting force Fa necessary to bring the axis M2 of the rotation shaft 30 closer to the rotation center line M1. .

As described above, the rotary shaft 30 is rotatably supported from the magnetic bearing constituted by the plurality of permanent magnets 61 and the

coils

50a, 50b, and 50c and the bearing 32. Thus, one magnetic bearing is used to support the rotating shaft 30. Therefore, it is possible to provide the electric motor 10, the electronic control device 70, and the motor control system 1 that reduce the power consumption for supporting the rotating shaft 30.

In this embodiment, when the rotary shaft 30 rotates at a high speed, the support force Fa is made smaller than when the rotary shaft 30 rotates at a low speed. For this reason, in order to generate the supporting force Fa, the electric power consumed by the

coils

50a, 50b, and 50c can be reduced.

18, the horizontal axis represents the rotational speed N (that is, the rotational speed) of the rotary shaft 30. The vertical axis is a transfer function indicating the vibration system of the electric motor 10. In the transfer function, the centrifugal force generated from the vibration source is input using the tilt vibration of the rotating shaft 30 as a vibration source. The tilt vibration of the rotating shaft 30 is a phenomenon in which the rotating shaft 30 swings in the radial direction around the rotation center line M1 when the rotating shaft 30 rotates. In the transfer function, the vibration acceleration of a predetermined portion (for example, the center piece 31) other than the rotating shaft 30 and the rotor 36 in the electric motor 10 is output.

De indicated by a solid line is a transfer function indicating the vibration system of the electric motor 10 of the present embodiment. A chain line indicates a transfer function indicating the vibration system of the electric motor 10 when the support force Fa is reduced, and a one-dot chain line indicates a transfer function indicating the vibration system of the electric motor 10 when the support force Fa is increased.

Here, the peak of the transfer function when the supporting force Fa is small occurs when the rotational speed of the rotating shaft 30 is low. The peak of the transfer function when the supporting force Fa is large occurs when the rotational speed of the rotating shaft 30 is high (see FIG. 18). For this reason, when the supporting force Fa is small, resonance occurs in the electric motor 10 when the rotational speed of the rotating shaft 30 is low. On the other hand, when the support force Fa is large, resonance occurs in the electric motor 10 when the rotational speed of the rotary shaft 30 is high.

Therefore, in the present embodiment, the supporting force Fa is reduced when the rotating shaft 30 is rotating at a high speed, and the supporting force Fa is increased when the rotating shaft 30 is rotating at a low speed. That is, the magnitude of the support force Fa is switched depending on the number of rotations of the rotary shaft 30. For this reason, in the vibration system of the electric motor 10, a transfer function De with a suppressed peak is formed. Thereby, resonance can be made difficult to occur in the electric motor 10.

As described above, the vibration acceleration Sk generated in the electric motor 10 due to the tilt vibration of the rotating shaft 30 can be reduced over the use range of the rotation speed N (see FIG. 19). The use range is a range of the rotational speed N of the rotary shaft 30 that is actually used in the electric motor 10.

In FIG. 19, the horizontal axis is the rotational speed N of the rotary shaft 30. The vertical axis represents vibration acceleration generated in a predetermined portion (for example, the center piece 31) other than the rotating shaft 30 and the rotor 36 in the electric motor 10. The chain line indicates the vibration acceleration generated in the predetermined portion of the electric motor 10 when the support force Fa is reduced, and the alternate long and short dash line indicates the vibration acceleration generated in the predetermined portion of the electric motor 10 when the support force Fa is increased. . SK indicated by a solid line indicates vibration acceleration generated in the predetermined portion of the electric motor 10 of the present embodiment.

(Second Embodiment)
In the first embodiment, the example in which the supporting force Fa that causes the axis M2 of the rotating shaft 30 to approach the rotation center line M1 is generated in order to prevent the axis M2 of the rotating shaft 30 from being inclined from the rotation center line M1 has been described. However, instead of this, a second embodiment in which a restoring force Fb that moves the rotating shaft 30 in the rotating direction is generated will be described.

The support control (step 120) of the control circuit 73 is different between the present embodiment and the first embodiment. Therefore, the support control (step 120) of this embodiment will be described below. FIG. 20 is a flowchart showing details of support control of the control circuit 73.

First, in step 123, it is determined whether or not the rotational speed of the rotary shaft 30 is high.

Specifically, the rotational speed of the rotating shaft 30 is calculated based on the difference (Ha−Hc) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c. It is determined whether or not the calculated rotation speed (hereinafter referred to as calculated rotation speed V) is equal to or higher than a predetermined speed.

When the calculated rotational speed V is equal to or higher than the predetermined speed, YES is determined in Step 123 as the rotational speed of the rotary shaft 30 is high. In this case, in order to generate a restoring force Fb that prevents the rotation shaft 30 from being inclined from the rotation center line M1 between the

coils

50a, 50b, and 50c and the plurality of permanent magnets 61, it should be output to the

coils

50a, 50b, and 50c. The current is calculated (step 126A).

On the other hand, when the calculated rotational speed V is less than the predetermined speed, NO is determined in step 123 as the rotational speed of the rotating shaft 30 is low. In this case, in order to generate a restoring force Fb that prevents the rotation shaft 30 from being inclined from the rotation center line M1 between the

coils

50a, 50b, and 50c. The current is calculated (step 124A).

The restoring force Fb of the present embodiment is an electromagnetic force that moves the fan 20 (that is, the rotating shaft 30) in the rotating direction. The restoring force Fb is a restoring force when the distance between the axis of the fan 20 and the rotation center line M1 is L, the rotational speed of the fan 20 (that is, the rotating shaft 30) is V, and the damping coefficient is C. Fb is an electromagnetic force determined from (L × V × C) (see FIG. 23). The axial center of the fan 20 of this embodiment is the axial center of the axial direction other end side end part of the rotating shaft 30.

Here, the distance L is obtained from the XY coordinates (x0, yo) of the axis of the fan 20. As described in the first embodiment, the X coordinate (x0) is obtained based on the difference ds (= Ha−Hc) between the output signal Ha of the Hall sensor 37a and the output signal Hc of the Hall sensor 37c. The Y coordinate (yo) is obtained based on the difference dq (= Hb−Hd) between the output signal Hb of the hall sensor 37b and the output signal Hd of the hall sensor 37d. As described above, the rotation speed V is calculated based on the difference (Ha−Hc) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c. The rotation direction of the fan 20 (that is, the rotation shaft 30) is obtained from the XY coordinates (x0, yo) of the axis of the fan 20.

Therefore, in the present embodiment, in steps 124A and 126A, the current to be output to the

coils

50a, 50b, and 50c is calculated based on the XY coordinates (x0, yo) and (L × V × C) of the fan 20. . As the restoring force Fb increases, the current to be output to the

coils

50a, 50b, and 50c increases.

Thus, in order to output the current calculated in steps 124A and 126A to the coil, the transistors SW1, SW2,... SW6 of the inverter circuit 71 are controlled. As a result, current is output from the common connection terminals T1, T2, T3 to the

coils

50a, 50b, 50c (step 125). Therefore, an electromagnetic force is generated between the

coils

50a, 50b, 50c and the plurality of permanent magnets 61 as a restoring force Fb that moves the fan 20 in the rotation direction of the fan 20 around the rotation center line M1.

The restoring force Fb acting in the rotational direction in this way acts between the

coils

50a, 50b, 50c and the plurality of permanent magnets 61. For this reason, the axis M2 of the rotating shaft 30 is prevented from being inclined from the rotation center line M1 by disturbance or the like.

Here, the higher the rotational speed of the rotating shaft 30, the smaller the restoring force Fb necessary to prevent the rotating shaft 30 from being inclined from the rotating center line M1. That is, when the rotating shaft 30 rotates at a high speed, the necessary restoring force Fb is smaller than when the rotating shaft 30 rotates at a low speed.

Therefore, if YES is determined in step 123 because the rotating shaft 30 is rotating at a high speed, the damping coefficient C is decreased, and the current to be output to the

coils

50a, 50b, 50c is decreased (step 126A). On the other hand, if NO is determined in step 123 because the rotating shaft 30 is rotating at a low speed, the damping coefficient C is increased to increase the current to be output to the

coils

50a, 50b, and 50c (step 124A). That is, when the rotating shaft 30 rotates at a high speed, the current flowing through the

coils

50a, 50b, and 50c is reduced by reducing the attenuation coefficient C compared to when the rotating shaft 30 rotates at a low speed. Can do.

According to the present embodiment described above, when the electronic control unit 70 controls the inverter circuit 71 so that the distance between the fan 20 and the rotation center line M1 is L and the attenuation coefficient is C, the fan 20 A restoring force Fb (= L × V × C) is generated between the

coils

50 a, 50 b, 50 c and the plurality of permanent magnets 61. Thereby, even if disturbance arises, it is prevented that the axis line M2 of the rotating shaft 30 inclines from the rotating center line M1 of the rotating shaft 30. FIG.

coils

50a, 50b, and 50c and the bearing 32. Thus, one magnetic bearing is used to support the rotating shaft 30. Therefore, power consumption for supporting the rotating shaft 30 can be reduced.

In the present embodiment, when the rotating shaft 30 rotates at a high speed, the current output from the inverter circuit 71 to the

coils

50a, 50b, and 50c is made smaller than when the rotating shaft 30 rotates at a low speed. . For this reason, when the rotating shaft 30 rotates at high speed, the restoring force Fb is made smaller than when the rotating shaft 30 rotates at low speed. Therefore, in order to generate the restoring force Fb, the power consumed by the

coils

50a, 50b, and 50c can be reduced.

22 shows a graph in which the rotational speed N of the rotary shaft 30 is the horizontal axis and the transfer function indicating the vibration system of the electric motor 10 is the vertical axis. In the transfer function, the centrifugal force generated from the vibration source is input using the tilt vibration of the rotating shaft 30 as a vibration source. In the transfer function, the vibration acceleration of a predetermined portion (for example, the center piece 31) other than the rotating shaft 30 and the rotor 36 in the electric motor 10 is output.

Graph De shows a transfer function indicating the vibration system of the electric motor 10 of the present embodiment. The broken line graph is a transfer function when the attenuation coefficient C is small, and the alternate long and short dash line is a transfer function when the attenuation coefficient C is large.

Here, when the rotating shaft 30 is rotating at a low speed, the transfer function becomes larger when the damping coefficient C (that is, the restoring force Fb) is smaller than when the damping coefficient C is large (see FIG. 22). . On the other hand, when the rotating shaft 30 is rotating at high speed, the transfer function is larger when the damping coefficient C is larger than when the damping coefficient C is small.

Therefore, in the present embodiment, the damping coefficient C is decreased when the rotating shaft 30 is rotating at high speed, and the damping coefficient C is increased when the rotating shaft 30 is rotating at low speed. That is, the magnitude of the damping coefficient C (that is, the restoring force Fb) is switched depending on the number of rotations of the rotating shaft 30 to suppress an increase in the transfer function. Thereby, in the electric motor 10, resonance can be made difficult to occur.

As described above, since the attenuation house number C is switched by the rotation speed N, the vibration acceleration can be reduced in the electric motor 10 over the use range of the rotation speed N as in the first embodiment. Thereby, the vibration can be reduced.

(Third embodiment)
In the first and second embodiments, the example in which the part on the fan 20 side with respect to the bearing 32 of the rotating shaft 30 is supported by the magnetic bearing has been described, but instead, in the third embodiment, An example in which a part of the rotating shaft 30 opposite to the fan 20 with respect to the bearing 32 is supported by a magnetic bearing will be described.

FIG. 23 shows the overall configuration of the third embodiment of the motor control system 1 of the present disclosure. In FIG. 23, the same reference numerals as those in FIG. The present embodiment is different from the first embodiment mainly in the portion of the rotating shaft 30 that is supported by the magnetic bearing and the bearing 32.

In this embodiment, the magnetic bearing supports a portion of the rotating shaft 30 on the side opposite to the fan 20 with respect to the bearing 32 by the magnetic bearing. A bearing 32 is disposed on the fan 20 side with respect to the stator 35. For this reason, the cover part 60a of the rotor case 60 is formed so as to protrude toward the fan 20 side.

In this embodiment, the rotor 36 including the fan 20, the rotating shaft 30, and the plurality of permanent magnets 61 is a rotating body, and the bearing 32 supports the center of gravity of the rotating body of the rotating shaft 30.

Here, when the fulcrum supported by the bearing 32 of the rotating shaft 30 is separated from the center of gravity of the rotating body, the supporting force Fa for supporting the rotating shaft 30 needs to be increased. In contrast, in the present embodiment, as described above, the bearing 32 supports the center of gravity side of the rotating body in the rotating shaft 30. For this reason, the fulcrum which the bearing 32 supports among the rotating shafts 30 can be brought close to the center of gravity of the rotating body. Therefore, the supporting force Fa can be reduced. Therefore, the power consumption consumed by the

coils

50a, 50b, and 50c can be reduced.

For convenience of explanation, the fan 20 side in the axial direction of the rotating shaft 30 is one side in the axial direction, and the side opposite to the fan 20 in the axial direction of the rotating shaft 30 is the other side in the axial direction.

(Fourth embodiment)
In the first and second embodiments, the example in which the inclination control coils (50a, 50b, 50c) are arranged on the rotor 36 side with respect to the rotation drive coils (51a, 51b, 51c) has been described. Instead, a description will be given of the fourth embodiment in which the rotation drive coils (51a, 51b, 51c) are arranged on the rotor 36 side with respect to the inclination control coils (50a, 50b, 50c).

FIG. 24 is a cross-sectional view orthogonal to the axis of the rotary shaft 30 in the electric motor 10 of the present embodiment.

In this embodiment, as in the first embodiment, as shown in FIGS. 24 to 26, the coil 50a is wound around the

teeth

54a, 54d, 54g, and 54j. The coil 50b is wound around the

teeth

54c, 54f, 54i, and 54l. The coil 50c is wound around the

teeth

54b, 54e, 54h, and 54k.

The coil 51a is wound around the

teeth

54c, 54d, 54i, and 54j. The coil 51b is wound around the

teeth

54a, 54b, 54g, and 54h. The coil 51c is wound around the

teeth

54e, 54f, 54k, and 54l.

In this embodiment, the rotation drive coils (51a, 51b, 51c) are arranged on the rotor 36 side with respect to the inclination control coils (50a, 50b, 50c) for each tooth of the stator 35.

For example, the coil 51b wound around the teeth 54a is disposed on the rotor 36 side with respect to the coil 50a. The coil 51a wound around the teeth 54c is arranged on the rotor 36 side with respect to the coil 50c. The coil 51c wound around the teeth 54f is disposed on the rotor 36 side with respect to the coil 50b.

This embodiment and the first embodiment are the same except for the arrangement in the radial direction between the

coils

50a, 50b, and 50c and the

coils

51a, 51b, and 51c.

Therefore, similarly to the first embodiment, an electromagnetic force fu1 (see FIG. 27) is generated between the coil 50a and the plurality of permanent magnets 61 based on the magnetic flux G generated by the coil 50a. An electromagnetic force fv1 (see FIG. 28) is generated between the coil 50b and the plurality of permanent magnets 61 based on the magnetic flux G generated by the coil 50a. An electromagnetic force fw1 (see FIG. 29) is generated between the coil 50c and the plurality of permanent magnets 61 based on the magnetic flux G generated by the coil 50a.

Therefore, as in the first embodiment, the control circuit 73 controls the current output from the inverter circuit 71 to the

coils

50a, 50b, and 50c. For this reason, as the electromagnetic force between the plurality of permanent magnets 61 and the

coils

50a, 50b, 50c, it is possible to generate a supporting force Fa that brings the axis M2 of the rotating shaft 30 closer to the rotation center line M1.

Further, in the

coils

51a, 51b, 51c of this embodiment, as in the first embodiment, rotating magnetic fields Ya, Yb, Yc (see FIG. 29) for generating a rotating force in the plurality of permanent magnets 61 are sequentially provided. Can be generated.

Therefore, the control circuit 73 controls the current output from the inverter circuit 72 to the

coils

51a, 51b, 51c, so that the rotating magnetic fields Ya, Yb, Yc are sequentially generated from the

coils

According to the present embodiment described above, the rotation driving coils (51a, 51b, 51c) are arranged on the rotor 36 side with respect to the inclination control coils (50a, 50b, 50c) for each tooth of the stator 35. ing. For this reason, compared with the case where the inclination control coils (50a, 50b, 50c) are arranged on the rotor side (that is, radially outside) with respect to the rotation drive coils (51a, 51b, 51c), the rotation drive coils. Since the distance between (51a, 51b, 51c) and the rotor 36 can be shortened, the rotational torque for rotating the rotational torque can be efficiently increased. Therefore, a large rotational torque can be obtained with the same number of turns. Thereby, the power consumption consumed by the rotation drive coils (51a, 51b, 51c) can be reduced.

In the fourth embodiment, the example in which the rotation drive coils (51a, 51b, 51c) are arranged on the rotor 36 side (that is, radially outside) with respect to the inclination control coils (50a, 50b, 50c) has been described. However, in addition to this, the following first to fourth modifications may be employed.

(First modification)
In the first modified example, as shown in FIG. 31, the rotational drive coils (51a, 51b, 51c) have a cross-sectional area that is orthogonal to the radial direction toward the radially inner side for each of the teeth (54a... 54l). Is formed to be small. The rotation driving coils (51a, 51b, 51c) are wound around the inclination control coils (50a, 50b, 50c) and the teeth for each tooth. For this reason, the inclination control coils (50a, 50b, 50c) are formed so that the cross-sectional area perpendicular to the radial direction becomes smaller toward the radially outer side for each of the teeth (54a... 54l).

