JPH0441120B2 - - Google Patents
Info
- Publication number
- JPH0441120B2 JPH0441120B2 JP59135976A JP13597684A JPH0441120B2 JP H0441120 B2 JPH0441120 B2 JP H0441120B2 JP 59135976 A JP59135976 A JP 59135976A JP 13597684 A JP13597684 A JP 13597684A JP H0441120 B2 JPH0441120 B2 JP H0441120B2
- Authority
- JP
- Japan
- Prior art keywords
- rotating body
- magnetic
- axis
- yoke
- magnetic poles
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000000696 magnetic material Substances 0.000 claims description 6
- 239000004020 conductor Substances 0.000 claims description 3
- 230000004907 flux Effects 0.000 description 38
- 238000006073 displacement reaction Methods 0.000 description 17
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035936 sexual power Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/30—Flywheels
- F16F15/315—Flywheels characterised by their supporting arrangement, e.g. mountings, cages, securing inertia member to shaft
- F16F15/3156—Arrangement of the bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0459—Details of the magnetic circuit
- F16C32/0461—Details of the magnetic circuit of stationary parts of the magnetic circuit
- F16C32/0465—Details of the magnetic circuit of stationary parts of the magnetic circuit with permanent magnets provided in the magnetic circuit of the electromagnets
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/55—Flywheel systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、回転体を磁気力によつて完全非接触
で支承して回転させることが可能な磁気軸受を用
いたフライホイール装置に係わり、特に球状の回
転体を用いたフライホイール装置に関する。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a flywheel device using a magnetic bearing capable of supporting and rotating a rotating body by magnetic force in a completely non-contact manner. This invention relates to a flywheel device using a spherical rotating body.
従来、磁気力によつて回転体を非接触に支承す
る磁気軸受を用いたフライホイール装置が知られ
ている。このフライホイール装置は、無摩擦、無
潤滑及び無騒音等の特徴から電力貯蔵用フライホ
イールや人工衛星姿勢制御用フライホイールに応
用されている。例えば、人工衛星姿勢制御用のフ
ライホイールでは通常、衛星の直交３軸に各１個
ずつ搭載され、回転数の増減或いは正逆回転によ
る反力で衛星の姿勢を制御するようにしている。
Conventionally, flywheel devices using magnetic bearings that non-contactly support a rotating body using magnetic force are known. This flywheel device is applied to power storage flywheels and artificial satellite attitude control flywheels because of its frictionless, lubrication-free, and noiseless characteristics. For example, a flywheel for controlling the attitude of an artificial satellite is usually mounted on each of the three orthogonal axes of the satellite, and the attitude of the satellite is controlled by the reaction force generated by increasing or decreasing the number of revolutions or by forward and reverse rotation.
ところで、磁気吸引力を利用した磁気軸受は、
回転体を非接触に支承するための制御が不可欠で
あり、その制御軸数によつて１軸制御型から５軸
制御型まで様々のタイプが存在する。この制御軸
に対して、各々制御装置と電力増幅器が必要とな
るため、多軸制御型は装置の大形化が余儀なくさ
れる。また、１軸制御型の磁気軸受は、その構造
上回転体の軸方向に長い構造となり、装置の小型
化の障害となつていた。 By the way, magnetic bearings that utilize magnetic attraction force are
Control for supporting the rotating body in a non-contact manner is essential, and there are various types depending on the number of control axes, from a 1-axis control type to a 5-axis control type. Since a control device and a power amplifier are required for each control axis, the multi-axis control type is forced to increase the size of the device. Further, the single-axis control type magnetic bearing has a structure that is long in the axial direction of the rotating body, which has been an obstacle to miniaturizing the device.
現在、人工衛星姿勢制御用のフライホイールと
して、薄型化が可能な２軸制御型磁気軸受が有望
視されているが、多軸制御型の磁気軸受を姿勢制
御用のフライホイールに適用した場合、衛星の３
軸に対して各々１個用いられるため、磁気軸受の
制御軸数の３倍、即ち６組の制御装置と電力増幅
器が必要となる。 Currently, two-axis controlled magnetic bearings, which can be made thinner, are seen as promising as flywheels for satellite attitude control, but when multi-axis controlled magnetic bearings are applied to flywheels for attitude control, Satellite 3
Since one device is used for each shaft, three times the number of control axes of the magnetic bearing, that is, six sets of control devices and power amplifiers are required.
このように装置全体が大形化するため、衛星搭
載機器としての信頼性を損い、軽量化の大きな障
害となつていた。 This increase in the overall size of the device impairs its reliability as a satellite-mounted device, and is a major obstacle to reducing its weight.
また、球状の回転体を支承する方法として、
USP−3221563号の例にあるように交流式の磁気
軸受を用いることが提案されている。しかし、交
流式の磁気軸受は、磁極の形状が複雑になるう
え、電磁石に常に交流の電流を印加しておく必要
があるため、消費電力の点で問題があつた。 In addition, as a method of supporting a spherical rotating body,
It has been proposed to use an AC type magnetic bearing as in the example of USP-3221563. However, AC magnetic bearings have problems in terms of power consumption because the shape of the magnetic poles is complicated and it is necessary to constantly apply an AC current to the electromagnet.
本発明は上記事情を考慮してなされたもので、
その目的とするところは、従来人工衛星の姿勢制
御の３軸に搭載していたフライホイール装置を１
台のフライホイール装置にまとめることができ、
装置全体の小型化及び軽量化をはかり得、もつて
宇宙機器としての信頼性の向上をはかり得るフラ
イホイール装置を提供することにある。
The present invention was made in consideration of the above circumstances, and
The purpose is to replace the flywheel device that was conventionally mounted on the three axes of attitude control of artificial satellites with one
Can be assembled into one flywheel device,
It is an object of the present invention to provide a flywheel device that can reduce the size and weight of the entire device and improve its reliability as a space device.