For example, the coil 51b wound around the teeth 54a is arranged on the rotor 36 side (that is, radially outside) with respect to the coil 50a. The coil 51b is wound around the coil 50a and the tooth 54a. The coil 51b is formed so that the cross-sectional area decreases toward the inner side in the radial direction. The coil 50a is formed so that the cross-sectional area becomes smaller toward the outer side in the radial direction.

For example, the coil 51a wound around the teeth 54c is disposed on the rotor 36 side (that is, radially outside) with respect to the coil 50b. The coil 51a is wound around the coil 50b and the tooth 54c. The coil 51a is formed so that the cross-sectional area becomes smaller toward the inner side in the radial direction. And the coil 50b is formed so that a cross-sectional area may become small toward the radial direction outer side.

(Second modification)
In the second modification, as shown in FIG. 32, the rotation drive coils (51a, 51b, 51c) are wound around the teeth (54a... 54l) along the teeth.

Specifically, the rotation driving coils (51a, 51b, 51c) include a coil portion 511 formed along the tooth extending portion 540 for each tooth (54a. The coil portion 510 is formed along the tip arc portion 541.

The extension part 540 of the teeth is a part formed so as to extend radially outward from the ring part 53. The tip arc portion 541 of the tooth is a portion formed so as to extend in the circumferential direction from the tip side of the extending portion.

In this case, the inclination control coils (50a, 50b, 50c) are wound around the tooth extending portion 540 and the coil portion 511 for each tooth. Thereby, the coil part 510 among the coils for rotation driving is arranged on the rotor 36 side (that is, radially outside) with respect to the inclination control coil for each tooth. In addition, the rotation driving coil is disposed on the teeth side (that is, on the stator core 52 side) with respect to the inclination control coil for each tooth.

For example, the

coils

50a and 51b wound around the teeth 54a are as follows.

The coil part 510 of the coil 51b is formed along the tip arc part 541 of the tooth 54a. The coil part 511 of the coil 51b is formed along the extended part 540 of the tooth 54a. The coil 50a is wound around the extension part 540 and the coil part 511 of the tooth 54a. Thereby, the coil part 510 of the coil 51b is arrange | positioned with respect to the coil 50a at the rotor 36 side (namely, radial direction outer side). In addition to this, the coil 51b is arranged on the teeth 54a side (that is, the stator core 52 side) with respect to the coil 50a.

(Third Modification)
In the third modification, as shown in FIG. 33, the rotation drive coils (51a, 51b, 51c) include a coil unit 512 in addition to the

coil units

510 and 511 for each tooth (54a... 54l). It is configured.

Here, the coil part 510 is formed along the tip arc part 541 of the tooth. The coil part 511 is formed along the extension part 540 of the teeth. The coil part 512 is formed along the outer periphery of the ring part 53. The coil portion 512 is disposed radially inward with respect to the inclination control coil.

Also in this case, similarly to the above (b), the inclination control coils (50a, 50b, 50c) are wound around the tooth extending portion 540 and the coil portion 511 for each tooth. Thereby, the coil part 510 among the coils for rotation driving is arranged on the rotor 36 side (that is, radially outside) with respect to the inclination control coil for each tooth. In addition, the rotation driving coil is disposed on the stator core 52 side with respect to the inclination control coil for each tooth.

For example, the

coils

50a and 51b wound around the teeth 54a are as follows.

The coil part 510 of the coil 51b is formed along the tip arc part 541 of the tooth 54a. The coil part 511 of the coil 51b is formed along the extended part 540 of the tooth 54a. The coil 50a is wound around the extension part 540 and the coil part 511 of the tooth 54a. The coil part 512 is formed along the outer periphery of the ring part 53. That is, the coil part 512 is arrange | positioned at the radial inside with respect to the coil 50a.

Thereby, the coil portion 510 of the coil 51b is arranged on the rotor 36 side (that is, radially outside) with respect to the coil 50a. In addition, the coil 51b is disposed on the stator core 52 side with respect to the coil 50a.

(Fourth modification)
In the fourth modified example, as shown in FIG. 34, the rotation drive coils (51a, 51b, 51c) and the inclination control coils (50a, 50b, 50c) are paired for each tooth (54a... 54l). It is wound around the teeth (54a ... 54l).

For example, the

coils

50c and 51b wound around the teeth 54b are as follows. That is, the

coils

50c and 51b are wound around the teeth 54b so as to be paired. The coil 51b is disposed on the rotor 36 side (that is, radially outside) with respect to the coil 50c.

For example, the

coils

50b and 51a wound around the teeth 54c are as follows. That is, the

coils

50b and 51a are wound around the teeth 54c so as to be paired. The coil 51a is disposed on the rotor 36 side (that is, radially outside) with respect to the coil 50b.

(Fifth embodiment)
In the first embodiment, the example in which the rotating shaft 30 is rotatably supported by the mechanical bearing and the magnetic bearing has been described, but instead, the rotating shaft 30 is constituted by only the magnetic bearing of the mechanical bearing and the magnetic bearing. An example in which is rotatably supported will be described.

FIG. 35 shows the overall configuration of the motor control system 1 according to the fifth embodiment of the present disclosure. 36 is a sectional view taken along line XXXVI-XXXVI in FIG. 35, the same reference numerals as those in FIG. 1 denote the same components, and the description thereof is omitted.

The motor control system 1 of the present embodiment is obtained by deleting the bearing 32 from the motor control system 1 of the first embodiment.

Therefore, the

coils

50a, 50b, and 50c of the present embodiment generate electromagnetic force between the plurality of permanent magnets 61 so that the rotating shaft 30 is levitated and the rotating shaft 30 is rotatable about the rotation center line M1. To constitute a magnetic bearing to be supported.

The positions of the

hall sensors

37a, 37b, 37c, and 37d are different between the motor control system 1 of the present embodiment and the motor control system 1 of the first embodiment.

The

hall sensors

37a, 37b, 37c, and 37d of the present embodiment are radially inward with respect to the plurality of permanent magnets 61 about the rotation center line M1 and centered on the rotation center line M1 with respect to the rotation shaft 30. It is located radially outside.

That is, the

hall sensors

37a, 37b, 37c, and 37d are disposed between the plurality of permanent magnets 61 and the rotating shaft 30. The distance between the

hall sensors

37a, 37b, 37c, 37d and the rotating shaft 30 is larger than the distance between the

hall sensors

37a, 37b, 37c, 37d and the plurality of permanent magnets 61.

The

hall sensors

37a, 37b, 37c, and 37d of the present embodiment are arranged so as to be orthogonal to the rotation center line M1 and along a cross section including the center of gravity Ga. The gravity center Ga means the mass gravity center of the motor control system 1.

Hall sensors

37a, 37b, 37c, and 37d are arranged at equal intervals in the circumferential direction around the rotation center line M1. Each of the

hall sensors

37a, 37b, 37c, and 37d outputs an output signal according to the magnetic field from the plurality of permanent magnets 61.

Hall sensors

37a, 37b, 37c, and 37d are arranged in a distributed manner between the tip ends of two corresponding teeth among

teeth

54a, 54b,.

The hall sensor 37a is disposed between the

teeth

54a and 54b. The hall sensor 37b is disposed between the

teeth

54d and 54e. The hall sensor 37c is disposed between the

teeth

54g and 54h. The hall sensor 37d is disposed between the

teeth

54j and 54k.

In the motor control system 1 of this embodiment configured as described above, the control circuit 73 determines the rotation angle of the rotary shaft 30 based on the output signals of the

hall sensors

37a, 37b, 37c, and 37d, as in the first embodiment. The rotation control (step 130) is executed based on the obtained rotation angle. In parallel with this, the control circuit 73 obtains the XY coordinates (X0, Y0) and the inclination θ of the fan 20 based on the output signals of the

hall sensors

37a, 37b, 37c, 37d, as in the first embodiment. Based on the obtained XY coordinates (X0, Y0) and the inclination θ, the current flowing through the

coils

50a, 50b, 50c is controlled. Thereby, an electromagnetic force is generated between the plurality of permanent magnets 61, and the rotary shaft 30 is magnetically levitated to constitute a magnetic bearing that rotatably supports the rotary shaft 30.

According to the present embodiment described above, an electromagnetic force is generated between the

coils

50a, 50b, 50c and the plurality of permanent magnets 61 so that the rotating shaft 30 is magnetically levitated and the rotating shaft 30 is centered on the rotation center line M1. A magnetic bearing that rotatably supports the motor is configured. As a result, the rotary shaft 30 can be rotatably supported by the magnetic bearing composed of the

coils

50a, 50b, 50c and the plurality of permanent magnets 61 without using a mechanical bearing. Therefore, as in the first embodiment, the power consumption required to support the rotating shaft 30 can be reduced.

In particular, the

Hall sensors

37a, 37b, 37c, and 37d of the present embodiment are arranged so as to be perpendicular to the rotation center line M1 and along a cross section (hereinafter simply referred to as a cross section) including the center of gravity Ga. Therefore, by controlling the current flowing through the

coils

50a, 50b, and 50c, it is possible to control the center of gravity Ga in the motor control system 1 so as to approach the rotation center line M1. Therefore, the rotating shaft 30 can be magnetically levitated satisfactorily and the axis of the rotating shaft 30 can be brought close to the rotation center line M1.

In the present embodiment, in addition to the role of generating the rotational force of the rotary shaft 30, the plurality of permanent magnets 61 play a role of obtaining the rotation angle of the rotary shaft 30, the XY coordinates (X0, Y0) and the inclination θ of the fan 20. Yes. For this reason, the permanent magnet for generating the rotational force of the rotating shaft 30 and the permanent magnet 61 for obtaining the rotation angle of the rotating shaft 30, the XY coordinates (X0, Y0) of the fan 20 and the inclination θ are separately provided. As compared with the above, the physique of the motor control system 1 can be reduced in size.

In the present embodiment, the

hall sensors

37a, 37b, 37c, and 37d are disposed between the plurality of permanent magnets 61 and the rotary shaft 30. The distance between the

hall sensors

37a, 37b, 37c, 37d and the plurality of permanent magnets 61.

That is, the

hall sensors

37a, 37b, 37c, and 37d are arranged in the vicinity of the plurality of permanent magnets 61. For this reason, the

hall sensors

37a, 37b, 37c, and 37d can detect the magnetic flux from the plurality of permanent magnets 61 satisfactorily. Thereby, the

hall sensors

37a, 37b, 37c, and 37d can detect the rotation angle and the positional deviation of the rotating shaft 30 with high accuracy.

The

Hall sensors

37a, 37b, 37c, and 37d of the present embodiment are distributed between the respective distal ends of two corresponding teeth among the

teeth

54a, 54b,. For this reason, the size of the motor control system 1 can be further reduced.

(First Modification of Fifth Embodiment)
As shown in FIG. 37, the motor control system 1 of the first modification is obtained by adding

Hall sensors

37e and 37f to the motor control system 1 of the first embodiment.

In the motor control system 1 of the present embodiment, the control circuit 73 calculates the XY coordinates (X0, Y0) of the fan 20 based on the output signals of the

hall sensors

37a, 37b, 37c, 37d. The control circuit 73 obtains the rotation angle of the rotary shaft 30 based on the output signals of the

hall sensors

37d, 37e, and 37f.

The hall sensor 37e of the present embodiment is disposed between the tip ends of the

teeth

54b and 54c. The hall sensor 37e is disposed between the tip ends of the

teeth

54f and 54g. The hall sensor 37d is disposed between the tip ends of the

teeth

54j and 54k. The

hall sensors

37d, 37e, and 37f are arranged at equal intervals in the circumferential direction around the rotation center line M1.

The

hall sensors

37a, 37b, 37c, 37d37e, and 37f of the present embodiment are arranged so as to be orthogonal to the rotation center line M1 and along a cross section that includes the center of gravity Ga.

In this embodiment, the

hall sensors

37a, 37b, 37c, 37d, 37e, and 37f are disposed between the plurality of permanent magnets 61 and the rotary shaft 30. The distance between the

hall sensors

37a, 37b, 37c, 37d, 37e, 37f and the rotary shaft 30 is larger than the distance between the

hall sensors

37a, 37b, 37c, 37d, 37e, 37f and the plurality of permanent magnets 61.

That is, the

hall sensors

37a, 37b, 37c, 37d, 37e, and 37f are arranged in the vicinity of the plurality of permanent magnets 61. For this reason, the

hall sensors

37a, 37b, 37c, 37d, 37e, and 37f can detect the magnetic flux from the plurality of permanent magnets 61 satisfactorily. Thereby, the

hall sensors

(Second Modification of Fifth Embodiment)
The motor control system 1 of the first modification is obtained by adding a bearing 32 to the motor control system 1 of the fifth embodiment. FIG. 38 shows the overall configuration of the motor control system 1 of the first modification. The bearing 32 is supported by the center piece 31 and rotatably supports the rotating shaft 30.

(Sixth embodiment)
In the first embodiment, the example in which the permanent magnet 61 of the rotor 36 is arranged on the radially outer side of the stator 35 has been described. Instead, the permanent magnet 61 of the rotor 36 is arranged on the other side in the axial direction of the stator 35. The motor control system 1 will be described.

FIG. 39 shows the overall configuration of the sixth embodiment of the motor control system 1 of the present disclosure. 40 is a cross-sectional view taken along the line XXXX-XXXX in FIG. 40 is a sectional view taken along line XXXXI-XXXXI in FIG. 39, the same reference numerals as those in FIG. 1 denote the same components, and the description thereof is omitted.

In the motor control system 1 of the present embodiment, the rotor 36 includes a rotor case 60, a plurality of permanent magnets 61a, and a plurality of permanent magnets 61b.

As shown in FIG. 39, the rotor case 60 is formed in a disc shape with the axis of the rotary shaft 30 as the center. The rotor case 60 supports a plurality of permanent magnets 61a and a plurality of permanent magnets 61b, respectively. The plurality of permanent magnets 61a and the plurality of permanent magnets 61b are employed instead of the plurality of permanent magnets 61 in FIG. The plurality of permanent magnets 61 a and the plurality of permanent magnets 61 b are arranged on one side in the axial direction with respect to the rotor case 60.

The plurality of permanent magnets 61a are arranged in a circumferential direction around the axis of the rotating shaft 30, respectively. The plurality of permanent magnets 61b are arranged in a circumferential direction around the rotation center line M1. The plurality of permanent magnets 61a are disposed radially inward with respect to the axis of the rotation shaft 30 with respect to the plurality of permanent magnets 61b.

The plurality of permanent magnets 61a are arranged so that each magnetic pole faces one side in the axial direction. The plurality of permanent magnets 61a is arranged so that the magnetic poles of the plurality of permanent magnets 61a are alternately arranged in the circumferential direction with S and N poles. In the present embodiment, twelve permanent magnets 61a are arranged.

The plurality of permanent magnets 61b are arranged so that each magnetic pole faces one side in the axial direction. The plurality of permanent magnets 61b are arranged so that the magnetic poles of the plurality of permanent magnets 61b are alternately arranged with S poles and N poles in the circumferential direction. In the present embodiment, twelve permanent magnets 61b are arranged.

The stator 35 of this embodiment includes

coils

50a, 50b, 50c,

coils

51a, 51b, 51c, and a stator core 52A, as shown in FIGS. 39 and 41.

The stator core 52A is employed instead of the stator core 52 of FIG. The stator core 52A includes

teeth

55a, 55b, 55c, 55d, 55e, 55f, 55g, 55h, 55i, 55j, 55k, 55l, and

teeth

56a, 56b, 56c, 56d, 56e, 56f, 56g, 56h, 56i, 56j. , 56k, 56l.

Teeth

56a, 56b,..., 56l are first stator cores formed in a columnar shape in which the respective axial directions are parallel to the rotation center line M1. The

teeth

55a, 55b,... 55l are second stator cores arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30. The

teeth

56a, 56b,... 56l are disposed radially inward with respect to the

teeth

55a, 55b,.

The

teeth

55a, 55b,... 55l are arranged on the other side in the axial direction on the plurality of permanent magnets 61b. It arrange | positions at the some permanent magnet 61a in the axial direction other side with respect to the

teeth

56a, 56b ... 56l.

The

teeth

56a, 56b,... 56l are arranged on the radially inner side with respect to the

teeth

55a, 55b,. The

teeth

56a, 56b ... 56l and the

teeth

55a, 55b ... 55l are supported by the center piece 31.

In the present embodiment, the

teeth

56a, 56b,... 56l pass magnetic fluxes generated from the

coils

51a, 51b, 51c. The

teeth

55a, 55b,... 55l allow the magnetic flux generated from the

coils

50a, 50b, 50c to pass therethrough.

Here, the

teeth

56a, 56b ... 56l and the

teeth

55a, 55b ... 55l are configured to be independent from each other. Therefore, the

teeth

56a, 56b,... 56l that allow the magnetic flux from the

coils

51a, 51b, 51c to pass through, and the

teeth

55a, 55b,... 55l that allow the magnetic flux generated from the

coils

50a, 50b, 50c to pass through, Are separated from each other.

The coil 51a is a U2 phase coil, and is wound around

teeth

56c, 56d, 56i, and 56j as shown in FIG. The

teeth

56c, 56d and the

teeth

56i, 56j are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51a wound around the tooth 56c and the coil 51a wound around the tooth 56d are wound in different directions. The coil 51a wound around the tooth 56i and the coil 51a wound around the tooth 56j are wound in different directions.

The coil 51b is a V2-phase coil and is wound around the

teeth

56a, 56b, 56g, and 56h. The

teeth

56a, 56b and the

teeth

56g, 56h are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51b wound around the tooth 56a and the coil 51b wound around the tooth 56b are wound in different directions. The coil 51b wound around the tooth 56g and the coil 51b wound around the tooth 56h are wound in different directions.