また、本発明の他の目的は、永久磁石と電磁石
とを併用することで、消費電力の低減をはかり得
るフライホイール装置を提供することにある。 Another object of the present invention is to provide a flywheel device that can reduce power consumption by using both permanent magnets and electromagnets.
上記目的を達成するために、本発明の第１の発
明に係るフライホイール装置では、外側層と内側
層とが磁性材で形成されるとともに中間層が導電
体で形成された３層構造の壁を持ち、中空球状に
形成された回転体と、この回転体の中心を原点と
して規定される直角座標上の相互に直交するＸ
軸、Ｙ軸、Ｚ軸上にそれぞれ前記回転体を挟んで
対向配置された一対の電磁石を１組とする３組の
電磁石を主体に構成されて前記回転体を磁気力に
よつて完全非接触に支承する磁気軸受と、この磁
気軸受を構成している各電磁石の回りに上記電磁
石と同心的に配置されて同一軸上で対向するもの
同志が協動して選択された軸回りに前記回転体を
磁気力で回転駆動する３組のモータステータとを
備えている。
In order to achieve the above object, in a flywheel device according to the first aspect of the present invention, a wall having a three-layer structure in which an outer layer and an inner layer are formed of a magnetic material, and an intermediate layer is formed of a conductive material. , and a rotating body formed in the shape of a hollow sphere, and mutually orthogonal
It is mainly composed of three sets of electromagnets, one pair being a pair of electromagnets placed opposite each other on the axis, Y axis, and Z axis, respectively, with the rotating body in between, and the rotating body is completely non-contacted by magnetic force. A magnetic bearing supported on the magnetic bearing, and a magnetic bearing arranged concentrically with the electromagnet and facing each other on the same axis around each electromagnet constituting the magnetic bearing cooperate to rotate the magnetic bearing around the selected axis. It is equipped with three sets of motor stators that rotate the body using magnetic force.
また、第２の発明に係るフライホイール装置で
は、球状あるいは中空球状に形成されるとともに
表面に磁性体層を有した回転体と、この回転体を
磁気力によつて完全非接触に支承する磁気軸受と
を具備し、前記磁気軸受が、前記回転体を挟んで
離間対向配置された第１および第２の磁極と、こ
れらの磁極の対向方向と直交する方向に前記回転
体を挟んで離間対向配置された第３および第４の
磁極と、前記各磁極の２つの対向方向に対してそ
れぞれ直交する方向に前記回転体を挟んで離間対
向配置された第５および第６の磁極と、前記回転
体の外側に配置され、その内側に前記第１乃至第
４の磁極を固着したリング状の第１の継鉄と、前
記第１乃至第４の磁極に対応して前記第１の継鉄
と外側にそれぞれ固着され、前記回転体の中心を
通る方向に着磁された第１乃至第４の永久磁石
と、前記回転体の外側に配置され、その内側に前
記第１および第２の永久磁石と前記第５および第
６の磁極とを固着したリング状の第２の継鉄と、
前記回転体の外側に配置され、その内側に前記第
３および第４の永久磁石を固着し、かつ前記第２
の継鉄と連結されたリング状の第３の継鉄と、前
記第１乃至第６の磁極にそれぞれ装着された第１
乃至第６のコイルとを主体に構成されている。 Further, the flywheel device according to the second invention includes a rotating body formed in a spherical or hollow spherical shape and having a magnetic layer on the surface, and a magnetic field that supports the rotating body completely non-contact by magnetic force. a bearing, the magnetic bearing having first and second magnetic poles arranged opposite to each other with the rotating body in between, and first and second magnetic poles arranged opposite to each other with the rotating body in between, and third and fourth magnetic poles that are arranged, fifth and sixth magnetic poles that are spaced apart and opposed to each other with the rotating body in between in directions perpendicular to the two opposing directions of each of the magnetic poles, and the rotating a ring-shaped first yoke disposed on the outside of the body and having the first to fourth magnetic poles fixed to the inside thereof; and the first yoke corresponding to the first to fourth magnetic poles. first to fourth permanent magnets each fixed on the outside and magnetized in a direction passing through the center of the rotating body; and the first and second permanent magnets arranged on the outside of the rotating body and inside thereof. and a ring-shaped second yoke to which the fifth and sixth magnetic poles are fixed;
The third and fourth permanent magnets are disposed outside the rotating body, the third and fourth permanent magnets are fixed to the inside thereof, and the second
a ring-shaped third yoke connected to the yoke; and a first yoke attached to each of the first to sixth magnetic poles.
It is mainly composed of the first to sixth coils.
本発明によれば、簡単な構造で回転体を非接触
で支承することができ、且つこの１個の回転体を
任意の軸方向回りに回転させることができる。こ
のため、従来人工衛星の姿勢制御の３軸に各１台
搭載されていたフライホイール装置を１台のみに
することができ、人工衛星の姿勢制御に用いるフ
ライホイール装置の小型・軽量化及び部品点数の
減少並びに信頼性の向上をはかり得る。
According to the present invention, a rotating body can be supported without contact with a simple structure, and this single rotating body can be rotated around any axial direction. For this reason, the number of flywheel devices that were conventionally installed in each of the three axes for attitude control of a satellite can be reduced to one, and the flywheel device used for attitude control of a satellite can be made smaller and lighter. It is possible to reduce the number of points and improve reliability.
特に、第１の発明では、磁気軸受を構成してい
る各電磁石の回りに上記電磁石と同心的に配置さ
れて同一軸上で対向するもの同志が協動して選択
された軸回りに回転体を磁気力で回転駆動する３
組のモータステータを設けているので、設置スペ
ースの有効利用を図れ、全体の小型化を図れるば
かりか、他の場所にモータステータを配置した場
合に較べて磁気軸受の磁束を回転体構成部材が横
切ることによつて起こる渦電流損失を少なくでき
る。すなわち、モータステータを付勢すると、回
転体が回転するが、付勢されているモータステー
タの中心軸上に位置している電磁石から出た磁束
は回転体上の一定の領域を通過するので、上記領
域部分に流れる渦電流は極めて小さい。したがつ
て、他の場所にモータステータを配置した場合に
較べて渦電流損失を少なくでき、それだけ回転駆
動パワーを少なくできることになる。また、同一
軸上に対向している１組のモータステータを付勢
すると、これらモータステータと回転体との間に
回転体の軸方向への推移を拘束する吸引力を作用
させることができるので、安定した回転に寄与で
きる。このことは、結果的に、上記軸上に位置し
ている電磁石の必要パワーを少なくできることに
もなる。 In particular, in the first invention, magnets that are arranged concentrically around each electromagnet constituting the magnetic bearing and that face each other on the same axis cooperate to rotate around a selected axis. Rotationally driven by magnetic force 3
Since two sets of motor stators are provided, not only can the installation space be used effectively and the overall size can be reduced, but the magnetic flux of the magnetic bearing can be transferred to the rotating body components compared to when the motor stator is placed elsewhere. Eddy current loss caused by crossing can be reduced. In other words, when the motor stator is energized, the rotating body rotates, but the magnetic flux emitted from the electromagnet located on the central axis of the energized motor stator passes through a certain area on the rotating body. The eddy current flowing in the above region is extremely small. Therefore, eddy current loss can be reduced compared to when the motor stator is disposed elsewhere, and rotational drive power can be reduced accordingly. Furthermore, when a pair of motor stators facing each other on the same axis are energized, an attractive force can be applied between the motor stators and the rotating body to restrict the movement of the rotating body in the axial direction. , can contribute to stable rotation. This also results in a reduction in the required power of the electromagnet located on the axis.
また、第２の発明では永久磁石と電磁石とを併
用することにより、消費電力が少ない所謂ゼロ・
パワー方式が実現可能となる。さらに、リング状
の継鉄を用いた場合、４個の永久磁石から発せら
れる磁束を効率良く使用した磁気回路が形成され
ることになり、この磁気回路により上下左右６方
向から回転体を支承することになり、回転体のあ
らゆる方向の外乱に対して安全な構造を実現する
ことができる。 In addition, in the second invention, by using permanent magnets and electromagnets together, so-called zero-power consumption with low power consumption is achieved.
Power method becomes possible. Furthermore, when a ring-shaped yoke is used, a magnetic circuit is formed that efficiently uses the magnetic flux emitted from the four permanent magnets, and this magnetic circuit supports the rotating body from six directions: top, bottom, left, and right. Therefore, it is possible to realize a structure that is safe against disturbances in all directions of the rotating body.
以下、本発明の詳細を図示の実施例によつて説
明する。
Hereinafter, details of the present invention will be explained with reference to illustrated embodiments.
第１図は本発明の第１の実施例に係わるフライ
ホイール装置の概略構成を示す立体図である。こ
の例では３軸制御型の磁気軸受を用いている。図
中１０は後述する如く多層状に形成された中空球
状の回転体であり、この回転体１０の外側には後
述する如くコイル及び磁極からなる６個の電磁石
２０ａ，〜，２０ｆが所定の間隙をおいて設けら
れている。即ち、回転体１０の中心を通り相互に
直交するＸ，Ｙ，Ｚ軸に関して、Ｘ軸方向に回転
体１０を挟んで１組の電磁石２０ａ，２０ｂが対
向配置され、Ｙ軸方向に回転体１０を挟んで１組
の電磁石２０ｃ，２０ｄが対向配置され、Ｚ軸方
向に回転体１０を挟んで１組の電磁石２０ｅ，２
０ｆが対向配置されている。ここで、上記電磁石
２０ａ，〜，２０ｆは回転体１０を磁気吸引力に
より非接触で支承する磁気軸受を構成している。
Ｘ，Ｙ，Ｚ軸方向に対向する３組の電磁石２０
ａ，〜，２０ｆのそれぞれの一方には回転体１０
に対向する球面の中央に該回転体１０の変位を非
接触で検出する変位計３０ａ，３０ｃ，３０ｅが
設けられている。そして、これらの変位計３０
ａ，〜，３０ｅによつて、回転体１０のＸ，Ｙ，
Ｚ軸に関する変位がそれぞれ検出されるものとな
つている。 FIG. 1 is a three-dimensional diagram showing a schematic configuration of a flywheel device according to a first embodiment of the present invention. In this example, a three-axis controlled magnetic bearing is used. In the figure, reference numeral 10 denotes a hollow spherical rotary body formed in a multilayered manner as described later. On the outside of this rotary body 10, six electromagnets 20a, -, 20f consisting of coils and magnetic poles are arranged at predetermined intervals as described later. It is set aside. That is, regarding the X, Y, and Z axes that pass through the center of the rotating body 10 and are orthogonal to each other, a pair of electromagnets 20a and 20b are arranged facing each other with the rotating body 10 in the X-axis direction, and the rotating body 10 is disposed in the Y-axis direction. A pair of electromagnets 20c and 20d are arranged facing each other with the rotating body 10 in between in the Z-axis direction, and a pair of electromagnets 20e and 2
0f are arranged opposite to each other. Here, the electromagnets 20a, .
Three sets of electromagnets 20 facing in the X, Y, and Z axis directions
A rotating body 10 is provided on one side of each of a, ~, 20f.
Displacement meters 30a, 30c, and 30e for detecting the displacement of the rotating body 10 in a non-contact manner are provided at the center of the spherical surface facing the rotating body 10. And these displacement meters 30
a, ~, 30e, X, Y, of the rotating body 10,
Displacements regarding the Z-axis are respectively detected.