The coil 51c is a W2 phase coil and is wound around the

teeth

56e, 56f, 56k, and 56l. The

teeth

56e, 56f and the teeth 56k, 56l are arranged with an angle of 180 degrees offset about the rotation center line M1 of the rotation shaft 30.

Here, the coil 51c wound around the tooth 56e and the coil 51c wound around the tooth 56f are wound in different directions. It is wound in a different direction from the coil 51c wound around the tooth 56k and the coil 51c wound around the tooth 56l.

The coil 50a is a U1-phase coil and is wound around the

teeth

55a, 55d, 55g, and 55j. The

teeth

55a, 55d, 55g, and 55j are arranged at equal intervals in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

The coil 50b is a V1-phase coil and is wound around the

teeth

55c, 55f, 55i, and 55l. The

teeth

55c, 55f, 55i, and 55l are arranged at equal intervals in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

The coil 50c is a W1-phase coil, and is wound around the

teeth

55b, 55e, 55h, and 55k. The

teeth

55b, 55e, 55h, and 55k are arranged at the same interval in the circumferential direction around the rotation center line M1 of the rotation shaft 30.

In the present embodiment configured as described above, a rotational force that rotates the rotating shaft 30 in synchronization with the rotating magnetic field is generated from the

coils

50a, 50b, and 50c in the plurality of permanent magnets 61b. The

coils

51a, 51b, 51c rotatably support the rotary shaft 30 by electromagnetic force acting between the plurality of permanent magnets 61a.

In this embodiment,

teeth

56a, 56b,... 56l that allow magnetic fluxes from the

coils

51a, 51b, 51c to pass through, and

teeth

55a, 55b,... 55l that allow magnetic fluxes generated from the

coils

50a, 50b, and 50c to pass through. Are separated from each other. For this reason, when the load torque is large and the current flowing through the

coils

51a, 51b, 51c, which are the windings for rotation, becomes excessive, it is possible to avoid the situation where the magnetic flux is saturated in the stator core and the supporting force of the rotating shaft 30 is reduced. it can. For this reason, even when the load torque becomes large, stable control is possible and vibration does not increase.

42, the vertical axis is the support force, and the horizontal axis is the rotation angle of the rotary shaft 30. In FIG. 42, Eb is the support force of the motor control system 1 of this embodiment. In FIG. 42, Ea is a supporting force of a conventional motor control system in which coils 50a, 50b, and 50c and

coils

51a, 51b, and 51c are wound around a common stator core. As can be seen from FIG. 42, the support force of the motor control system 1 of the present embodiment is stable.

Further, the motor control system 1 of the present embodiment constitutes an axial gap type motor in which the stator core 52 is disposed with a gap in the axial direction of the rotary shaft 30 with respect to the plurality of permanent magnets 61a and the plurality of permanent magnets 61b. is doing.

Coils

50a, 50b, and 50c that generate the supporting force of the rotating shaft 30 are disposed radially outside the

coils

51a, 51b, and 51c.

Therefore, when the tilt of the rotating shaft 30 is caused by the centrifugal force due to the unbalance of the fan 20, the restoring moment with respect to the tilt of the rotating shaft 30 has a longer span than the conventional radial gap type motor. The span is a distance between the rotation center line M1 and the

coils

50a, 50b, and 50c. For this reason, the supporting force of the rotating shaft 30 may be small, and the supporting current to be passed through the

coils

50a, 50b, 50c can be reduced. Therefore, the

coils

50a, 50b, and 50c can be reduced in size.

Further, as an advantage of the axial gap type motor, the axial length of the rotary shaft 30 can be shortened, which is advantageous for flattening the motor. When used in a blower or the like, the degree of freedom in layout is increased and the overall size of the apparatus is reduced. It is advantageous to make.

(Seventh embodiment)
In the motor control system 1 of the seventh embodiment, an example in which the current flowing through the

coils

50a, 50b, and 50c is independently controlled in the motor control system 1 of the first embodiment will be described.

FIG. 43 shows the overall configuration of the electronic control unit 70 of the present embodiment. 43, the same reference numerals as those in FIG. 8 denote the same components.

The electronic control device 70 of the present embodiment includes

inverter circuits

71A, 71B, 71C instead of the inverter circuit 71 in the electronic control device 70 of the first embodiment.

The inverter circuit 71A is a bridge circuit composed of transistors SW1, SW2, SW3, and SW4. A coil 50a is connected between the common connection terminal T1 of the transistors SW1 and SW2 and the common connection terminal T2 of the transistors SW3 and SW4.

The inverter circuit 71B is a bridge circuit including transistors SW5, SW6, SW7, and SW8. A coil 50b is connected between the common connection terminal T3 of the transistors SW5 and SW6 and the common connection terminal T4 of the transistors SW7 and SW8.

The inverter circuit 71C is a bridge circuit including transistors SW9, SW10, SW11, and SW12. A coil 50c is connected between the common connection terminal T5 of the transistors SW9 and SW10 and the common connection terminal T6 of the transistors SW11 and SW12.

The control circuit 73 controls the values of the current flowing through the coil 50a and the direction of the current flowing through the coil 50a by controlling the transistors SW1, SW2, SW3, and SW4.

The control circuit 73 controls the values of the current flowing through the coil 50b and the direction of the current flowing through the coil 50b by controlling the transistors SW5, SW6, SW7, and SW8.

The control circuit 73 controls the values of the current flowing through the coil 50c and the direction of the current flowing through the coil 50c by controlling the transistors SW9, SW10, SW11, and SW12.

Thus, the control circuit 73 controls the transistors SW1, SW2,... SW11, SW12, thereby independently controlling the current flowing through the

coils

50a, 50b, 50c for each coil.

Thus, the electromagnetic force between the coil 50a and the plurality of permanent magnets 61 is the electromagnetic force fu2 (see FIG. 44), the electromagnetic force between the coil 50b and the plurality of permanent magnets 61 is the electromagnetic force fv2, and the coil 50c The electromagnetic force between the plurality of permanent magnets 61 is defined as an electromagnetic force fw2. At this time, the electromagnetic force fu2, the electromagnetic force fv2, and the electromagnetic force fw2 can be controlled independently.

In the present embodiment configured as described above, the support control (step 120) of the control circuit 73 can be performed as follows. Hereinafter, the support control (step 120) of this embodiment will be described. FIG. 45 is a flowchart showing details of support control of the control circuit 73.

Specifically, the rotational speed of the rotating shaft 30 is calculated based on the difference (Ha−Hc) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c. It is determined whether or not the calculated rotation speed (hereinafter referred to as calculated rotation speed NS) is equal to or higher than a predetermined speed.

When the calculated rotational speed NS is equal to or higher than the predetermined speed, YES is determined in Step 123 as the rotational speed of the rotary shaft 30 is high. In this case, in order to generate a restoring force Fb that prevents the rotation shaft 30 from being inclined from the rotation center line S1 between the

coils

50a, 50b, and 50c. The current is calculated (step 126A).

On the other hand, when the calculated rotational speed NS is less than the predetermined speed, NO is determined in step 123 as the rotational speed of the rotary shaft 30 is low. In this case, in order to generate a restoring force Fb that prevents the rotation shaft 30 from being inclined from the rotation center line S1 between the

coils

50a, 50b, and 50c. The current is calculated (step 124A).

In this way, the transistors SW1, SW2,... SW12 are controlled in order to output the current calculated in steps 124A and 126A to the coil. As a result, current is output from the

inverter circuits

71A, 71B, 71C to the

coils

50a, 50b, 50c (step 125). For this reason, an electromagnetic force as an attractive force is generated between the

coils

50 a, 50 b, 50 c and the plurality of permanent magnets 61.

In the above steps 124A and 126A, the

inverter circuits

71A, 71B and 71C cause the currents of the same value to flow through the

coils

50a, 50b and 50c, respectively. For this reason, the magnitude of the electromagnetic force fu2, the magnitude of the magnitude of the electromagnetic force fv2, and the magnitude of the electromagnetic force fw2 are the same.

At this time, the direction of the electromagnetic force fu2, the direction of the electromagnetic force fv2, and the direction of the electromagnetic force fw2 are arranged at the same interval in the circumferential direction around the rotation center of the rotary shaft 30. For this reason, the electromagnetic force fu2, the electromagnetic force fv2, and the electromagnetic force fw2 are canceled out. Therefore, the rotation shaft 30 rotates in a state where the axis S2 of the rotation shaft 30 coincides with the rotation center line S1.

At this time, when the axis S2 of the rotary shaft 30 tilts from the rotation center line S1 of the rotary shaft 30 with the bearing 32 side of the rotary shaft 30 as a fulcrum due to disturbance, the rotary shaft 30 in the direction in which the rotary shaft 30 tilts from the rotary center line S1. When the speed of the rotating shaft 30 is V and the damping coefficient is C, a restoring force Fb determined from “V × C” is generated. Thereby, even if a disturbance arises, it is prevented that the axis line S2 of the rotating shaft 30 inclines from the rotating center line S1 of the rotating shaft 30.

Here, the higher the rotational speed of the rotating shaft 30, the smaller the restoring force Fb required to bring the axis S2 of the rotating shaft 30 closer to the rotation center line S1. That is, when the rotating shaft 30 rotates at a high speed, the necessary restoring force Fb is smaller than when the rotating shaft 30 rotates at a low speed.

Therefore, when it is determined YES in step 123 because the rotating shaft 30 is rotating at high speed, the current to be output to the

coils

50a, 50b, 50c is reduced (step 126A). On the other hand, when it is determined NO in step 123 because the rotating shaft 30 is rotating at a low speed, the current to be output to the

coils

50a, 50b, and 50c is increased (step 124A). That is, when the rotary shaft 30 rotates at a high speed, the current flowing through the

coils

50a, 50b, and 50c can be reduced compared to when the rotary shaft 30 rotates at a low speed. Therefore, when the rotating shaft 30 rotates at a high speed, the damping coefficient C that defines the restoring force Fb (= V × C) can be made smaller than when the rotating shaft 30 rotates at a low speed. .

According to the present embodiment described above, the electronic control unit 70 controls the

inverter circuits

71A, 71B, 71C and outputs currents of the same value from the

inverter circuits

71A, 71B, 71C to the

coils

50a, 50b, 50c. . For this reason, if the speed in the direction in which the rotation axis 30 tilts from the rotation center line S1 is V and the damping coefficient is C, the restoring force Fb determined from “V × C” is set to a plurality of permanent magnets 61 and

coils

50a, 50b, 50c. Can be generated during. Thereby, even if a disturbance arises, it is prevented that the axis line S2 of the rotating shaft 30 inclines from the rotating center line S1 of the rotating shaft 30.

coils

In the present embodiment, when the rotating shaft 30 rotates at a high speed, it is output from the

inverter circuits

71A, 71B, 71C to the

coils

50a, 50b, 50c compared to when the rotating shaft 30 rotates at a low speed. Reduce the current. For this reason, when the rotating shaft 30 rotates at high speed, the restoring force Fb is made smaller than when the rotating shaft 30 rotates at low speed. Therefore, in order to generate the restoring force Fb, the power consumed by the

coils

50a, 50b, and 50c can be reduced.

(Other embodiments)
(1) In carrying out the present disclosure, the first and second embodiments may be combined. That is, the support control process in step 120 in the first embodiment and the support control process in step 120 in the second embodiment are performed in parallel. For this reason, the electronic controller 70 controls the currents that flow through the

coils

50a, 50b, and 50c, thereby restoring the supporting force Fa that brings the axis M2 of the rotating shaft 30 closer to the rotation center line M1 and the rotating shaft 30 in the rotational direction. Force Fb (= L × V × C) is generated.

At this time, when the rotary shaft 30 rotates at a high speed, the support force Fa is made smaller than when the rotary shaft 30 rotates at a low speed. In addition to this, when the rotating shaft 30 rotates at a high speed, the damping coefficient C is made smaller than when the rotating shaft 30 rotates at a low speed, and the current flowing through the

coils

50a, 50b, 50c is reduced. Make it smaller. That is, both the support force Fa and the damping coefficient C (that is, the restoring force Fb) are switched depending on the rotation speed of the rotary shaft 30.

(2) In the third embodiment, the example in which the bearing 32 supports the center of gravity side of the rotating body in the rotating shaft 30 has been described. Instead, in the first and second embodiments, the rotating shaft is supported. The bearing 32 may support the center of gravity side of the rotating body 30.

(3) In the first to fourth embodiments and the first to fourth modified examples, the example in which the synchronous three-phase AC motor is configured as the electric motor 10 of the present disclosure has been described. Alternatively, an induction motor or a DC motor may be used as the electric motor 10 of the present disclosure.

(4) In the first to fourth embodiments and the first to fourth modifications, an example using a rolling bearing as the bearing 32 that is a mechanical bearing has been described. However, instead of this, a bearing 32 is used. Sliding bearings and fluid bearings may be used. A sliding bearing is a bearing that receives a shaft on a sliding surface. A fluid dynamic bearing is a bearing supported by liquid or gas.

(5) In the first to fourth embodiments and the first to fourth modifications, the permanent magnet 61 is disposed on the rotating shaft 30 side, and the

coils

50a, 50b, 50c and the

coils

51a, 51b, 51c are arranged. Although the example arrange | positioned at the centerpiece 31 side was demonstrated, it may replace with this and may be performed as follows.

That is, the permanent magnet 61 may be disposed on the center piece 31 side, and the

coils

50a, 50b, 50c and the

coils

51a, 51b, 51c may be disposed on the rotating shaft 30 side.

(6) In the first to fourth embodiments and the first to fourth modifications, the permanent magnet for causing the rotor 36 to generate a rotational force by the

coils

51a, 51b, 51c, the coil 50a, The example in which the common permanent magnet 30 is used as the permanent magnet for generating the supporting force and the restoring force by the 50b and 50c has been described, but the following may be used instead. That is, a permanent magnet for generating a rotational force by the

coils

51a, 51b, 51c on the rotor 36 and a permanent magnet for generating a supporting force and a restoring force by the

coils

50a, 50b, 50c on the rotating shaft 30 are independent of each other. May be provided.

(7) In the first to fourth embodiments and the first to fourth modified examples, the example in which the

coils

50a, 50b, and 50c are connected by star connection has been described. Instead, the

coils

50a, 50b, 50c may be connected by a delta connection.

Alternatively, the

coils

50a, 50b, and 50c may be connected so as to control the current flowing through the coils independently from the DC power source Ba to the

coils

50a, 50b, and 50c.

(8) In the first to fourth embodiments and the first to fourth modified examples, the example in which the

coils

51a, 51b, and 51c are connected by star connection has been described. Instead, the

coils

51a, 51b, 51c may be connected by a delta connection.

(9) In the first to fourth embodiments and the first to fourth modified examples, the example in which the rotation speed and the rotation angle of the rotating shaft 30 are obtained by the

Hall sensors

37a, 37b, 37c, and 37d has been described. Instead of this, the following may be used. (A) In addition to the

hall sensors

37a, 37b, 37c, and 37d, a sensor (for example, an optical encoder) that determines the rotation speed and rotation angle of the rotary shaft 30 is provided. (B) The three-phase AC current I flowing from the inverter circuit 72 to the

coils

51a, 51b, 51c and the output voltage V from the DC power supply Ba to the inverter circuit 72 are detected, and the detected three-phase AC current I and the output are detected. Based on the voltage V, the rotation angle of the rotating shaft 30 and thus the rotation speed may be obtained.

(10) In the first to fourth embodiments and the first to fourth modifications, the inclination of the rotation shaft 30 with respect to the rotation center line M1 by the

hall sensors

37a, 37b, 37c, 37d and the

permanent magnets

34a, 34b. Although the example in which the angle θ, the XY coordinate of the other end portion in the axial direction of the rotation shaft 30 (that is, the fan 20), and the rotation angle of the rotation shaft 30 are detected has been described, instead of this, the following may be performed. Good.

That is, the inclination angle θ of the rotation shaft 30 with respect to the rotation center line M1 and the XY coordinates of the other end portion in the axial direction of the rotation shaft 30 are detected by the

hall sensors

37a, 37b, 37c, 37d and the

permanent magnets

34a, 34b.

Furthermore, the rotation angle of the rotary shaft 30 may be detected by a rotation sensor other than the

hall sensors

37a, 37b, 37c, 37d and the

permanent magnets

34a, 34b. In this case, another rotation sensor may be arranged on the bearing 32 side of the rotation shaft 3.

(11) In the first to fourth embodiments and the first to fourth modifications, based on the difference (Ha−Hc) between the output signal Ha of the hall sensor 37a and the output signal Hc of the hall sensor 37c, Although the example which calculated the rotational speed of the rotating shaft 30 was demonstrated, it may replace with this and may be as follows.

That is, the XY coordinates (X0, Y0) of the fan 20 are obtained based on the output signals of the

hall sensors

37a, 37b, 37c, 37d, and the rotational speed of the rotary shaft 30 is calculated from the change with respect to time of the XY coordinates (X0, Y0). May be.

(12) In the fourth embodiment, as an example of generating the supporting force Fa that brings the axis M2 of the rotating shaft 30 closer to the rotation center line M1 as the electromagnetic force between the plurality of permanent magnets 61 and the

coils

50a, 50b, and 50c. Although described, instead of this, the following (a) and (b) may be used.

(A) In the fourth embodiment, the support control process of step 120 in the second embodiment is performed. For this reason, not the support force Fa but an electromagnetic force as a restoring force Fb for moving the rotating shaft 30 (that is, the fan 20) in the rotation direction of the fan 20 is generated.

Similarly, also in the first to fourth modifications, the support control process of step 120 in the second embodiment is performed.

(B) In the fourth embodiment, the support control process in step 120 in the first embodiment and the support control process in step 120 in the second embodiment are performed in parallel. For this reason, both the support force Fa and the restoring force Fb are generated on the rotating shaft 30 (that is, the fan 20). That is, both the support force Fa and the damping coefficient C (that is, the restoring force Fb) are switched depending on the rotation speed of the rotary shaft 30.

Similarly, also in the first to fourth modifications, the support control process in step 120 in the first embodiment and the support control process in step 120 in the second embodiment are performed in parallel.

(13) In carrying out the present disclosure, in the motor control system 1 of the third embodiment, the support control process of step 120 in the first embodiment is performed.

(14) In carrying out the present disclosure, in the motor control system 1 of the third embodiment, the support control process of step 120 in the second embodiment is performed.

(15) In carrying out the present disclosure, in the motor control system 1 of the third embodiment, the support control process in step 120 in the first embodiment and the support control process in step 120 in the second embodiment are performed in parallel. carry out.

(16) In the seventh embodiment, the example in which the currents flowing through the

coils

50a, 50b, and 50c are independently controlled in the motor control system 1 of the first embodiment has been described. In the system 1, the current flowing through the

coils

50a, 50b, and 50c may be controlled independently.

(17) In the seventh embodiment, the example in which the teeth 55a to 55l, 56a to 56l, the

coils

50a, 50b, 50c, 51a, 51b, 51c, and the

permanent magnets

61a, 61b are configured with 12 poles and 12 slots has been described. However, the following may be used instead.

That is, as shown in FIGS. 46 and 47, the teeth 55a to 55l, the

coils

50a, 50b and 50c, and the permanent magnet 61b are configured with 12 poles and 12 slots, and the teeth 56a to 56j, the

coils

51a, 51b, 51c, The permanent magnet 61a may be configured with 10 poles and 10 slots.

As a result, the number of poles of the

coils

50a, 50b, 50c, which are tilt control coils that generate the supporting force of the rotating shaft 30, and the coil 51a, which is a rotation drive coil that generates a rotating magnetic field for rotating the rotor 36, are increased. , 51b and 51c are different from each other.

In addition, 12 poles means that there are 12 magnetic poles of a coil or permanent magnet. The slot means a gap between two adjacent teeth among the plurality of teeth. 12 slots means that the stator core is set to have 12 slots.

Thereby, the phase of the vibration of the teeth around which the

coils

50a, 50b, 50c are wound and the phase of the vibration of the teeth around which the

coils

51a, 51b, 51c are wound are shifted, and the vibration peaks of higher order components are overlapped. Therefore, torque fluctuations and magnetic noise can be reduced.

The number of poles of the

coils

50a, 50b, and 50c is not limited to the number of poles of the

coils

51a, 51b, and 51c, and the number of poles of the

coils

50a, 50b, and 50c is set to the number of poles of the

coils

51a, 51b, and 51c. It may be smaller than

Next, the correspondence between the components of the first to fourth embodiments and the present disclosure will be described.

First, step 120 corresponds to the rotation axis control unit, steps 124, 125, and 126 correspond to the first current control unit, step 123 corresponds to the determination unit, and steps 124A, 125, and 126A correspond to the second current control unit. Is configured.

(Eighth embodiment)
FIG. 48 shows an overall configuration of an eighth embodiment of the motor control system 1000 of the present disclosure.

48. The motor control system 1000 of this embodiment includes an electric motor 1010 and a fan 1020 as shown in FIG.

48, 49, and 52, the electric motor 1010 includes a rotating shaft 1030, a stator 1031, a bearing body 1032a, a holding portion 1033,

permanent magnets

1035a and 1035b, and an armature 1036.

48 and 49, the electric motor 1010 is provided with

permanent magnets

1034a, 1034b, 1034c, 1034d and

hall sensors

1037a, 1037b, 1037c, 1037d.

As shown in FIGS. 50 and 51, the electric motor 1010 includes

brushes

1038a, 1038b, 1038c, 1038d, 1039a, 1039b, 1039c, 1039d, a brush holder 1040,

springs

1041a, 1041b, 1041c, 1041d, 1042a, 1042b, 1042c. , 1042d, and

commutators

1043, 1044.

48 is a rotary shaft that outputs the rotational force of the armature 1036 to the fan 1020. The fan 1020 has the rotation shaft 1030 coupled to the fan 1020 by fitting the other end portion in the axial direction of the rotation shaft 1030 into the hole 1020a. In the present embodiment, for example, a centrifugal fan is used as the fan 1020.

In FIG. 48, one side in the axial direction is the lower side in the figure, and the other side in the axial direction is the upper side in the figure.

The stator 1031 constitutes a stator together with the

permanent magnets

1035a and 1035b. The stator 1031 is formed such that its axis coincides with the rotation center line S1 of the rotation shaft 1030. The stator 1031 is a housing that includes a cylindrical portion 1031a, a lid portion 1031b, and a bottom portion 1031c. The cylinder portion 1031a is formed in a cylindrical shape centered on the rotation center line S1 of the rotation shaft 1030. In the hollow portion of the cylindrical portion 1031a, an armature 1036,

permanent magnets

1034a, 1034b, 1034c, 1034d,

permanent magnets

1035a, 1035b, brushes 1038a, 1038b, 1038c, 1038d, 1039a, 1039b, 1039c, 1039d, brush holder 1040, And

springs

1041a, 1041b,..., 1042d and the like are accommodated.

As shown in FIG. 52, the

permanent magnets

1035a and 1035b are disposed between the inner peripheral surface of the cylindrical portion 1031a and the armature 1036. The

permanent magnets

1035a and 1035b are fixed to the inner peripheral surface of the cylindrical portion 1031a. The

permanent magnets

1035a and 1035b are formed in a fan shape from the axial direction. Each of the

permanent magnets

1035a and 1035b forms a magnetic pole toward the radially inner side. One of the

permanent magnets

1035a and 1035b has an S pole, and the other permanent magnet has an N pole.

48 is formed so as to close the other axial side of the cylindrical portion 1031a. A protruding portion 1063 that protrudes to the other side in the axial direction is formed on the axial line side of the lid portion 1031b. A through hole 1064 that penetrates in the axial direction is formed in the protrusion 1063. The rotating shaft 1030 passes through the through hole 1064.

The bottom portion 1031c is formed so as to close one side in the axial direction of the cylindrical portion 1031a. A rotating shaft support member 1045 that supports a bearing main body 1032a described later is formed on the axis side of the bottom portion 1031c.

The rotation shaft support member 1045 is formed in an annular shape centered on the rotation center line S1 and includes a through hole 1066 that penetrates in the extending direction of the rotation center line S1. The through hole 1066 is formed such that its axis line coincides with the rotation center line S1. In the through hole 1066, one axial side of the rotating shaft 1030 is located. The through-hole 1066 includes an opening (hereinafter referred to as a lower opening 1046a) that opens on one side in the extending direction of the rotation center line S1 and an opening (hereinafter referred to as an opening on the other side in the extending direction of the rotation center line S1). An upper opening).

Note that the extending direction of the rotation center line S1 is a direction in which the rotation center line S1 extends. One side in the extending direction of the rotation center line S1 is the lower side in FIG. 48, and the other side in the extending direction of the rotation center line S1 is the lower side in FIG.

An inner peripheral surface 1047 that forms a through hole 1066 is provided between the upper opening and the lower opening 1046a of the rotating shaft support member 1045. The inner peripheral surface 1047 is formed in an annular shape centered on the rotation center line S1, and slidably supports a bearing body 1032a described later. The inner peripheral surface 1047 has a cross section including the rotation center line S1 formed in an arc shape centering on a fulcrum P1 described later.

The fulcrum P1 is located on the other side in the axial direction with respect to the bearing body 1032a of the axis of the rotating shaft 1030.

The bearing body 1032a is a mechanical bearing that rotatably supports one side of the rotating shaft 1030 in the axial direction. The bearing body 1032a is disposed inside the through hole 1066 of the rotating shaft support member 1045. In the present embodiment, for example, a rolling bearing is used as the bearing body 1032a. The rolling bearing includes a track disposed on the outer peripheral side of the rotating shaft 1030 and a rolling element disposed between the rotating shaft 1030 and the track. The rolling bearing is well known to support the rotating shaft 1030 by rolling motion. It is a bearing.

The bush 1032b constitutes a bearing 1032 that rotatably supports the rotating shaft 1030 together with the bearing body 1032a. The bush 1032b is a rotating shaft support member that supports the bearing body 1032a. The bush 1032b is formed in an annular shape centering on the rotation center line S1. The bush 1032 b includes a side surface 1048 that slides on the inner peripheral surface 1047 of the rotation shaft support member 1045. The side surface 1048 has a cross section including the rotation center line S1 formed in an arc shape centered on the fulcrum P1.

In this embodiment, the curvature radius r1 of the inner peripheral surface 1047 and the curvature radius r2 of the side surface 1048 are the same. The curvature radius r1 is a distance between the fulcrum P1 and the inner peripheral surface 1047 in the cross section including the rotation center line S1. The radius of curvature r2 is the distance between the fulcrum P1 and the side surface 1048 in the cross section including the axis of the rotating shaft 1030.

The bearing 1032 and the rotating shaft support member 1045 in the present embodiment constitute a bearing mechanism 1049 that supports the rotating shaft 1030 through the bearing 1032 so as to be swingable around the fulcrum P1.

48 is disposed on the inner peripheral side of the through-hole 1064. The restraining portion 1033 is formed in an annular shape centering on the rotation center line S1 of the rotation shaft 1030. A gap is formed between the holding portion 1033 and the rotating shaft 1030. As will be described later, the holding portion 1033 is a bearing portion that supports the rotation shaft 1030 in a state where the rotation shaft 1030 is largely inclined from the rotation center line S1 of the rotation shaft 1030. The holding portion 1033 is supported by the lid portion 1031b. The holding part 1033 of this embodiment is formed of a resin material having lubricity.

Permanent magnets

1034 a, 1034 b, 1034 c, and 1034 d are arranged between the armature 1036 and the holding portion 1033 in the rotating shaft 1030.

Permanent magnets

1034a, 1034b, 1034c, and 1034d are located on the base side of the protrusion 1063.

Permanent magnets

1034a, 1034b, 1034c, and 1034d are fixed to rotating shaft 1030.

The

permanent magnets

1034a, 1034b, 1034c, and 1034d are each formed in a fan shape as shown in FIG.

Permanent magnets

1034a, 1034b, 1034c, and 1034d are combined so as to cover the outer periphery of rotating shaft 1030. The

permanent magnets

1034 a, 1034 b, 1034 c, and 1034 d each form a magnetic pole on the radially outer side centering on the axis of the rotating shaft 1030. The

permanent magnets

1034a, 1034b, 1034c, and 1034d are arranged such that their magnetic poles are alternately arranged in the order of S pole → N pole → S pole → N pole. The

permanent magnets

1034a, 1034b, 1034c, and 1034d apply magnetic flux to the

hall sensors

1037a, 1037b, 1037c, and 1037d.

Hall sensors

1037a, 1037b, 1037c, and 1037d are arranged on the outer side in the radial direction around the rotation center line S1 of the rotation shaft 1030 with respect to the

permanent magnets

1034a, 1034b, 1034c, and 1034d. Gaps are formed between the

hall sensors

1037a, 1037b, 1037c, 1037d and the

permanent magnets

1034a, 1034b, 1034c, 1034d. The

hall sensors

1037a, 1037b, 1037c, and 1037d are arranged at the same interval in the circumferential direction around the rotation center line S1 of the rotation shaft 1030. The

hall sensors

1037a, 1037b, 1037c, and 1037d are fixed to the cylindrical portion 1031a of the stator 1031.

Hall sensors

1037a, 1037b, 1037c, and 1037d are for detecting the rotation speed and inclination angle of the rotating shaft 1030, and are configured by Hall elements that detect magnetic fields generated from the

permanent magnets

1034a, 1034b, 1034c, and 1034d. Yes.

50 are arranged between the armature 1036 and the bearing 1032. The

brushes

1038a, 1038b, 1038c, and 1038d in FIG. The

brushes

1038a, 1038b, 1038c, and 1038d are arranged at the same interval in the circumferential direction around the rotation center line S1.

The

brushes

1038a, 1038b, 1038c, and 1038d are each arranged in the elongated hole portion of the brush holder 1040 and configured to be movable in the radial direction. The

brushes

1038a, 1038b, 1038c, and 1038d are pressed radially inward (specifically, the commutator 1043 side) by the elastic force of the corresponding spring among the

springs

1041a, 1041b, 1041c, and 1041d. Each of the

springs

1041a, 1041b, 1041c, and 1041d is disposed in a long hole portion of the brush holder 1040. The brush holder 1040 is supported by the stator 1031. The

brushes

1038a, 1038b, 1038c, and 1038d slide on the segments 1043a to 1043d of the commutator 1043 as the rotating shaft 1030 rotates.

51, the

brushes

1039a, 1039b, 1039c, and 1039d shown in FIG. 51 are arranged in the elongated holes of the brush holder 1040, respectively, and are configured to be movable in the radial direction. The

brushes

1039a, 1039b, 1039c, and 1039d are pressed radially inward (specifically, the commutator 1044 side) by the elastic force of the corresponding spring among the

springs

1042a, 1042b, 1042c, and 1042d. Each of the

springs

1042a, 1042b, 1042c, and 1042d is disposed in a long hole portion of the brush holder 1040.

Here, the

brushes

1039a, 1039b, 1039c, and 1039d are disposed on the other side in the axial direction with respect to the fulcrum P, and the

brushes

1038a, 1038b, 1038c, and 1038d are disposed on the one side in the axial direction with respect to the fulcrum P. .

The commutator 1043 includes

segments

1043a, 1043b, 1043c, and 1043d. The

segments

1043a, 1043b, 1043c, and 1043d are arranged at equal intervals in an arc shape with the axis of the rotation shaft 1030 as the center. A coil 1051a is connected between the

segments

1043a and 1043c. One end of the coil 1051a is connected to the segment 1043a, and the other end of the coil 1051a is connected to the segment 1043c.

A coil 1051b is connected between the

segments

1043b and 1043d. That is, one end of the coil 1051b is connected to the segment 1043b, and the other end of the coil 1051b is connected to the segment 1043d.

The

segments

1043a, 1043b, 1043c, and 1043d are fixed to the rotating shaft 1030 via the cylindrical member 1067. The

segments

1043a, 1043b, 1043c, and 1043d are each formed in a fan shape when viewed from the axial direction of the rotation shaft 1030. The

brushes

1039a, 1039b, 1039c, and 1039d slide on the segments 1044a to 1044d of the commutator 1043 as the rotating shaft 1030 rotates.

The cylindrical member 1067 is disposed on the radially outer side with the axis of the rotation shaft 1030 as the center. The cylindrical member 1067 is formed in a cylindrical shape centering on the axis of the rotation shaft 1030. The cylindrical member 1067 is formed so that its axis coincides with the axis of the rotation shaft 1030. The cylindrical member 1067 is supported by the rotation shaft 1030.

The commutator 1044 includes

segments

1044a, 1044b, 1044c, and 1044d. The

segments

1044a, 1044b, 1044c, and 1044d are arranged at equal intervals in an arc shape centered on the axis of the rotating shaft 1030. A coil 1050a is connected between the

segments

1044a and 1044c. That is, one end of the coil 1050a is connected to the segment 1044a, and the other end of the coil 1050a is connected to the segment 1044c.

A coil 1050b is connected between the

segments

1044b and 1044d. That is, one end of the coil 1050b is connected to the segment 1044b, and the other end of the coil 1050b is connected to the segment 1044d.

The

segments

1044a, 1044b, 1044c, and 1044d are fixed to the rotary shaft 1030 via the cylindrical member 1067. The

segments

1044a, 1044b, 1044c, and 1044d are each formed in a fan shape when viewed from the axial direction of the rotating shaft 1030.

In this embodiment, the

commutators

1043 and 1044 are disposed on the fulcrum P1 side with respect to the bearing 1032. The commutator 1044 is located on the other side in the axial direction from the fulcrum P1. The commutator 1043 is located on one side in the axial direction from the fulcrum P1. The fulcrum P1 is an intermediate point between the rotation center of the commutator 1044 and the rotation center of the commutator 1043 in the axis of the rotation shaft 1030.

The armature 1036 includes

coils

1050a, 1050b, 1051a, 1051b, and a rotor core 1052, as shown in FIG.

The rotor core 1052 allows a magnetic flux (that is, a magnetic field) generated from the

coils

1050a and 1050b to pass therethrough. Further, the rotor core 1052 allows a magnetic flux (that is, a magnetic field) generated from the

coils

1051a and 1051b to pass therethrough. The rotor core 1052 constitutes a magnetic circuit together with the

permanent magnets

1035a and 1035b.

Specifically, the rotor core 1052 includes a ring portion 1053 and

teeth

1054a, 1054b, 1054c, and 1054d. The ring portion 1053 is disposed on the radially inner side with respect to the cylindrical portion 1031 a of the stator 1031. Ring portion 1053 is fixed to rotation shaft 1030.

Teeth

1054a, 1054b, 1054c, and 1054d are formed so as to protrude radially outward from the ring portion 1053.

Teeth

1054a, 1054b, 1054c, and 1054d are arranged at equal intervals in the circumferential direction around the axis of rotating shaft 1030, respectively.

Teeth

1054a, 1054b, 1054c, and 1054d are each formed so that the tip end side extends in the circumferential direction.