一方、前記Ｘ軸方向に対向配置された電磁石２
０ａ，２０ｂの外側には、電磁石２０ａ，２０ｂ
と同心円状に後述する磁極及びコイルからなるモ
ータのステータ（駆動部）４０ａ，４０ｂが設け
られている。このステータ４０ａ，４０ｂは前記
回転体１０をロータとしてモータを構成するもの
である。なお、図には示さないがＹ，Ｚ軸に関し
てもＸ軸と同様にモータステータ４０ｃ，４０
ｄ，４０ｅ，４０ｆがそれぞれ設けられるものと
なつている。 On the other hand, electromagnets 2 arranged opposite to each other in the X-axis direction
Electromagnets 20a, 20b are placed on the outside of 0a, 20b.
Motor stators (driving parts) 40a and 40b, which are made up of magnetic poles and coils to be described later, are provided concentrically with the motor. The stators 40a and 40b constitute a motor using the rotating body 10 as a rotor. Although not shown in the figure, motor stators 40c and 40 are also connected to the Y and Z axes in the same way as the X axis.
d, 40e, and 40f, respectively.
次に、上記構成された本装置の作用について説
明する。 Next, the operation of the apparatus configured as described above will be explained.
まず、回転体１０の浮上動作は以下のようにし
て行う。Ｘ軸に関してのみ説明すると、変位計３
０ａによつて得られた回転体１０の変位信号によ
り電磁石２０ａ，２０ｂのいずれかのコイルに電
流を流し、電磁石２０ａ，２０ｂによる磁気吸引
力を増減することで回転体１０のＸ軸方向の移動
を行い、Ｘ軸方向に関して完全非接触の位置に回
転体１０を保持する。これをＹ，Ｚ軸方向に関し
ても行えば、回転体１０は完全非接触で浮上する
ことになる。 First, the floating operation of the rotating body 10 is performed as follows. To explain only about the X axis, displacement meter 3
The rotation body 10 is moved in the X-axis direction by applying a current to either coil of the electromagnets 20a or 20b based on the displacement signal of the rotating body 10 obtained by 0a, and increasing or decreasing the magnetic attraction force by the electromagnets 20a or 20b. The rotating body 10 is held in a completely non-contact position in the X-axis direction. If this is done also in the Y and Z axis directions, the rotating body 10 will float completely without contact.
また、回転体１０の回転駆動は、次のようにし
て行う。まず、Ｘ軸方向のモータステータ４０
ａ，４０ｂのコイルに電流を流すと、回転体１０
で構成されているモータロータを磁束が横切るこ
とにより、回転体１０をＸ軸回りに回転させるこ
とができる。さらに、Ｙ，Ｚ軸回りに関しては、
Ｙ，Ｚ軸方向のモータステータのコイルに電流を
流すことにより、Ｘ軸回りと同様にＹ軸回り及び
Ｚ軸回りに回転させることができ、これにより回
転体１０を任意の軸回りに回転させることが可能
となる。 Moreover, the rotational drive of the rotating body 10 is performed as follows. First, the motor stator 40 in the X-axis direction
When current is passed through the coils a and 40b, the rotating body 10
The rotating body 10 can be rotated around the X-axis by the magnetic flux crossing the motor rotor. Furthermore, regarding the Y and Z axes,
By passing current through the coils of the motor stator in the Y- and Z-axis directions, it is possible to rotate the motor around the Y-axis and the Z-axis in the same way as around the X-axis, thereby rotating the rotating body 10 around any axis. becomes possible.
このように本実施例装置によれば、球状の回転
体１０を電磁石２０ａ，〜，２０ｆによる磁気吸
引力で完全非接触に支承することができ、しかも
モータステータ４０ａ，〜，４０ｆによる磁気力
により回転体１０を任意軸回りに回転させること
ができる。このため、従来人工衛星の３軸にそれ
ぞれ１台ずつ搭載していた姿勢制御用のフライホ
イール装置を１台に置き換えることが可能とな
る。従つて、部品点数の減少、衛星内の設置場所
の低減がはかれるうえ、磁気軸受に必要とされる
電力増幅器の数を最小限に抑え、引いては装置全
体の小型化・軽量化、さらに信頼性の向上をはか
り得る等の利点がある。 In this way, according to the device of this embodiment, the spherical rotating body 10 can be supported in a completely non-contact manner by the magnetic attraction force of the electromagnets 20a, -, 20f, and moreover, by the magnetic force of the motor stators 40a, -, 40f. The rotating body 10 can be rotated around any axis. Therefore, it becomes possible to replace the flywheel devices for attitude control, which were conventionally mounted on each of the three axes of an artificial satellite, with one device. Therefore, the number of parts and installation space within the satellite can be reduced, and the number of power amplifiers required for the magnetic bearings can be minimized, making the entire device smaller, lighter, and more reliable. It has advantages such as being able to improve sexual performance.
また、磁気軸受を構成している各電磁石２０
ａ，〜，２０ｆの回りに上記電磁石と同心的に配
置されて同一軸上で対向するもの同志が協動して
選択された軸回りに回転体１０を磁気力で回転駆
動する３組のモータステータを設けているので、
設置スペースの有効利用を図れるばかりか、他の
場所にモータステータを配置した場合に較べて磁
気軸受の磁束を回転体構成部材が横切ることによ
つて起こる渦電流損失を少なくできる。また、同
一軸上に対向している１組のモータステータを付
勢すると、これらモータステータと回転体１０と
の間に回転体の軸方向への推移を拘束する吸引力
を作用させることができるので、安定した回転に
寄与できる。これによつて、結果的に、上記軸上
に位置している電磁石の必要パワーを少なくでき
る利点もある。 In addition, each electromagnet 20 constituting the magnetic bearing
Three sets of motors arranged concentrically with the electromagnets around a, ~, 20f and facing each other on the same axis work together to drive the rotating body 10 to rotate around a selected axis by magnetic force. Since it has a stator,
Not only can the installation space be used effectively, but also the eddy current loss caused by the rotating body components crossing the magnetic flux of the magnetic bearing can be reduced compared to when the motor stator is placed elsewhere. Furthermore, by energizing a pair of motor stators facing each other on the same axis, an attractive force can be applied between these motor stators and the rotating body 10 to restrain the movement of the rotating body in the axial direction. Therefore, it can contribute to stable rotation. This has the advantage that the required power of the electromagnet located on the axis can be reduced as a result.