The

coils

1050a and 1050b of the present embodiment are tilt control coils that generate the supporting force of the rotating shaft 1030. In FIG. 53, in the

coils

1050a and 1050b, a cross indicates a state in which a current flows toward the rear side in the vertical direction of the paper surface, and a black dot indicates a state in which a current flows toward the front side in the vertical direction of the paper surface.

First, the coil 1050b is wound around the

teeth

1054a and 1054c as shown in FIG. The direction in which the coil 1050b winds the teeth 1054a and the direction in which the coil 1050b winds the teeth 54c are the same. The

teeth

1054a and 1054c are arranged with an offset of 180 degrees around the axis of the rotation shaft 1030.

The coil 1050a is wound around the

teeth

1054b and 1054d. The direction in which the coil 1050a winds the tooth 54b and the direction in which the coil 1050a winds the tooth 54d are the same. The

teeth

1054b and 1054d are arranged with an angle of 180 degrees offset about the axis of the rotation shaft 1030.

The

coils

1051a and 1051b of the present embodiment are rotational driving coils that generate a rotating magnetic field for rotating the armature 1036.

53, in the

coils

1051a and 1051b, a cross indicates a state in which a current flows toward the back side in the vertical direction of the paper surface, and a black dot indicates a state in which a current flows toward the near side in the vertical direction of the paper surface.

The coil 1051a is wound around the

teeth

1054a and 54b. The

teeth

1054a and 54b are arranged with an angle of 90 degrees offset about the axis of the rotation shaft 1030.

The coil 1051b is wound around the

teeth

1054c and 1054d. The

teeth

1054c and 1054d are arranged with an angle of 90 degrees offset about the axis of the rotation shaft 1030.

In the present embodiment, the

coils

1050a and 1050b are arranged on the stator 1031 side (that is, radially outside) with respect to the

coils

1051a and 1051b.

Thus, the

coils

1050a and 1050b and the

coils

1051a and 1051b are wound around a common rotor core 1052. That is, the

coils

1050 a and 1050 b and the

coils

1051 a and 1051 b are attached to the rotating shaft 1030 via the rotor core 1052. The current flowing through

coils

1050a and 1050b and the current flowing through

coils

1051a and 1051b are controlled by electronic control unit (referred to as ECU in FIG. 48) 1070.

In the electric motor 1010 configured as described above, the rotation shaft 1030 can be tilted from the rotation center line S1 of the rotation shaft 1030 with the fulcrum P1 between the

commutators

1043 and 1044 among the axis of the rotation shaft 1030 as a fulcrum. (See FIGS. 54 and 55).

54 and 55, the fulcrum is the origin 0, the rotation center line S1 of the rotation shaft 1030 is the Z axis, the X and Y axes orthogonal to the rotation center line S1 are set, and the Z axis (that is, the rotation) An example is shown in which the axis of the rotation shaft 1030 is inclined at an angle θ with respect to the center line S1). In FIG. 54, (x0, y0) indicates the XY coordinates of the end portion on the other side in the axial direction of the rotating shaft 1030 (that is, the fan 1020).

Next, the electrical configuration of the motor control system 1000 of this embodiment will be described with reference to FIG.

The electronic control device 1070 includes

bridge circuits

1071, 1072, 1073, and a control circuit 1074 as shown in FIG. The bridge circuit 1071 includes transistors SW1, SW2, SW3, and SW4. The transistors SW1 and SW2 are connected in series between the positive electrode and the negative electrode of the battery Ba. The common connection terminal T1 of the transistors SW1 and SW2 is connected to the brush 1039a.

The transistors SW3 and SW4 are connected in series between the positive electrode and the negative electrode of the battery Ba. A common connection terminal T2 of the transistors SW3 and SW4 is connected to the brush 1039c.

Thus, the direction and current value of the current flowing through the commutator 1044 to the coil 1050a (or 1050b) are controlled by turning on and off the transistors SW1, SW2, SW3, and SW4.

The bridge circuit 1072 includes transistors SW5, SW6, SW7, and SW8. The transistors SW5 and SW6 are connected in series between the positive electrode and the negative electrode of the battery Ba. A common connection terminal T3 of the transistors SW5 and SW6 is connected to the brush 1039b. The transistors SW7 and SW8 are connected in series between the positive electrode and the negative electrode of the battery Ba. A common connection terminal T4 of the transistors SW7 and SW8 is connected to the brush 1039d.

Thus, the direction and current value of the current flowing through the commutator 1044 to the coil 1050b (or 1050a) can be controlled by turning on and off the transistors SW5, SW6, SW7, and SW8.

The bridge circuit 1073 includes transistors SW9, SW10, SW11, and SW12. The transistors SW9 and SW10 are connected in series between the positive electrode and the negative electrode of the battery Ba. A common connection terminal T5 of the transistors SW11 and SW12 is connected to the

brushes

1038b and 1038c.

The transistors SW11 and SW12 are connected in series between the positive electrode and the negative electrode of the battery Ba. A common connection terminal T6 of the transistors SW11 and SW12 is connected to the

brushes

1038a and 1038d.

Thus, the direction and current value of the current flowing through the commutator 1043 to the

coils

1051a and 1051b are controlled by turning on and off the transistors SW9, SW10, SW11, and SW12.

The control circuit 1074 is configured in a microcomputer, a memory, etc., and generates a rotational force for the armature 1036 and outputs a supporting force for supporting the rotating shaft 1030 according to a computer program stored in the memory. Control processing is performed. The control circuit 1074 performs transistors SW1, SW2, SW3, SW4, SW5, SW6, SW7, SW8, SW9, SW10, based on the output signals of the

Hall sensors

1037a, 1037b, 1037c, and 1037d as the control process is executed. SW11 and SW12 are switching-controlled.

The control circuit 1074 controls the transistors SW9, SW10, SW11, and SW12, and outputs current from the common connection terminals T5 and T6 to the coils 1051a and 52b through the

brushes

1038a, 1038b, 1038c, and 1038d and the commutator 1043.

For example, the control circuit 1074 turns on the transistors SW9 and SW12 and turns off the transistors SW10 and SW11. Therefore, a current flows through the coil 1051a (or 51b) through the

brushes

1038b and 1038d and the

segments

1043a and 1043c (or 43b and 43d) of the commutator 1043 between the common connection terminals T5 and T6. Between the common connection terminals T5 and T6, current flows to the coil 1051a (or 1051b) through the

brushes

1038a and 1038c and the

segments

1043a and 1043c (or 1043b and 1043d) of the commutator 1043.

At this time, a rotational force as an electromagnetic force is generated in the

coils

1051a and 1051b based on the current flowing in the

coils

1051a and 1051b itself and the magnetic flux from the

permanent magnets

1035a and 1035b. This rotational force is a rotational force that rotates the armature 1036 (that is, the rotational shaft 1030) in the first rotational direction about the rotational center line S1.

Here, as the rotating shaft 1030 rotates, the segments to which the

brushes

1038a and 1038c come into contact sequentially change among the

segments

1043a, 1043b, 1043c, and 1043d of the commutator 1043. As the rotary shaft 1030 rotates, the segments that the

brushes

1038b and 1038d are in contact with among the

segments

1043a, 1043b, 1043c, and 1043d of the commutator 1043 are sequentially changed.

As a result, the coil 1051a (or 1051b) is repeatedly rotated in the first rotation direction every time the segment in contact with the

brushes

1038a, 1038b, 1038c, and 1038d changes among the

segments

1043a, 1043b, 1043c, and 1043d. appear.

On the other hand, the control circuit 1074 turns off the transistors SW9 and SW12 and turns on the transistors SW10 and SW11. For this reason, between the common connection terminals T5 and T6, a current flows through the coil 1051a (or 1051b) through the

brushes

1038b and 1038d and the

segments

1043a and 1043c (or 1043b and 1043d) of the commutator 1043. Between the common connection terminals T5 and T6, current flows to the coil 1051a (or 1051b) through the

brushes

1038a and 1038c and the

segments

1043a and 1043c (or 1043b and 1043d) of the commutator 1043.

coils

1051a and 1051b based on the current flowing in the

coils

1051a and 1051b itself and the magnetic flux from the

permanent magnets

1035a and 1035b. This rotational force is a rotational force that rotates the armature 1036 (that is, the rotational shaft 1030) in the second rotational direction about the rotational center line S1. The second rotation direction is opposite to the first rotation direction.

Here, as the rotating shaft 1030 rotates, the segments to which the

brushes

1038a and 1038c come into contact sequentially change among the

segments

brushes

1038b and 1038d are in contact with among the

segments

1043a, 1043b, 1043c, and 1043d of the commutator 1043 are sequentially changed.

Thus, each time the segment in contact with the

brushes

1038a, 1038b, 1038c, and 1038d of the

segments

1043a, 1043b, 1043c, and 1043d is changed, the coil 1051a (or 1051b) is repeatedly rotated in the second rotational direction. Occurs.

Here, the control circuit 1074 controls the transistors SW9, SW10, SW11, and SW12, thereby controlling the current values of the currents flowing through the

coils

1051a and 1051b through the

brushes

1038a, 1038b, 1038c, and 1038d and the commutator 1043. Thereby, the rotational speed of the rotating shaft 1030 (that is, the armature 1036) can be controlled by controlling the magnitude of the electromagnetic force as the rotational force acting on the

coils

1051a and 1051b.

Also, the axis S2 of the rotating shaft 1030 may deviate from the rotation center line S1 of the rotating shaft 1030 due to disturbance. At this time, the rotation shaft 1030 swings about the fulcrum P1 while rotating about the rotation center line S1.

On the other hand, the control circuit 1074 performs switching control of the transistors SW1, SW2, SW3, and SW4, so that a current flows through the coil 1050a and moves the armature 1036 between the coil 1050a and the

permanent magnets

1035a and 1035b. Electromagnetic forces f1 and f2 to be generated are generated.

Specifically, the following (a) (b) (c) (d) will be performed. (A) When the transistors SW1 and SW4 are turned on and the transistors SW2 and SW3 are turned off while the brush 1039a is in contact with the segment 1044a and the brush 1039c is in contact with the segment 1044c, the common connection terminals T1 and T2 A current can be passed in the first current direction to the coil 1050a through the

segments

1044a and 1044c. (B) When the transistors SW1 and SW4 are turned off and the transistors SW2 and SW3 are turned on while the brush 1039c is in contact with the segment 1044a and the brush 1039a is in contact with the segment 1044c, the common connection terminals T1 and T2 A current can be passed in the first current direction to the coil 1050a through the

segments

1044a and 1044c.

In this way, by passing a current through the coil 1050a in the first current direction, an electromagnetic force f1 is generated between the coil 1050a wound around the

teeth

1054b and 1054d and the

permanent magnets

1035a and 1035b. The electromagnetic force f1 is a force that moves the armature 1036 (that is, the rotating shaft 1030) to one side in the axial direction of the coil 1050a. The axial direction of the coil 1050a is a direction connecting the axial lines of the teeth 1054b and 1054d. (C) When the transistors SW1 and SW4 are turned off and the transistors SW2 and SW3 are turned on while the brush 1039a is in contact with the segment 1044a and the brush 1039c is in contact with the segment 1044c, the common connection terminals T1 and T2 A current can flow in the second current direction through the

segments

1044a, 1044c to the coil 1050a. The second current direction is a direction in which a current flows in the coil 1050a opposite to the first current direction. (D) When the transistors SW1 and SW4 are turned on and the transistors SW2 and SW3 are turned off while the brush 1039c is in contact with the segment 1044a and the brush 1039a is in contact with the segment 1044c, the common connection terminals T1 and T2 A current can be passed through coil 1050a through

segments

1044a and 1044c in the second current direction.

In this way, by passing a current in the second current direction through the coil 1050a, an electromagnetic force f2 is generated between the coil 1050a and the

permanent magnets

1035a and 1035b wound around the

teeth

1054b and 1054d. The electromagnetic force f2 is a force that moves the armature 1036 (that is, the rotating shaft 1030) to the other side in the axial direction of the coil 1050a.

The control circuit 1074 changes the direction in which current flows to the coil 1050a from the first current direction to the second current direction (or from the second current direction to the first current direction), so that the coil 1050a and the

permanent magnets

1035a and 1035b The direction of electromagnetic force generated during the period can be changed. The control circuit 1074 performs switching control of the transistors SW1, SW2, SW3, and SW4 to control the current value flowing through the coil 1050a, whereby the magnitudes of the electromagnetic forces f1 and f2 acting between the coil 1050a and the

permanent magnets

1035a and 1035b. Can be controlled.

The control circuit 1074 performs switching control of the transistors SW5, SW6, SW7, and SW8, so that a current flows through the coil 1050b to move the armature 1036 between the coil 1050b and the

permanent magnets

1035a and 1035b. Is generated.

Specifically, the following (e) (f) (g) (h) will be performed. (E) When the transistors SW5 and SW8 are turned on and the transistors SW6 and SW7 are turned off while the brush 1039b is in contact with the segment 1044b and the brush 1039d is in contact with the segment 1044d, the common connection terminals T3 and T4 A current can be passed through the

segments

1044b, 1044d to the coil 1050b in the third current direction. (F) When the transistors SW5 and SW8 are turned off and the transistors SW6 and SW7 are turned on with the brush 1039d in contact with the segment 1044b and the brush 1039b in contact with the segment 1044d, the common connection terminals T3 and T4 A current can be passed through the

segments

1044b, 1044d to the coil 1050b in the third current direction.

In this way, by passing a current through the coil 1050b in the third current direction, an electromagnetic force f3 is generated between the coil 1050b wound around the

teeth

1054a and 1054c and the

permanent magnets

1035a and 1035b. The electromagnetic force f3 is a force that moves the armature 1036 (that is, the rotating shaft 1030) to one side in the axial direction of the coil 1050b. The axial direction of the coil 1050b is a direction connecting the axial lines of the

teeth

1054a and 1054c. (G) When the transistors SW5 and SW8 are turned off and the transistors SW6 and SW7 are turned on while the brush 1039b is in contact with the segment 1044b and the brush 1039d is in contact with the segment 1044d, the common connection terminals T3 and T4 A current can be passed through the

segments

1044b, 1044d to the coil 1050b in the fourth current direction. The fourth current direction is a direction opposite to the third current direction. (H) When the transistors SW5 and SW8 are turned on and the transistors SW6 and SW7 are turned off while the brush 1039d is in contact with the segment 1044b and the brush 1039b is in contact with the segment 1044d, the common connection terminals T3 and T4 A current can be passed through the

segments

1044b, 1044d to the coil 1050b in the fourth current direction.

In this way, by flowing a current in the fourth current direction to the coil 1050b, an electromagnetic force f4 is generated between the coil 1050b and the

permanent magnets

1035a and 1035b wound around the

teeth

1054a and 1054c. The electromagnetic force f4 is a force that moves the armature 1036 (that is, the rotating shaft 1030) to the other side in the axial direction of the coil 1050b.

The control circuit 1074 changes the direction in which the current flows to the coil 1050b from the third current direction to the fourth current direction (or from the fourth current direction to the third current direction), so that the coil 1050b and the

permanent magnets

1035a and 1035b The direction of electromagnetic force generated during the period can be changed. The control circuit 1074 performs switching control of the transistors SW5, SW6, SW7, and SW8 to control the current value flowing through the coil 1050b, whereby the magnitude of the electromagnetic forces f3 and f4 acting between the coil 1050b and the

permanent magnets

1035a and 1035b. Can be controlled.

Here, the axial direction of the coil 1050a and the axial direction of the coil 1050b are orthogonal to each other. The electromagnetic forces f1, f2, f3, and f4 are set as unit vectors, respectively. Using the electromagnetic forces f1, f2, f3, f4 and the coefficients K1, K2, K3, K4 applied to the electromagnetic forces f1, f2, f3, f4 to bring the axis S2 of the rotary shaft 1030 closer to the rotation center line S1. Can be expressed by the following mathematical formula 1.

Fa = K1 · f1 + K2 · f2 + K3 · f3 + K4 · f4 (Equation 1)
The control circuit 1074 controls the transistors SW1, SW2, SW3, SW4, SW5, SW6, SW7, and SW8 to control the current that flows from the common connection terminals T1, T2, T3, and T4 to the

coils

1050a and 1050b. For this reason, the magnitudes of the support force Fa and the direction of the support force Fa can be controlled by controlling the coefficients K1, K2, K3, and K4.

Next, control processing by the control circuit 1074 of this embodiment will be described with reference to FIGS.

The control circuit 1074 executes the support process according to the flowcharts of FIGS. 57 and 58 are flowcharts showing the control process.

First, in step 1100 of FIG. 57, magnetic fields generated by the

permanent magnets

34a and 34b are detected by the

hall sensors

1037a, 1037b, 1037c, and 1037d.

Here, in the XY coordinates, the direction in which the hall sensors 1037a and 1037c are arranged is defined as the X direction, and the direction in which the

hall sensors

1037b and 1037d are arranged is defined as the Y direction. A difference ds1 (= Ha−Hc: see FIG. 63) between the output signal Ha of the Hall sensor 1037a and the output signal Hc of the Hall sensor 1037c is obtained. The difference ds1 indicates rotation angle information of the rotation shaft 1030. Based on the difference ds1, the rotation angle (that is, the rotation position) of the rotation shaft 1030 at the current time is calculated (step 1110).

Next, support control (step 1120) for preventing the rotation shaft 1030 from being inclined from the rotation center line S1 and rotation control for rotating the rotation shaft 1030 (step 1130) are executed in parallel. Details of support control (step 1120) and rotation control (step 1130) will be described later. Next, it is determined whether or not to continue the rotation of the rotating shaft 1030 (step 1140). Thereafter, assuming that the rotation of the rotating shaft 1030 is continued, if YES is determined in the step 1140, the process returns to the step 1110. Next, the YES determinations in steps 1100, 110, 120, and 130 and step 1140 are repeated until a stop command for stopping the control process is input from the outside. Thereafter, when a stop command is input from the outside, it is determined as NO in step 1140, and the control process is terminated.