次に、上記実施例装置をさらに詳しく説明す
る。 Next, the apparatus of the above embodiment will be explained in more detail.
第２図は前記第１図に示したフライホイール装
置をXY平面で切つた断面図である。ここで上記
装置は先にも説明したように回転部と静止部とに
大きく分けることができる。回転部は中空球状の
回転体１０からなり、静止部は電磁石２０ａ，
〜，２０ｆ、変位計３０ａ，〜，３０ｅ及びモー
タステータ４０ａ，〜，４０ｆから構成されるも
のとなつている。 FIG. 2 is a cross-sectional view of the flywheel device shown in FIG. 1 taken along the XY plane. Here, the above-mentioned device can be roughly divided into a rotating part and a stationary part, as described above. The rotating part consists of a hollow spherical rotating body 10, and the stationary part consists of electromagnets 20a,
~, 20f, displacement meters 30a, ~, 30e, and motor stators 40a, ~, 40f.
球状の回転体１０は、外層に電磁石の磁束を通
す磁性体１１、中間層にモータのロータである導
電体１２、内層にモータステータから発せられた
磁束を通す磁性体１３の３層から構成されてい
る。 The spherical rotating body 10 is composed of three layers: a magnetic material 11 that passes the magnetic flux of the electromagnet in the outer layer, a conductive material 12 that is the rotor of the motor in the middle layer, and a magnetic material 13 that passes the magnetic flux emitted from the motor stator in the inner layer. ing.
電磁石２０ａ，〜，２０ｆ、例えば電磁石２０
ａは、高透磁率性材料の磁極２１ａ、溝２２ａ及
びコイル２３ａから形成されている。即ち、磁極
２１ａは回転体１０から所定の間隙をおいて設置
され、回転体１０の表面に沿うように一方を球面
に形成されている。そして、磁極２１ａに設けら
れた円筒状の溝２２ａに電磁石コイル２３ａが装
着されている。他の電磁石２０ｂ，〜，２０ｆに
ついても同様である。また、前記変位計３０ａの
検出信号は制御器５１に供給され、この制御器５
１により電力増幅器５２によつて電磁石２０ａ，
２０ｂに供給される電流が制御されるものとなつ
ている。他の変位計３０ｃ，３０ｅについても同
様である。 Electromagnets 20a, -, 20f, for example electromagnet 20
a is formed from a magnetic pole 21a, a groove 22a, and a coil 23a made of a high magnetic permeability material. That is, the magnetic pole 21a is installed with a predetermined gap from the rotating body 10, and one side is formed into a spherical surface along the surface of the rotating body 10. An electromagnetic coil 23a is attached to a cylindrical groove 22a provided in the magnetic pole 21a. The same applies to the other electromagnets 20b, 20f. Further, the detection signal of the displacement meter 30a is supplied to a controller 51, and this controller 5
1, the power amplifier 52 causes the electromagnet 20a,
The current supplied to 20b is controlled. The same applies to the other displacement meters 30c and 30e.
ここで、回転体１０の浮上動作をＸ軸を例にと
り説明する。まず、回転体１０のＸ軸方向の変位
を変位計３０ａによつて非接触に検出する。次い
で、この変位計３０ａの検出信号に基づき、制御
器５１によつて、回転体１０の両側に設置された
電磁石２０ａ，２０ｂのそれぞれのコイル２３
ａ，２３ｂに通流する電流を決定する。さらに、
電力増幅器５２によつて、実際にコイル２３ａ，
２３ｂに電流を印加し、２個の電磁石２０ａ，２
０ｂによる磁気吸引力の増減で回転体１０をＸ軸
に関して完全非接触の位置に保持する。同様の動
作をＹ，Ｚ軸に対して行えば、回転体１０は完全
非接触で支承されることになる。 Here, the floating operation of the rotating body 10 will be explained using the X-axis as an example. First, the displacement of the rotating body 10 in the X-axis direction is detected in a non-contact manner by the displacement meter 30a. Next, based on the detection signal of the displacement meter 30a, the controller 51 controls the coils 23 of the electromagnets 20a and 20b installed on both sides of the rotating body 10.
Determine the current flowing through a and 23b. moreover,
By the power amplifier 52, the coils 23a,
23b, the two electromagnets 20a, 2
The rotating body 10 is held in a completely non-contact position with respect to the X axis by increasing and decreasing the magnetic attraction force due to 0b. If similar operations are performed on the Y and Z axes, the rotating body 10 will be supported completely without contact.
一方、回転体１０に駆動力を与えるモータステ
ータ４０ａ，〜，４０ｆ、例えばステータ４０ａ
は、電磁石２０ａの外周にリング状に形成され、
前記回転体１０に向かつて突起を持つ継鉄４１ａ
及びこの継鉄４０ａの突起部に装着されたコイル
４２ａから構成されている。他のステータ４０
ｂ，〜，４０ｆについても同様である。 On the other hand, motor stators 40a to 40f, for example, stator 40a, provide driving force to the rotating body 10.
is formed in a ring shape around the outer periphery of the electromagnet 20a,
A yoke 41a having a protrusion facing the rotating body 10
and a coil 42a attached to the protrusion of this yoke 40a. Other stator 40
The same applies to b, ~, 40f.
ここで、ステータ４０ａで発せられた磁束φ1
は、第３図に示す如くステータ４０ａの１つの磁
極から出て回転体１０の外層１１、中間層１２、
内層１３を通つて他の磁極に入る。このような磁
路を構成することにより、回転体１０を矢印方
向、つまりＸ軸回りに回転させることができる。
なお、前述したように各モータステータ４０ａ，
〜，４０ｆは、必ずしも１軸に対して２個必要で
はなく、１軸に関して１個、つまり合計３個のス
テータだけでもその機能は十分発揮される。但
し、モータステータを対向させることは、モータ
の磁束φ1によつて生じる回転体１０への吸引力
を打消し合う効果が生れ、磁気軸受の安定度の向
上及び電磁石に供給される電流を少なくでき、低
消費電力化に有効である。 Here, the magnetic flux φ 1 emitted by the stator 40a
As shown in FIG. 3, the outer layer 11, intermediate layer 12, and
It enters the other magnetic pole through the inner layer 13. By configuring such a magnetic path, the rotating body 10 can be rotated in the direction of the arrow, that is, around the X axis.