Next, rotation control (step 1130) will be described.

First, the rotational speed of the rotating shaft 1030 is obtained by differentiating the rotation angle of the rotating shaft 1030 calculated in step 1110 with respect to time. In addition to this, by controlling the switching SW9, SW10, SW11, SW12, the current flowing through the

coils

1051a, 1051b is controlled so that the obtained rotational speed of the rotating shaft 1030 approaches the target rotational speed. For this reason, electromagnetic force as a rotational force is generated in the

coils

1051a and 1051b by the current and the magnetic flux from the

permanent magnets

1035a and 1035b. For this reason, the rotation angle of the rotating shaft 1030 (that is, the armature 1036) can be brought close to the target rotation speed.

Next, support control (step 1120) will be described with reference to FIG. FIG. 58 is a flowchart showing details of step 1120 in FIG.

First, in step 1121, the inclination θ (see FIG. 54) of the rotation shaft 1030 with respect to the rotation center line S1 of the rotation shaft 1030 is calculated based on the output signals of the

hall sensors

1037a, 1037b, 1037c, and 1037d.

Specifically, the difference ds1 (= Ha−Hc) between the output signal Ha of the hall sensor 1037a at the current time and the output signal Hc of the hall sensor 1037c at the current time is obtained. Then, based on the difference dA (= A1-A0: see FIG. 59A) between the amplitude value A1 of the difference ds1 and the amplitude value A0 of the reference signal k1, the X coordinate of the fan 1020 (the X coordinate of the other end of the rotating shaft 1030 in the axial direction) )

Here, the amplitude value A1 indicates the amplitude value of the difference ds1 at the current time. Let ΔT be the time between the timing when the difference ds1 becomes zero and the current time. The amplitude value A0 is the amplitude of the reference signal k1 when ΔT has elapsed from the timing when the reference signal k1 becomes zero.

The X coordinate (X0) increases as the difference (A1-A0) increases, and the X coordinate (X0) increases as the difference (A1-A0) decreases. The reference signal k1 is a difference (= theoretical value of the output signal Ha−theoretical value of the output signal Hc) between the theoretical value of the output signal Ha of the Hall sensor 1037a and the theoretical value of the output signal Hc of the Hall sensor 1037c.

Here, the output signal Ha output from the Hall sensor 1037a when the rotation shaft 1030 rotates in a state where the axis of the rotation shaft 1030 coincides with the rotation center line S1 of the rotation shaft 1030 is used as a theoretical value of the output signal Ha. The output signal Hc output from the Hall sensor 1037c when the rotation shaft 1030 rotates in a state where the axis of the rotation shaft 1030 coincides with the rotation center line S1 of the rotation shaft 1030 is the theoretical value of the output signal Hc.

Further, a difference dq (= Hb−Hd) between the output signal Hb of the hall sensor 1037b at the current time and the output signal Hd of the hall sensor 1037d at the current time is obtained, and the amplitude B1 of the difference dq and the amplitude value B0 of the reference signal k2 are obtained. The Y coordinate of the fan 1020 (that is, the Y coordinate of the other end portion in the axial direction of the rotating shaft 1030) is obtained based on the difference dB (= B1-B0: see FIG. 59B).

The reference signal k2 is a difference (= theoretical value of the output signal Hb−theoretical value of the output signal Hd) between the theoretical value of the output signal Hb of the Hall sensor 1037b and the theoretical value of the output signal Hd of the Hall sensor 1037d. Here, the output signal Hb output from the Hall sensor 1037b when the rotation shaft 1030 rotates in a state where the axis of the rotation shaft 1030 coincides with the rotation center line S1 of the rotation shaft 1030 is a theoretical value of the output signal Hb. The output signal Hd output from the Hall sensor 1037d when the rotation shaft 1030 rotates in a state where the axis of the rotation shaft 1030 coincides with the rotation center line S1 of the rotation shaft 1030 is the theoretical value of the output signal Hd.

Based on the XY coordinates (X0, Y0) of the fan 1020 thus obtained, the inclination θ (angle) of the rotation shaft 1030 with respect to the rotation center line S1 is calculated. In the present embodiment, the inclination θ is an angle formed in the clockwise direction from the Z axis to the axis S2 of the rotary shaft 1030 between the Z axis and the axis S2 of the rotary shaft 1030 (see FIG. 54). .

Next, in step 1122, based on the XY coordinates (X0, Y0) of the fan 1020, a coil to be excited is selected from the

coils

1050a and 1050b in order to bring the axis S2 of the rotation shaft 1030 close to the rotation center line S1. That is, the coil to be energized to bring the axis S2 of the inclined rotation shaft 1030 close to the rotation center line S1 is selected from the

coils

1050a and 1050b. Hereinafter, the coil thus selected is referred to as a selection coil.

Next, in Step 1123, it is determined whether or not the rotation speed of the rotating shaft 1030 is high.

Specifically, a difference (Ha−Hc) between the output signal Ha of the hall sensor 1037a and the output signal Hc of the hall sensor 1037c is obtained, and based on the change of the obtained difference (Ha−Hc) with respect to time, the rotation axis A rotational speed of 1030 is calculated. It is determined whether or not the calculated rotation speed (hereinafter referred to as calculated rotation speed V) is equal to or higher than a predetermined speed.

When the calculated rotation speed V is equal to or higher than the predetermined speed, YES is determined in step 1123 because the rotation speed of the rotating shaft 1030 is high. In this case, in order to generate the supporting force Fa necessary for bringing the axis S2 of the rotating shaft 1030 close to the rotating center line S1 between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b, the current to be output to the selection coil Is calculated based on (X0, Y0) and the gradient θ (step 1124).

On the other hand, when the calculated rotational speed V is less than the predetermined speed, NO is determined in step 1123 because the rotational speed of the rotating shaft 1030 is low. In this case, in order to generate the supporting force Fa necessary for bringing the axis S2 of the rotating shaft 1030 close to the rotating center line S1 between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b, the current to be output to the selection coil Is calculated based on (X0, Y0) and the inclination θ (step 1126).

Here, the greater the inclination θ, the greater the support force Fa necessary to bring the axis S2 of the rotation shaft 1030 closer to the rotation center line S1. In addition to this, the higher the rotational speed of the rotating shaft 1030, the smaller the supporting force Fa necessary to bring the axis S2 of the rotating shaft 1030 closer to the rotation center line S1. That is, when the rotation shaft 1030 rotates at a high speed, the support force Fa is smaller than when the rotation shaft 1030 rotates at a low speed (see FIG. 60).

FIG. 60 is a graph showing the relationship between the support force Fa and the tilt angle θ when the vertical axis is the support force Fa, the horizontal axis is the tilt angle θ, and the rotating shaft 1030 is rotating at low speed or high speed. is there. When the rotation shaft 1030 rotates at a low speed, the graph has a larger gradient than the graph when the rotation shaft 1030 rotates at a high speed.

Therefore, when the rotating shaft 1030 rotates at a high speed, the current to be output to the selection coil is calculated based on the graph showing the relationship between the supporting force Fa and the inclination θ at the time of high speed rotation in FIG. 1126).

On the other hand, when the rotary shaft 1030 is rotating at a low speed, the current to be output to the selection coil is calculated based on the graph showing the relationship between the supporting force Fa and the inclination θ during the low-speed rotation shown in FIG. 1124).

Thus, the current to be output to the selection coil is calculated based on the rotation speed of the rotation shaft 1030, (X0, Y0), and the inclination θ. Accordingly, the transistors SW1, SW2,... SW6 of the bridge circuit 1071 are controlled in order to output the calculated current to the selection coil. As a result, current is output from the common connection terminals T1, T2, and T3 to the selection coil. For this reason, a supporting force Fa is generated between the selection coil and the permanent magnet 1035. Therefore, the rotating shaft 1030 can be brought close to the rotation center line S1 by the support force Fa.

Here, in the case of the same tilt angle θ, when the rotating shaft 1030 rotates at a low speed, the supporting force between the selection coil and the permanent magnet 1035 is larger than when the rotating shaft 1030 rotates at a high speed. Fa becomes large.

According to the present embodiment described above, the motor control system 1000 includes a stator 1031 that rotatably supports one axial side of the rotating shaft 1030 via the bearing 1032, and the stator 1031 that supports the rotating shaft 1030.

Permanent magnets

1035a and 1035b forming two magnetic poles arranged in the circumferential direction around the rotation center line S1. The

coils

1051a and 1051b are coils supported by the rotating shaft 1030, and generate an electromagnetic force that rotates the armature 1036 based on the current flowing through the coils and the magnetic flux from the

permanent magnets

1035a and 1035b.

Coils

1050a and 1050b are supported by rotating shaft 1030 and generate an electromagnetic force between

permanent magnets

1035a and 1035b to rotatably support the other axial side of rotating shaft 1030 with respect to bearing 1032. Configure magnetic bearings. That is, the

coils

1050a and 1050b constitute a magnetic bearing that rotatably supports a portion of the axis of the rotating shaft 1030 that is displaced from the bearing 1032.

The commutator 1043 is supported by the rotating shaft 1030 and connected to the

coils

1051a and 1051b. The commutator 1044 is supported by the rotating shaft 1030 and is connected to the

coils

1050a and 1050b. The brushes 1039a to 1039d are pressed against the commutator 1043 by the elastic force of the springs 1042a to 1042d, and slide on the

segments

1044a, 1044b, 1044c, and 1044d of the commutator 1044 as the rotating shaft 1030 rotates. A current is output to the

coils

1050 a and 1050 b through 1044.

The brushes 1038a to 1038d are pressed against the commutator 1044 by the elastic force of the springs 1041a to 1041d, and slide on the

segments

1043a, 1043b, 1043c, and 1043d of the commutator 1043 as the rotating shaft 1030 rotates. A current is output to the

coils

1051a and 1051b through 1043.

The electronic control unit 1070 controls the current flowing through the

coils

1050a and 1050b so that an electromagnetic force that prevents the axis of the rotation shaft 1030 from tilting from the rotation center line S1 is generated between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b. It is characterized by doing.

As described above, the rotary shaft 1030 is rotatably supported by the magnetic bearing composed of the

permanent magnets

1035a and 1035b and the

coils

1050a and 1050b and the bearing 1032. Thus, one magnetic bearing is used to support the rotating shaft 1030. Therefore, it is possible to provide the electric motor 1010, the electronic control unit 1070, and the motor control system 1000 that reduce the power consumption for supporting the rotating shaft 1030.

In this embodiment, when the rotating shaft 1030 rotates at a high speed, the support force Fa is made smaller than when the rotating shaft 1030 rotates at a low speed. For this reason, in order to generate the supporting force Fa, the electric power consumed by the

coils

1050a and 1050b can be reduced.

Here, as shown in FIG. 63, in the electric motor 1010A that rotatably supports the support member 1045A on one axial side of the rotation shaft 1030 via the bearing 1032c, the bearing 1032c is fixed to the support member 1045A. If there is, the bearing 1032c side of the rotating shaft 1030 serves as a fulcrum P2. With this fulcrum P2 as the center, the axis of the rotation shaft 1030 is configured to be freely tilted from the rotation center line S1. Therefore, if tilt vibration occurs when the rotating shaft 1030 rotates, the brushes 1038a to 1038d are displaced with the elastic force of the springs 1041a to 1041d, or the brushes 1039a to 1039d are moved with the elastic force of the springs 1042a to 1042d. To displace. The tilt vibration of the rotation shaft 1030 is a phenomenon in which the axis of the rotation shaft 1030 swings in the radial direction around the rotation center line S1 when the rotation shaft 1030 rotates.

Therefore, there is a risk of poor contact between the brushes 1038a to 1038d and the segments 1043a to 1043d of the commutator 1043, or poor contact between the brushes 1039a to 39d and the segments 1044a to 1044d of the commutator 1044.

On the other hand, in the present embodiment, in the bearing mechanism 1049, the rotating shaft support member 1045 is supported by the stator 1031, and the position on the other side in the axial direction with respect to the bearing 1032 of the axis of the rotating shaft 1030 is a fulcrum. Let P1. The rotating shaft 1030 is supported by the bearing 1032 so as to be swingable around the fulcrum P1. In addition to this, the

commutators

1043 and 1044 are arranged on the fulcrum P1 side.

For this reason, it is possible to suppress fluctuations in the contact portion between the brushes 1038a to 1038d and the segments 1043a to 1043d. Therefore, the contact between the brushes 1038a to 1038d and the segments 1043a to 1043d is improved. Furthermore, it is possible to suppress fluctuations in the contact area between the brushes 1039a to 39d and the segments 1044a to 1044d. Therefore, the contact between the brushes 1039a to 39d and the segments 1044a to 1044d of the commutator 1044 is improved.

In particular, in this embodiment, the fulcrum P1 is an intermediate point between the rotation center of the commutator 1044 and the rotation center of the commutator 1043 in the axis of the rotation shaft 1030. For this reason, it is possible to reliably suppress fluctuations in the contact portion between the brushes 1038a to 1038d and the segments 1043a to 1043d. Furthermore, it is possible to reliably suppress fluctuations in the contact area between the brushes 1039a to 1039d and the segments 1044a to 1044d.

61, the horizontal axis represents the rotation speed N of the rotation shaft 1030 (that is, the rotation speed). The vertical axis is a transfer function indicating the vibration system of the electric motor 1010. In the transfer function, the tilt vibration of the rotating shaft 1030 is used as a vibration source, and the centrifugal force generated from this vibration source is input. The tilt vibration of the rotating shaft 1030 is a phenomenon in which the rotating shaft 1030 swings in the radial direction around the rotation center line S1 when the rotating shaft 1030 rotates. In the transfer function, the vibration acceleration of a predetermined portion (for example, the stator 1031) other than the rotating shaft 1030 and the armature 1036 in the electric motor 1010 is output.

De indicated by a solid line is a transfer function indicating the vibration system of the electric motor 1010 of the present embodiment. A chain line indicates a transfer function indicating the vibration system of the electric motor 1010 when the support force Fa is reduced, and a one-dot chain line indicates a transfer function indicating the vibration system of the electric motor 1010 when the support force Fa is increased.

Here, the peak of the transfer function when the supporting force Fa is small occurs when the rotational speed of the rotating shaft 1030 is low. The peak of the transfer function when the support force Fa is large occurs when the rotational speed of the rotating shaft 1030 is high (see FIG. 61). For this reason, when the supporting force Fa is small, resonance occurs in the electric motor 1010 when the rotational speed of the rotating shaft 1030 is low. On the other hand, when the supporting force Fa is large, resonance occurs in the electric motor 1010 when the rotational speed of the rotating shaft 1030 is high.

Therefore, in the present embodiment, the supporting force Fa is reduced when the rotating shaft 1030 rotates at a high speed, and the supporting force Fa is increased when the rotating shaft 1030 rotates at a low speed. That is, the magnitude of the support force Fa is switched depending on the number of rotations of the rotation shaft 1030. For this reason, in the vibration system of the electric motor 1010, a transfer function De with a suppressed peak is formed. As a result, resonance can hardly occur in the electric motor 1010.

As described above, the vibration acceleration Sk generated in the electric motor 1010 due to the tilt vibration of the rotation shaft 1030 can be reduced over the use range of the rotation speed N (see FIG. 62). The use range is a range of the rotational speed N of the rotary shaft 1030 actually used in the electric motor 1010.

In FIG. 62, the horizontal axis represents the rotational speed N of the rotary shaft 1030. The vertical axis represents vibration acceleration generated in a predetermined portion (for example, the stator 1031) other than the rotating shaft 1030 and the armature 1036 in the electric motor 1010. The chain line indicates the vibration acceleration generated at the predetermined portion of the electric motor 1010 when the supporting force Fa is decreased, and the alternate long and short dash line indicates the vibration acceleration generated at the predetermined portion of the electric motor 1010 when the supporting force Fa is increased. . SK indicated by a solid line indicates vibration acceleration generated in the predetermined portion of the electric motor 1010 of the present embodiment.

(Ninth embodiment)
In the eighth embodiment, the example in which the supporting force Fa that causes the axis S2 of the rotation shaft 1030 to approach the rotation center line S1 is generated in order to prevent the axis S2 of the rotation shaft 1030 from tilting from the rotation center line S1 has been described. However, instead of this, a description will be given of the ninth embodiment in which a restoring force Fb for moving the rotating shaft 1030 in the rotating direction is generated.

The support control (step 1120) of the control circuit 1074 is different between the present embodiment and the eighth embodiment. Therefore, support control (step 1120) of the present embodiment will be described below. FIG. 64 is a flowchart showing details of support control of the control circuit 1074.

First, in step 1123, it is determined whether or not the rotational speed of the rotary shaft 1030 is high.

Specifically, the difference (Ha−Hc) between the output signal Ha of the Hall sensor 1037a and the output signal Hc of the Hall sensor 1037c is obtained, and the rotation is performed based on the change of the obtained difference (Ha−Hc) with respect to time. The rotational speed of the shaft 1030 is calculated. It is determined whether or not the calculated rotation speed (hereinafter referred to as calculated rotation speed V) is equal to or higher than a predetermined speed.

When the calculated rotation speed V is equal to or higher than the predetermined speed, YES is determined in step 1123 because the rotation speed of the rotating shaft 1030 is high. In this case, the current to be output to the

coils

1050a and 1050b is calculated in order to generate a restoring force Fb between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b that prevents the rotation shaft 1030 from being inclined from the rotation center line S1. (Step 1126A).

On the other hand, when the calculated rotational speed V is less than the predetermined speed, NO is determined in step 1123 because the rotational speed of the rotating shaft 1030 is low. In this case, the current to be output to the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b that prevents the rotation shaft 1030 from being inclined from the rotation center line S1. (Step 1124A).

The restoring force Fb of the present embodiment is an electromagnetic force that moves the fan 1020 (that is, the rotating shaft 1030) in the rotating direction. When the distance between the fan 1020 and the rotation center line S1 is L, the rotational speed of the fan 1020 (that is, the rotating shaft 1030) is V, and the damping coefficient is C, the restoring force Fb is ( L × V × C) (see FIG. 70). The axis of the fan 1020 of the present embodiment is the axis of the end of the rotating shaft 1030 on the other end side in the axial direction.

Here, the distance L is obtained from the XY coordinates (x0, yo) of the fan 1020. As described in the eighth embodiment, the X coordinate (x0) is obtained based on the difference ds (= Ha−Hc) between the output signal Ha of the hall sensor 1037a and the output signal Hc of the hall sensor 1037c. The Y coordinate (yo) is obtained based on the difference dq (= Hb−Hd) between the output signal Hb of the hall sensor 1037b and the output signal Hd of the hall sensor 1037d. As described above, the rotation speed V is calculated based on the difference (Ha−Hc) between the output signal Ha of the Hall sensor 1037a and the output signal Hc of the Hall sensor 1037c. The rotation direction of the fan 1020 (that is, the rotation shaft 1030) is obtained from the XY coordinates (x0, yo) of the axis of the fan 1020.

Therefore, in this embodiment, in steps 1124A and 126A, the current to be output to the

coils

1050a and 1050b is calculated based on the XY coordinates (x0, yo) and (L × V × C) of the fan 1020. As the restoring force Fb increases, the current to be output to the

coils

1050a and 1050b increases.

Thus, in order to output the current calculated in steps 1124A and 126A to the coil, the transistors SW1, SW2,... SW6 of the bridge circuit 1071 are controlled. As a result, current is output from the common connection terminals T1, T2, and T3 to the

coils

1050a and 1050b (step 1125). Therefore, an electromagnetic force is generated between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b as a restoring force Fb that moves the fan 1020 in the rotation direction of the fan 1020 around the rotation center line S1.

Thus, the restoring force Fb acting in the rotation direction acts between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b. For this reason, the axis line S2 of the rotation shaft 1030 is prevented from being inclined from the rotation center line S1 by disturbance or the like.

Here, the higher the rotational speed of the rotating shaft 1030, the smaller the restoring force Fb necessary to prevent the rotating shaft 1030 from tilting from the rotating shaft 1030. That is, when the rotating shaft 1030 rotates at a high speed, the necessary restoring force Fb is smaller than when the rotating shaft 1030 rotates at a low speed.

Therefore, if YES is determined in step 1123 because the rotating shaft 1030 is rotating at a high speed, the attenuation coefficient C is decreased, and the current to be output to the

coils

1050a and 1050b is decreased (step 1126A). On the other hand, when it is determined NO in step 1123 because the rotating shaft 1030 is rotating at a low speed, the damping coefficient C is increased and the current to be output to the

coils

1050a and 1050b is increased (step 1124A). That is, when the rotating shaft 1030 rotates at a high speed, the attenuation coefficient C can be reduced and the current flowing through the

coils

1050a and 1050b can be reduced compared to when the rotating shaft 1030 rotates at a low speed. .

According to the present embodiment described above, the electronic control unit 1070 controls the bridge circuit 1071, and when the distance between the fan 1020 and the rotation center line S1 is L and the attenuation coefficient is C, the fan 1020. A restoring force Fb (= L × V × C) that moves in the rotation direction is generated between the

coils

1050a and 1050b and the

permanent magnets

1035a and 1035b. This prevents the axis S2 of the rotation shaft 1030 from being inclined from the rotation center line S1 of the rotation shaft 1030 even if disturbance occurs.

As described above, the rotating shaft 1030 is rotatably supported from the magnetic bearing composed of the

permanent magnets

1035a and 1035b and the

coils

1050a and 1050b and the bearing body 1032a. Thus, one magnetic bearing is used to support the rotating shaft 1030. Therefore, power consumption for supporting the rotating shaft 1030 can be reduced.

In the present embodiment, when the rotating shaft 1030 rotates at a high speed, the current output from the

bridge circuits

1071 and 72 to the

coils

1050a and 1050b is made smaller than when the rotating shaft 1030 rotates at a low speed. . For this reason, when the rotating shaft 1030 rotates at high speed, the restoring force Fb is made smaller than when the rotating shaft 1030 rotates at low speed. Therefore, in order to generate the restoring force Fb, the power consumed by the

coils

1050a and 1050b can be reduced.

66, a graph is shown in which the rotational speed N of the rotating shaft 1030 is the horizontal axis and the transfer function indicating the vibration system of the electric motor 1010 is the vertical axis. In the transfer function, the tilt vibration of the rotating shaft 1030 is used as a vibration source, and the centrifugal force generated from this vibration source is input. In the transfer function, the vibration acceleration of a predetermined portion (for example, the stator 1031) other than the rotating shaft 1030 and the armature 1036 in the electric motor 1010 is output.

Graph De shows a transfer function indicating the vibration system of the electric motor 1010 of the present embodiment. The broken line graph is a transfer function when the attenuation coefficient C is small, and the alternate long and short dash line is a transfer function when the attenuation coefficient C is large.

Here, when the rotating shaft 1030 rotates at a low speed, the transfer function becomes larger when the damping coefficient C (that is, the restoring force Fb) is smaller than when the damping coefficient C is large (see FIG. 66). . On the other hand, when the rotating shaft 1030 is rotating at high speed, the transfer function is larger when the damping coefficient C is larger than when the damping coefficient C is small.

Therefore, in this embodiment, the damping coefficient C is decreased when the rotating shaft 1030 is rotating at high speed, and the damping coefficient C is increased when the rotating shaft 1030 is rotating at low speed. That is, the magnitude of the damping coefficient C (that is, the restoring force Fb) is switched depending on the number of rotations of the rotating shaft 1030 to suppress an increase in the transfer function. Thereby, in the electric motor 1010, resonance can be made difficult to occur.

As described above, since the attenuation house number C is switched depending on the rotation speed N, the vibration acceleration can be reduced in the electric motor 1010 over the use range of the rotation speed N as in the eighth embodiment. Thereby, the vibration can be reduced.

(10th Embodiment)
In the eighth embodiment, the example in which the curvature radius r1 of the inner peripheral surface 1047 and the curvature radius r2 of the side surface 1048 are the same has been described, but instead, the side surface 1048 is more than the curvature radius r1 of the inner peripheral surface 1047. The tenth embodiment in which the radius of curvature r2 is reduced will be described with reference to FIGS. 67 and 68. FIG.

FIG. 67 is a cross-sectional view showing the overall configuration of the motor control system 1000 of the tenth embodiment. 68 is a partially enlarged view of FIG.

The present embodiment and the eighth embodiment are the same except for the side surface 1048 of the bush 1032b of the bearing 1032 except for the side surface 1048 of the bush 1032b of the bearing 1032. For this reason, the side surface 1048 of the bush 1032b of the bearing 1032 of the present embodiment will be described, and description of the other components will be omitted.

The side surface 1048 of the bush 1032b of the bearing 1032 is formed in an annular shape centering on the axis S2 of the rotating shaft 1030. The side surface 1048 has a cross section including the axis S2 of the rotation shaft 1030 formed in an arc shape with the fulcrum P3 as the center. The fulcrum P3 is located on one side in the axial direction (lower side in FIG. 68) than the fulcrum P1. For this reason, the radius (ie, curvature radius) r2 between the inner peripheral surface 1047 and the fulcrum P3 is smaller than the radius (ie, curvature radius) r1 between the side surface 1048 and the fulcrum P1.

In this embodiment configured as described above, in the bearing mechanism 1049, the side surface 1048 of the bearing 1032 slides with respect to the inner peripheral surface 1047 of the rotating shaft support member 1045 as the rotating shaft 1030 rotates. As a result, the bearing mechanism 1049 can support the rotary shaft 1030 via the bearing 1032 so as to be swingable about the fulcrum P1 as in the eighth embodiment.

(Eleventh embodiment)
In the eighth embodiment, the example in which the inner peripheral surface 1047 of the rotary shaft support member 1045 is formed in a spherical shape has been described. Instead, in the eleventh embodiment, the inner peripheral surface of the rotary shaft support member 1045 is used. 1047 is configured as shown in FIG.

FIG. 69 is a cross-sectional view showing the overall configuration of the motor control system 1000 of the eleventh embodiment.

The present embodiment and the eighth embodiment are the same except for the inner peripheral surface 1047 of the rotating shaft support member 1045 except for the inner peripheral surface 1047 of the bush 1032b. For this reason, the inner peripheral surface 1047 of the bush 1032b of the present embodiment will be described, and description of other configurations will be omitted. Hereinafter, for convenience of explanation, the inner peripheral surface 1047 of the bush 1032b of this embodiment is referred to as an inner peripheral surface 1047a.

The inner peripheral surface 1047a of the rotation shaft support member 1045 of the present embodiment is formed in an annular shape around the rotation center line S1, and a cross section perpendicular to the rotation center line S1 is formed in a circular shape. Further, the inner peripheral surface 1047a has an area of a cross section perpendicular to the rotation center line S1 in the hole 1046 from the other side (upper side in FIG. 69) of the rotation center line S1 to one side (lower side in FIG. 69). It is formed so that it becomes gradually smaller toward the side). The extending direction of the rotation center line S1 is a direction in which the rotation center line S1 extends.

(Twelfth embodiment)
In the twelfth embodiment, an example in which a self-aligning thrust bearing is configured as the bearing mechanism 1049 in the motor control system 1000 of the eighth embodiment will be described.

FIG. 70 is a cross-sectional view showing the overall configuration of the motor control system 1000 of the eleventh embodiment.

The present embodiment and the eighth embodiment are the same except for the bearing mechanism 1049 except for the bearing mechanism 1049. For this reason, the bearing mechanism 1049 of this embodiment is demonstrated and description of another structure is abbreviate | omitted.

The bearing mechanism 1049 of this embodiment includes a bearing 1032d instead of the bearing 1032 in FIG. 48, and a rotating shaft support member 1045.

The bearing 1032d and the rotating shaft support member 1045 constitute a bearing mechanism 1049 that supports the rotating shaft 1030 through the bearing 1032d so as to be swingable around the fulcrum P1.

When the rotation shaft 1030 rotates around the rotation center line S1, the bearing 1032d slides with respect to the inner peripheral surface 1047 of the rotation shaft support member 1045. As a result, the bearing mechanism 1049 can support the rotary shaft 1030 via the bearing 1032 so as to be swingable about the fulcrum P1 as in the eighth embodiment.

The bearing mechanism 1049 of this embodiment constitutes a well-known self-aligning thrust bearing that automatically aligns the axis of the rotation shaft 1030 with the rotation center line S1 when the rotation shaft 1030 rotates about the rotation center line S1. To do.

(Other embodiments)
(1) When implementing the present disclosure, the eighth and ninth embodiments may be combined. That is, the support control process in step 1120 in the eighth embodiment and the support control process in step 1120 in the ninth embodiment are performed in parallel. For this reason, the electronic controller 1070 controls the current that flows through the

coils

1050a, 1050b, and 50c, thereby restoring the supporting force Fa that brings the axis M2 of the rotation shaft 1030 closer to the rotation center line M1 and the rotation shaft 1030 in the rotation direction. Force Fb (= L × V × C) is generated.

At this time, when the rotating shaft 1030 rotates at a high speed, the supporting force Fa is made smaller than when the rotating shaft 1030 rotates at a low speed. In addition, when the rotating shaft 1030 rotates at a high speed, the damping coefficient C is made smaller than when the rotating shaft 1030 rotates at a low speed, and the current flowing through the

coils

1050a, 1050b, and 1050c is reduced. Make it smaller. That is, both the support force Fa and the damping coefficient C (that is, the restoring force Fb) are switched depending on the rotation speed of the rotating shaft 1030.

(2) In the eighth to twelfth embodiments, the example in which the DC motor is used as the electric motor 1010 of the present disclosure has been described. However, instead of this, the electric motor 1010 of a synchronous three-phase AC motor may be used. Good.

(3) In the eighth to twelfth embodiments, the example in which the rolling bearing is used as the bearing 1032 which is a mechanical bearing has been described. Instead, a sliding bearing and a fluid bearing are used as the bearing 1032. It may be used. A sliding bearing is a bearing that receives a shaft on a sliding surface. A fluid dynamic bearing is a bearing supported by liquid or gas.

(4) In the eighth to twelfth embodiments, the common

permanent magnets

1035a and 1035b are used as the permanent magnet that applies magnetic flux to the

coils

1051a and 1051b and the permanent magnet that applies magnetic flux to the

coils

1050a and 1050b on the rotating shaft 1030. Although the example used was described, it may replace with this as follows.

Permanent magnets that give magnetic flux to the

coils

1051a and 1051b and permanent magnets that give magnetic flux to the

coils

1050a and 1050b may be provided independently on the rotating shaft 1030, respectively.

(5) In the eighth to twelfth embodiments, the example in which the

Hall sensor

1037a, 1037b, 1037c, 1037d obtains the rotation speed and rotation angle of the rotating shaft 1030 has been described. May be.

That is, in addition to the

hall sensors

1037a, 1037b, 1037c, and 1037d, a sensor (for example, an optical encoder) for obtaining the rotation speed and rotation angle of the rotating shaft 1030 is provided.

(6) In the eighth to twelfth embodiments, the inclination angle θ of the rotation shaft 1030 with respect to the rotation center line S1 and the rotation axis are determined by the

hall sensors

1037a, 1037b, 1037c, 1037d and the

permanent magnets

1034a, 1034b, 1034c, 1034d. Although the example in which the XY coordinates of the other end portion in the axial direction of 1030 (that is, the fan 1020) and the rotation angle of the rotation shaft 1030 are detected has been described, the following may be used instead.

That is, by the

hall sensors

1037a, 1037b, 1037c, and 1037d and the

permanent magnets

1034a, 1034b, 1034c, and 1034d, the inclination angle θ of the rotation shaft 1030 with respect to the rotation center line M1, and the XY coordinates of the other end in the axial direction of the rotation shaft 1030 Is detected.

Furthermore, the rotation angle of the rotating shaft 1030 may be detected by a rotation sensor other than the

hall sensors

1037a, 1037b, 1037c, 1037d and the

permanent magnets

34a, 34b. In this case, another rotation sensor may be arranged on the bearing 1032 side of the rotation shaft 3.

(7) In the eighth to twelfth embodiments, the rotational speed of the rotating shaft 1030 is calculated based on the difference (Ha−Hc) between the output signal Ha of the Hall sensor 1037a and the output signal Hc of the Hall sensor 1037c. Although an example has been described, the following may be used instead.

That is, the XY coordinates (X0, Y0) of the fan 1020 are obtained based on the output signals of the

hall sensors

1037a, 1037b, 1037c, 1037d, and the rotational speed of the rotary shaft 1030 is calculated from the change of the XY coordinates (X0, Y0) with respect to time. May be.

In the eighth to twelfth embodiments and other embodiments configured as described above, the present disclosure can be expressed as follows. (A) This indication is a control device which controls the current which flows into the 2nd coil of an electric motor, and controls the current which flows into the 2nd coil, and generates the electromagnetic force which makes a rotation axis approach a rotation center line. Thus, a rotation axis control unit (S1123 to S1126) that prevents the axis of the rotation axis from being inclined from the rotation center line is provided. (B) In the present disclosure, the rotation axis control unit increases the inclination angle based on the detection value of the inclination angle detection sensor (1037a, 1037b, 1037c, 1037d) that detects the inclination angle of the rotation axis with respect to the rotation center line. The electromagnetic current is increased by increasing the current flowing through the second coil. (C) In the present disclosure, the rotation shaft control unit determines whether the rotation speed of the rotation shaft is equal to or higher than a predetermined speed according to a detection value of a rotation sensor (1037a, 1037b, 1037c, 1037d) that detects rotation of the rotation shaft. A determination unit (S1123) for determining whether or not,
When the determination unit determines that the rotation speed of the rotation shaft is equal to or higher than the predetermined speed, the electromagnetic force is reduced so that the electromagnetic force is smaller than when the determination unit determines that the rotation speed of the rotation shaft is less than the predetermined speed. A first current control unit (S1124, S1125, S1126) for controlling the current flowing through the two coils. (D) In the present disclosure, the control device controls the current flowing through the second coil of the electric motor, and controls the current flowing through the second coil to prevent the rotation shaft from being inclined from the rotation center line. A rotation axis control unit (S1123, S1124A, S1126A, S) for generating an electromagnetic force for moving the rotation axis in the rotation direction;
The distance detected by the rotation sensor (1037a, 1037b, 1037c, 1037d) for detecting the distance between the rotation center line of the rotation shaft and the other side in the axial direction of the rotation shaft and the rotation speed of the rotation shaft is L Where the rotational speed of the rotary shaft detected by the rotation sensor is V and the coefficient is C, the electromagnetic force is a force determined by L × V × C. (E) In the present disclosure, the rotating shaft control unit determines whether or not the number of rotations of the rotating shaft is equal to or higher than a predetermined speed based on the detection value of the rotation sensor;
When the determination unit determines that the rotation speed of the rotation shaft is equal to or higher than the predetermined speed, C is made smaller than when the determination unit determines that the rotation speed of the rotation shaft is less than the predetermined speed, and the first coil And a second current control unit (S1124A, S1125, S1126A) for reducing the current passed through. (F) In the present disclosure, the motor control system includes an electric motor and a control device.