In addition, as mentioned above, each motor stator 40a,
. . , 40f are not necessarily required to have two stators per shaft, and the function can be fully demonstrated even with only one stator per shaft, that is, three stators in total. However, arranging the motor stators to face each other has the effect of canceling out the attraction force to the rotating body 10 caused by the magnetic flux φ 1 of the motor, improving the stability of the magnetic bearing and reducing the current supplied to the electromagnet. This is effective in reducing power consumption.
第３図は電磁石及びステータの部分を拡大して
示す断面図である。電磁石２０ａのコイル２３ａ
に電流を流した場合、磁束φ2は磁極２１ａの内
側から出て回転体１０の外層１１を通り、磁極２
１ａの外側に戻る経路を形成する。回転体１０の
中間層１２は非磁性体であるから回転体１０と磁
極２１ａとの間の空隙に対して中間層１２の厚さ
を大きくとつておけば、磁束φ2とモータの磁束
φ1とが交鎖することは殆どない。さらに、電磁
石２０ａの磁極２１ａの内側の磁極２４ａと外側
の磁極２５ａとを同一面積にしておけば、空隙の
磁束密度は略一定となり、回転体１０の回転によ
つて生じる渦電流に起因した損失は低減されるこ
とになる。 FIG. 3 is a sectional view showing an enlarged portion of the electromagnet and the stator. Coil 23a of electromagnet 20a
When a current is applied to the magnetic pole 21a, the magnetic flux φ2 comes out from inside the magnetic pole 21a, passes through the outer layer 11 of the rotating body 10, and passes through the magnetic pole 21a.
A path returning to the outside of 1a is formed. Since the intermediate layer 12 of the rotating body 10 is a non-magnetic material, if the thickness of the intermediate layer 12 is set large relative to the air gap between the rotating body 10 and the magnetic pole 21a, the magnetic flux φ 2 and the magnetic flux φ 1 of the motor can be reduced. They rarely intersect. Furthermore, if the inner magnetic pole 24a and the outer magnetic pole 25a of the magnetic pole 21a of the electromagnet 20a have the same area, the magnetic flux density of the air gap becomes approximately constant, and the loss due to the eddy current generated by the rotation of the rotating body 10 is reduced. will be reduced.
第４図は第２の実施例の要部構成を拡大して示
す断面図である。なお、第３図と同一部分には同
一符号を付して、その詳しい説明は省略する。こ
の実施例が先に説明した実施例と異なる点は、前
記電磁石の磁極に形成する溝の数を増やしたもの
である。即ち、電磁石２０ａの磁極２１ａの回転
体１０に対向する球面には、円筒状の溝２２ａ，
２２a′を同心円状に２本形成し、これらの溝２２
ａ，２２a′のそれぞれにコイル２３ａを装着して
いる。この場合、回転体１０の外層１１の磁極２
４ａと中間層１２の磁極と内層１３の磁極との面
積比を１：２：１にすることにより、一方の磁束
φ1と他方の磁束φ2による空隙の磁束密度を等し
くして、回転体１０の回転によつて生じる損失を
低減することができる。なお、本実施例は、上述
した溝の数が限定されるものではなく、空隙の磁
束密度を等しくすることが可能であれば、コイル
の溝の数は任意でよい。 FIG. 4 is an enlarged cross-sectional view showing the main structure of the second embodiment. Note that the same parts as in FIG. 3 are given the same reference numerals, and detailed explanation thereof will be omitted. This embodiment differs from the previously described embodiments in that the number of grooves formed in the magnetic poles of the electromagnet is increased. That is, the spherical surface of the magnetic pole 21a of the electromagnet 20a facing the rotating body 10 has cylindrical grooves 22a,
22a' are formed concentrically, and these grooves 22a' are formed concentrically.
A coil 23a is attached to each of the coils 22a and 22a'. In this case, the magnetic pole 2 of the outer layer 11 of the rotating body 10
By setting the area ratio of the magnetic poles of 4a and the intermediate layer 12 to the magnetic poles of the inner layer 13 to 1:2:1, the magnetic flux density of the air gap caused by the magnetic flux φ 1 on one side and the magnetic flux φ 2 on the other side is made equal, and the rotating body The losses caused by 10 rotations can be reduced. In addition, in this embodiment, the number of grooves mentioned above is not limited, and the number of grooves in the coil may be arbitrary as long as it is possible to equalize the magnetic flux density of the air gap.
第５図乃至第７図は本発明の第３の実施例の概
略構成を示すもので、第５図はXY平面で切断し
た断面図、第６図はXZ平面で切断した断面図、
第７図はＺ方向から見た立体図である。なお、第
１図乃至第３図と同一部分には同一符号を付し
て、その詳しい説明は省略する。この実施例は電
磁石と共に永久磁石を用い、消費電力の低減をは
かつたものである。 5 to 7 show a schematic configuration of a third embodiment of the present invention, in which FIG. 5 is a cross-sectional view taken along the XY plane, FIG. 6 is a cross-sectional view taken along the XZ plane,
FIG. 7 is a three-dimensional view seen from the Z direction. Note that the same parts as in FIGS. 1 to 3 are given the same reference numerals, and detailed explanation thereof will be omitted. This embodiment uses a permanent magnet together with an electromagnet to reduce power consumption.