Next, a correspondence relationship between the constituent elements of the eighth to twelfth embodiments and the present disclosure will be described.

First, step 1120 corresponds to the rotation axis control unit, steps 1124, 125, and 126 correspond to the first current control unit, step 1123 corresponds to the determination unit, and steps 1124A, 125, and 126A correspond to the second current control unit. Is configured.

Note that the present disclosure is not limited to the above-described embodiment, and can be modified as appropriate. Further, the above embodiments are not irrelevant to each other, and can be combined as appropriate unless the combination is clearly impossible. In each of the above-described embodiments, it is needless to say that elements constituting the embodiment are not necessarily essential unless explicitly stated as essential and clearly considered essential in principle. Yes. Further, in each of the above embodiments, unless a numerical value such as the number of components of the embodiment is mentioned, it is indicated that it is particularly essential, and unless it is clearly limited to a specific number in principle. It is not limited to that particular number.

Claims

A support member (31) that rotatably supports one side in the axial direction of the rotation shaft (30) via a mechanical bearing (32);
A rotor (36) attached to the rotating shaft and comprising a permanent magnet (61);
A first coil (51a, 51b, 51c) that is attached to the support member and generates a magnetic field that generates a rotational force that rotates the rotor together with the rotation shaft;
A magnetic bearing that is attached to the support member and generates an electromagnetic force as an attractive force between the permanent magnet and rotatably supports the other axial side of the rotating shaft relative to the mechanical bearing. A second coil (50a, 50b, 50c)
The rotary shaft is configured such that the rotary shaft can be inclined with respect to the rotation center of the rotary shaft, with the mechanical bearing side as a fulcrum.
The current flowing through the second coil is controlled by the control device (70) so that the axis of the rotation shaft approaches the rotation center by the electromagnetic force between the permanent magnet and the second coil. Electric motor.
A support member (31) that rotatably supports one side in the axial direction of the rotation shaft (30) via a mechanical bearing (32);
A rotor (36) attached to the rotating shaft and comprising a permanent magnet (61);
A first coil (51a, 51b, 51c) that is attached to the support member and generates a magnetic field that generates a rotational force that rotates the rotor together with the rotation shaft;
A second coil that is attached to the support member and that forms a magnetic bearing that generates an electromagnetic force between the permanent magnet and rotatably supports the other axial side of the rotating shaft relative to the mechanical bearing. (50a, 50b, 50c)
The rotary shaft is configured such that the rotary shaft can be inclined with respect to the rotation center line of the rotary shaft, with the mechanical bearing side as a fulcrum.
The current flowing through the second coil is controlled by the control device (70) so as to prevent the axis of the rotation shaft from being inclined from the rotation center line by the electromagnetic force between the permanent magnet and the second coil. Electric motor that is.
A first stator core (56a to 56l) attached to the support member and wound with the first coil (51a, 51b, 51c) to pass a magnetic field generated from the first coil;
The second coil (50a, 50b, 50c) is wound around the second stator (50a, 50b, 50c) attached to the support member and separated from the first stator core, and passes through the magnetic field generated from the second coil. A second stator core (55a to 55l) to be made,
The electric motor according to claim 2, wherein the first coil and the second coil are disposed on one side in the axial direction with respect to the permanent magnet.
The rotor is provided with a first permanent magnet (61a) and a second permanent magnet (61b) as the permanent magnet,
The first permanent magnet generates the rotational force by a magnetic field generated from the first coil,
The electric motor according to claim 3, wherein the second permanent magnet constitutes the magnetic bearing by generating an electromagnetic force between the second permanent magnet and the second coil.
The electric motor according to claim 3 or 4, wherein the number of poles of the first coil is different from the number of poles of the second coil.
A rotation shaft (30) arranged to be rotatable about the rotation center (M1);
A rotor (36) attached to the rotating shaft and comprising a permanent magnet (61);
A rotational force that is supported by a support member (31) and is arranged in a radial direction around the rotation center with respect to the permanent magnet, and applies a magnetic field to the permanent magnet to rotate the rotor together with the rotation shaft. A first coil (51a, 51b, 51c) for generating
It is supported by the support member and is arranged in a radial direction with the rotation center as a center with respect to the permanent magnet, and generates an electromagnetic force between the permanent magnet and the rotation shaft is lifted to rotate the rotation. A second coil (50a, 50b, 50c) constituting a magnetic bearing rotatably supported around a center line;
A displacement detection sensor (37a, 37b, 37c, 37d) for detecting an amount of deviation of the axis of the rotation shaft from the rotation center line based on a magnetic field generated from the permanent magnet;
Based on the detection value of the displacement detection sensor, the control device (70) prevents the axis of the rotation shaft from separating from the rotation center line due to the electromagnetic force between the permanent magnet and the second coil. The current flowing through the second coil is controlled,
The displacement detection sensor is disposed between the rotating shaft and the permanent magnet,
An electric motor in which a distance between the misalignment detection sensor and the rotation shaft is larger than a distance between the misalignment detection sensor and the permanent magnet.
A plurality of teeth (54a to 54l) supported by the support member and arranged in a circumferential direction around the rotation axis and projecting outward in the radial direction; Each of which is wound with the first coil and the second coil,
The permanent magnet is disposed on the radially outer side with respect to the plurality of teeth,
The electric motor according to claim 6, wherein the detection sensor is disposed between any two of the plurality of teeth.
Provided with angle detection sensors (37e, 37f, 37d) for detecting the rotation angle of the rotation shaft,
The electric motor according to claim 7, wherein the control device controls a current flowing through the first coil so as to cause the rotor to generate the rotational force based on a detection value of the angle detection sensor.
The angle detection sensor detects a rotation angle of the rotation shaft based on a magnetic field generated from the permanent magnet,
The angle detection sensor is disposed between the rotating shaft and the permanent magnet,
The electric motor according to claim 8, wherein a distance between the misregistration detection sensor and the rotating shaft is larger than a distance between the misregistration detection sensor and the permanent magnet.
The electric motor according to claim 1 or 2, wherein the first coil and the second coil are arranged in a radial direction centered on the rotation center line with respect to the permanent magnet.
The electric motor according to claim 10, wherein the first coil is disposed closer to the rotor than the second coil.
A stator core (52) that allows a magnetic field generated from the first and second coils to pass therethrough;
The stator coil is wound with the first and second coils, respectively.
The electric motor according to claim 11, wherein the first coil is disposed on the stator core side with respect to the second coil.
The stator core has a ring portion (53) formed in a ring shape around the rotation center line, projects radially outward from the ring portion around the rotation center line, and the rotation center line A plurality of teeth (54a, 54b,..., 54l) arranged at equal intervals in the circumferential direction around the center,
The first and second coils are wound around each of the plurality of teeth,
The first coil is disposed on the teeth side with respect to the second coil for each of the teeth, so that the first coil is disposed on the stator core side with respect to the second coil. The electric motor according to claim 12.
The electric motor according to claim 11 or 12, wherein the first and second coils are wound in pairs.
15. The electric motor according to claim 1, wherein the permanent magnet generates a rotational force that rotates the rotor together with the rotating shaft by a magnetic field generated from the first coil.
A support member (31) that rotatably supports one side in the axial direction of the rotation shaft (30) via a mechanical bearing (32);
A rotor (36) attached to the rotating shaft and comprising a permanent magnet (61);
A first coil (51a, 51b, 51c) that is attached to the support member and generates a magnetic field that generates a rotational force that rotates the rotor together with the rotation shaft;
Second coils (50a, 50b, 50c) which are attached to the support member and constitute magnetic bearings that generate electromagnetic force between the permanent magnet and rotatably support the other axial side of the rotary shaft. ) And
A control device for an electric motor (10) configured such that the rotary shaft can tilt with respect to a rotation center line of the rotary shaft with the mechanical bearing side of the rotary shaft as a fulcrum,
Control provided with a rotation axis control unit (S120) for controlling a current flowing through the second coil so that the axis of the rotation axis approaches the rotation center line by the electromagnetic force between the permanent magnet and the second coil. apparatus.
The rotation axis control unit increases the current passed through the second coil as the inclination angle increases based on a detection value of an inclination angle detection sensor that detects an inclination angle of the rotation axis with respect to the rotation center line. The control device according to claim 16, wherein the electromagnetic force is increased.
The rotation axis controller is
A determination unit (S123) that determines whether the rotation speed of the rotation shaft is equal to or higher than a predetermined speed according to a detection value of a rotation sensor that detects rotation of the rotation shaft;
When the determination unit determines that the rotation speed of the rotation shaft is equal to or higher than a predetermined speed, the electromagnetic force is smaller than when the determination unit determines that the rotation speed of the rotation shaft is less than a predetermined speed. A first current control unit (S124, S125, S126) for controlling the current flowing through the second coil,
The control device according to claim 17.
The rotating shaft control unit controls the current flowing through the second coil to generate the electromagnetic force that brings the axis of the rotating shaft closer to the rotation center line and the electromagnetic force that moves the rotating shaft in the rotation direction. Is generated,
The distance detected by a rotation sensor for detecting the distance between the rotation center line of the rotation shaft and the other side in the axial direction of the rotation shaft and the rotation speed of the rotation shaft is L, and the rotation sensor 19. The electromagnetic force for moving the rotation shaft in the rotation direction when the rotation speed of the rotation shaft detected by V is V and the coefficient is C is a force determined by L × V × C. The control device described.
The rotation axis controller is
A determination unit (S123) for determining whether or not the rotation speed of the rotation shaft is equal to or higher than a predetermined speed based on a detection value of the rotation sensor;
When the determination unit determines that the rotation speed of the rotation shaft is equal to or higher than a predetermined speed, the C is made smaller than when the determination unit determines that the rotation speed of the rotation shaft is less than a predetermined speed. A second current control unit (S124A, S125, S126A) for reducing the current flowing through the plurality of second coils;
The control device according to claim 19.
A support member (31) that rotatably supports one side in the axial direction of the rotation shaft (30) via a mechanical bearing (32);
A rotor (36) attached to the rotating shaft and comprising a permanent magnet (61);
A first coil (51a, 51b, 51c) that is attached to the support member and generates a magnetic field that generates a rotational force that rotates the rotor together with the rotation shaft;
Second coils (50a, 50b, 50c) which are attached to the support member and constitute magnetic bearings that generate electromagnetic force between the permanent magnet and rotatably support the other axial side of the rotary shaft. ) And
A control device for an electric motor (10) configured such that the rotary shaft can tilt with respect to a rotation center line of the rotary shaft with the mechanical bearing side of the rotary shaft as a fulcrum,
A rotating shaft control unit (S120) that controls a current flowing through the second coil so as to prevent the axis of the rotating shaft from being inclined from the rotation center line by the electromagnetic force between the permanent magnet and the second coil. A control device comprising:
The rotating shaft control unit generates an electromagnetic force that moves the rotating shaft in a rotating direction in order to prevent the rotating shaft from tilting from the rotation center line by controlling a current flowing through the second coil. It is what
The distance detected by a rotation sensor for detecting the distance between the rotation center line of the rotation shaft and the other side in the axial direction of the rotation shaft and the rotation speed of the rotation shaft is L, and the rotation sensor The control device according to claim 21, wherein the electromagnetic force is a force determined by L × V × C, where V is a rotation speed of the rotating shaft detected by the equation (1) and C is a coefficient.
The rotation axis controller is
A determination unit (S123) for determining whether or not the rotation speed of the rotation shaft is equal to or higher than a predetermined speed based on a detection value of the rotation sensor;
When the determination unit determines that the rotation speed of the rotation shaft is equal to or higher than a predetermined speed, the C is made smaller than when the determination unit determines that the rotation speed of the rotation shaft is less than a predetermined speed. A second current control unit (S124A, S125, S126A) for reducing the current flowing through the plurality of second coils;
The control device according to claim 22.
The mechanical bearing rotatably supports a center of gravity side of a rotating body including the rotor including the permanent magnet and the rotating shaft on one side in the axial direction of the rotating shaft. The control device according to one.
A motor control system comprising the electric motor according to any one of claims 16 to 24 and the control device.
A plurality of magnetic poles arranged in the circumferential direction around the rotation center line (S1) of the rotation shaft (1030) are formed, and the rotation shaft is rotatably supported via a mechanical bearing (1032). A stator (1031);
A plurality of first coils (1051a, 1051b) and a plurality of second coils (1050a, 1050b) supported by the rotating shaft;
A plurality of first segments (1043a to 1043d) supported by the rotating shaft and arranged in the circumferential direction are provided, and the first coils corresponding to the first coils are included in the plurality of first segments. The first commutator (1043) to which the end side of the
As the first commutator rotates, the first segments that slide into the plurality of first segments and contact with each other among the plurality of first segments are sequentially changed, and the contact with the plurality of first coils is made. A plurality of first brushes (1038a to 1038d) for outputting a current through the first segment;
A plurality of second segments (1044a to 1044d) supported by the rotating shaft and arranged in the circumferential direction are provided, and the plurality of second segments correspond to second coils among the plurality of second coils. A second commutator (1044) to which the end side of the
As the second commutator rotates, the second segments that slide in the plurality of second segments and contact with each other among the plurality of second segments are sequentially changed, and the contact with the plurality of second coils is performed. A plurality of second brushes (1039a to 1039d) for outputting current through the second segment
The plurality of first coils rotate the rotation shaft about the rotation center line based on currents output from the plurality of first brushes through the contacting segments and magnetic fluxes from the plurality of magnetic poles. Rotational force is generated as electromagnetic force,
The plurality of second coils generate an electromagnetic force between the plurality of magnetic poles based on a current output from the plurality of second brushes through the contacted second segment, and thereby out of the rotating shafts. An electric motor constituting a magnetic bearing that rotatably supports a portion deviated from a mechanical bearing.
The stator is provided with a rotating shaft support member (1045) that supports the rotating shaft so as to be swingable via the mechanical bearing with a portion of the axis of the rotating shaft that is displaced from the mechanical bearing as a fulcrum. And
27. The electric motor according to claim 26, wherein the first and second commutators are disposed on the fulcrum side with respect to the mechanical bearing.
First elastic members (1041a to 1041d) that push the plurality of first brushes toward the plurality of first segments by an elastic force;
28. The electric motor according to claim 27, further comprising second elastic members (1042a to 1042d) that push the plurality of second brushes toward the plurality of second segments by an elastic force.
The rotating shaft support member has an inner peripheral surface (1047) that is recessed on one side in the extending direction of the rotation center line and that forms a hole (1046) that opens on the other side in the extending direction of the rotation center line. Prepared,
The inner peripheral surface is formed in an annular shape around the rotation center line, and a cross section including the rotation center line is formed in an arc shape centered on the fulcrum,
The mechanical bearing has a side surface (1048) formed in an annular shape around the axis of the rotating shaft and formed in an arc shape around the fulcrum,
As the rotary shaft swings, the side surface of the mechanical bearing slides with respect to the inner peripheral surface of the rotary shaft support member, so that the rotary shaft support member moves the rotary shaft to the mechanical bearing. 29. The electric motor according to claim 27 or 28, wherein the electric motor is supported so as to be swingable.
The rotating shaft support member has an inner peripheral surface (1047) that is recessed on one side in the extending direction of the rotation center line and that forms a hole (1046) that opens on the other side in the extending direction of the rotation center line. Prepared,
The inner peripheral surface is formed in an annular shape around the rotation center line, and a cross section including the rotation center line is formed in an arc shape centered on the fulcrum,
The mechanical bearing has a side surface (1048) formed in an annular shape centering on the axis of the rotating shaft and formed in an arc shape centered on a predetermined position (P2) of the axis. ,
The curvature radius (r2) of the side surface (1048) centered on the predetermined position (P2) is less than the curvature radius (r1) of the inner peripheral surface centered on the fulcrum (P1),
As the rotary shaft swings, the side surface of the mechanical bearing slides with respect to the inner peripheral surface of the rotary shaft support member, so that the rotary shaft support member moves the rotary shaft to the mechanical bearing. 29. The electric motor according to claim 27 or 28, wherein the electric motor is supported so as to be swingable.
The rotating shaft support member has an inner peripheral surface (1047) that is recessed on one side in the extending direction of the rotation center line and that forms a hole (1046) that opens on the other side in the extending direction of the rotation center line. Prepared,
The inner peripheral surface is formed in an annular shape around the rotation center line, and an area of a cross section perpendicular to the rotation center line in the hole portion is changed from the other side in the extension direction to the one side in the extension direction. It is formed so that it gets smaller gradually toward
The mechanical bearing has a side surface (1048) formed in an annular shape around the axis of the rotating shaft and formed in an arc shape around the fulcrum,
As the rotary shaft swings, the side surface of the mechanical bearing slides with respect to the inner peripheral surface of the rotary shaft support member, so that the rotary shaft support member moves the rotary shaft to the mechanical bearing. 29. The electric motor according to claim 27 or 28, wherein the electric motor is supported so as to be swingable.
One commutator of the first and second commutators is disposed on one axial side with respect to the fulcrum, and the other commutator is disposed on the other axial side with respect to the fulcrum. Item 32. The electric motor according to any one of Items 27 to 31.
The electric motor according to claim 32, wherein the fulcrum is an intermediate point between the rotation centers of the first and second commutators in the axis of the rotation shaft.
The electric motor according to any one of claims 26 to 33, wherein the first and second commutators are disposed between the first and second coils and the mechanical bearing.
28. The electric motor according to claim 27, wherein the rotating shaft support member and the mechanical bearing constitute a self-aligning thrust bearing that automatically brings the axis of the rotating shaft closer to the rotation center line when the rotating shaft rotates. motor.