前記電磁石２０ａ，〜，２０ｆは先の第１の実
施例と同様にＸ，Ｙ，Ｚ軸方向にそれぞれ対向配
置されている。電磁石２０ａ，〜，２０ｄの磁極
２１ａ，〜，２１ｄは、例えば珪素鋼で作られた
リング状の第１の継鉄６０の内側にそれぞれ固着
されている。第１の継鉄６０は、前記回転体１０
の外側にＺ軸と直交する方向に該回転体１０と同
心円状に配置されている。また、第１の継鉄６０
の外側には、上記４つのラジアル磁極２１ａ，
〜，２１ｄに対応する位置に、厚さ方向（回転体
１０の中心を通る方向）に着磁された４個の永久
磁石７０ａ，〜，７０ｄが固着されている。 The electromagnets 20a, . The magnetic poles 21a, -, 21d of the electromagnets 20a, -, 20d are each fixed to the inside of a ring-shaped first yoke 60 made of silicon steel, for example. The first yoke 60 includes the rotating body 10
It is arranged concentrically with the rotating body 10 in a direction perpendicular to the Z-axis on the outside of the rotating body 10 . In addition, the first yoke 60
On the outside, the four radial magnetic poles 21a,
Four permanent magnets 70a, 70d magnetized in the thickness direction (direction passing through the center of the rotating body 10) are fixed at positions corresponding to 21d.
また、回転体１０の外側には、上記第１の継鉄
６０よりも大径のリング状の第２の継鉄８０がＹ
軸方向と直交する方向に配置され、この継鉄８０
の内側には上記永久磁石７０ａ，７０ｂがそれぞ
れ固着されている。さらに、回転体１０の外側に
は第２の継鉄８０と同径の第３の継鉄９０がＸ軸
方向と直交する方向に配置されており、この継鉄
９０はＺ軸方向の対向する２箇所で第２の継鉄８
０に連結一体化されている。そして、第３の継鉄
９０の内側には上記永久磁石７０ｃ，７０ｄがそ
れぞれ固着され、さらに上記継鉄８０，９０の連
結部の内側には前記電磁石２０ｅ，２０ｆのスラ
スト磁極２１ｅ，２１ｆがそれぞれ固着されてい
る。 Further, on the outside of the rotating body 10, a ring-shaped second yoke 80 having a larger diameter than the first yoke 60 is provided.
This yoke 80 is arranged in a direction perpendicular to the axial direction.
The permanent magnets 70a and 70b are respectively fixed inside. Furthermore, a third yoke 90 having the same diameter as the second yoke 80 is arranged on the outside of the rotating body 10 in a direction perpendicular to the X-axis direction, and this yoke 90 is arranged in a direction perpendicular to the X-axis direction. Second yoke 8 in two places
It is connected and integrated with 0. The permanent magnets 70c and 70d are fixed to the inside of the third yoke 90, respectively, and the thrust magnetic poles 21e and 21f of the electromagnets 20e and 20f are fixed to the inside of the connecting portion of the yoke 80 and 90, respectively. It is fixed.
なお、回転体１０は、この場合多層状ではなく
磁性体からなる中空球状に形成されている。ま
た、前記変位計３０ａ，３０ｃ，３０ｅは先の第
１の実施例と同様に設けられている。 In this case, the rotating body 10 is not formed in a multilayered shape but in a hollow spherical shape made of a magnetic material. Further, the displacement meters 30a, 30c, and 30e are provided in the same manner as in the first embodiment.
次に、上記構成された本装置の作用について説
明する。 Next, the operation of the apparatus configured as described above will be explained.
第８図は磁気軸受のＺ軸方向に関する磁束の流
れを説明するための図であり、前記第６図と同様
な断面を示している。永久磁石７０ａのＮ極から
発せられる一方の磁束は破線７１に示す如くラジ
アル磁極２１ａを通りギヤツプ２６ａを介して回
転体１０内に入り、周方向に沿つて流れ、ギヤツ
プ２６ｅを介してスラスト磁極２１ｅに入り、第
２の継鉄８０を通つて永久磁石７０ａのＳ極に戻
る磁路を形成する。また、永久磁石７０ａのＮ極
から発せられる他方の磁束は破線７２に示す如く
ラジアル磁極２１ａ→ギヤツプ２６ａ→回転体１
０→ギヤツプ２６ｆ→スラスト磁極２１ｆ→第２
の継鉄８０と通り、永久磁石７０ａのＳ極に戻る
磁極を形成する。 FIG. 8 is a diagram for explaining the flow of magnetic flux in the Z-axis direction of the magnetic bearing, and shows the same cross section as FIG. 6 above. One magnetic flux emitted from the N pole of the permanent magnet 70a passes through the radial magnetic pole 21a, enters the rotating body 10 via the gap 26a as shown by the broken line 71, flows along the circumferential direction, and flows through the gap 26e to the thrust magnetic pole 21e. A magnetic path is formed through the second yoke 80 and back to the S pole of the permanent magnet 70a. Further, the other magnetic flux emitted from the N pole of the permanent magnet 70a is as shown by the broken line 72, from the radial magnetic pole 21a to the gap 26a to the rotating body 1.
0 → Gap 26f → Thrust magnetic pole 21f → 2nd
The yoke 80 forms a magnetic pole that returns to the S pole of the permanent magnet 70a.
また、他の永久磁石７０ｂ，〜，７０ｄについ
ても同様な磁路が形成されている。これらの磁束
は、上述した磁路に常に流れており変化しない。 Similar magnetic paths are also formed for the other permanent magnets 70b, 70d. These magnetic fluxes always flow in the magnetic path described above and do not change.
第８図では、回転体１０をＺ軸の負の方向に移
動し、それを安定な位置に戻す場合の磁束の流れ
を示している。回転体１０がＺ軸の負方向に移動
した場合、その値を変位計３０ｅによつて検出
し、その検出信号を図示しない制御器により処理
し、図示しない電力増幅器によつて直列に接続さ
れた電磁石２０ｅ，２０ｆに電流を流し、制御磁
束を破線７５，７６のように流すことで、回転体
１０を安定位置まで戻す。この際に、ギヤツプ２
６ｅの磁束は永久磁石による磁束と制御磁束との
和となり、逆にギヤツプ２６ｆの磁束は永久磁石
による磁束と制御磁束との差となる。このため、
ギヤツプ２６ｅの磁束密度がギヤツプ２６ｆのそ
れよりも高くなり、これによつて回転体１０にＺ
軸の正方向の磁気力が働き、回転体１０は安定位
置に浮上することになる。また、回転体１０がＺ
軸の正方向に移動した場合は、電磁石２０ｅ，２
０ｆの電流の向きを換え、制御磁束の向きを逆に
することで、上記と逆の動作を行える。 FIG. 8 shows the flow of magnetic flux when the rotating body 10 is moved in the negative direction of the Z-axis and returned to a stable position. When the rotating body 10 moves in the negative direction of the Z-axis, its value is detected by the displacement meter 30e, and the detection signal is processed by a controller (not shown), and connected in series by a power amplifier (not shown). By passing current through the electromagnets 20e and 20f and causing control magnetic flux to flow as indicated by broken lines 75 and 76, the rotating body 10 is returned to a stable position. At this time, gap 2
The magnetic flux 6e is the sum of the magnetic flux due to the permanent magnet and the control magnetic flux, and conversely, the magnetic flux at the gap 26f is the difference between the magnetic flux due to the permanent magnet and the control magnetic flux. For this reason,
The magnetic flux density of the gap 26e becomes higher than that of the gap 26f, and thereby the Z
The magnetic force in the positive direction of the shaft acts, and the rotating body 10 floats to a stable position. Moreover, the rotating body 10 is
When moving in the positive direction of the axis, the electromagnets 20e, 2
By changing the direction of the current at 0f and reversing the direction of the control magnetic flux, the operation opposite to the above can be performed.
第９図はＸ，Ｙ軸方向に関する磁束の流れを説
明するための図であり、前記第５図と同様な断面
を示している。この場合、回転体１０をＸ軸の負
方向に移動し、それを安定な位置に戻す場合の磁
束の流れを示している。Ｚ軸の動作と同様に変位
計３０ａによつて回転体１０のＸ軸方向変位を検
出し、その検出信号を図示しない制御器によつて
処理し、図示しない電力増幅器によつて直列に接
続された電磁石２０ａ，２０ｂに電流を流し、制
御磁束を破線７７，７８のように流すことで、回
転体１０を安定位置に戻す。結果的に、ギヤツプ
２６ａの磁束がギヤツプ２６ｂの磁束密度よりも
高くなるので、回転体１０にＸ軸の正方向の力が
働き、回転体１０は安定位置に浮上することにな
る。この際に、Ｙ軸方向の動作に関係するラジア
ル磁極２１ｃ，２１ｄのギヤツプ２６ｃ，２６ｄ
の磁束密度は変化しないため、図のような磁気回
路でＸ，Ｙ軸各々独立に制御できる。Ｚ軸も独立
であることは勿論である。 FIG. 9 is a diagram for explaining the flow of magnetic flux in the X and Y axis directions, and shows a cross section similar to that of FIG. 5. In this case, the flow of magnetic flux is shown when the rotating body 10 is moved in the negative direction of the X-axis and returned to a stable position. Similarly to the Z-axis movement, the displacement of the rotating body 10 in the X-axis direction is detected by the displacement meter 30a, and the detected signal is processed by a controller (not shown), and connected in series by a power amplifier (not shown). The rotating body 10 is returned to a stable position by passing current through the electromagnets 20a and 20b and causing control magnetic flux to flow as indicated by broken lines 77 and 78. As a result, the magnetic flux of the gap 26a becomes higher than the magnetic flux density of the gap 26b, so that a force in the positive direction of the X-axis acts on the rotating body 10, and the rotating body 10 floats to a stable position. At this time, the gaps 26c and 26d of the radial magnetic poles 21c and 21d related to the movement in the Y-axis direction are
Since the magnetic flux density does not change, the X and Y axes can be controlled independently using the magnetic circuit shown in the figure. Of course, the Z axis is also independent.
このように本実施例では、電磁石２０，〜，２
０ｆ、永久磁石７０ａ，〜，７０ｄ及び継鉄６
０，８０，９０の作用により回転体１０を完全非
接触で支承することができ、さらに回転体１０を
任意軸回りに回転させることができる。従つて、
先の第１の実施例と同様な効果が得られる。そし
てこの場合、永久磁石７０ａ，〜，７０ｄと電磁
石２０ａ，〜，２０ｆとを併用しているので、安
定浮上位置での電磁石コイルの電流を殆ど必要と
せず、所謂ゼロパワー方式を採用でき、消費電力
の大幅な低減をはかり得る。また、継鉄６０，８
０，９０を用いたことにより、永久磁石７０ａ，
〜，７０ｄから発せられる磁束を効率良く使用し
た磁気回路が形成されることになり、この磁気回
路が回転体１０の上下左右６方向から回転体１０
を支承することになるので、回転体１０のあらゆ
る方向の外乱に対して安定した構造となる。 In this way, in this embodiment, the electromagnets 20, .
0f, permanent magnets 70a, -, 70d and yoke 6
0, 80, and 90, the rotating body 10 can be supported completely without contact, and furthermore, the rotating body 10 can be rotated around any axis. Therefore,
The same effects as in the first embodiment can be obtained. In this case, since the permanent magnets 70a, ~, 70d and the electromagnets 20a, ~, 20f are used together, almost no current is required in the electromagnetic coil at the stable levitation position, so a so-called zero power method can be adopted, and the consumption is reduced. It is possible to significantly reduce power consumption. Also, yoke 60,8
By using 0.90, the permanent magnet 70a,
A magnetic circuit is formed that efficiently uses the magnetic flux emitted from ~, 70d, and this magnetic circuit connects the rotating body 10 from six directions, up, down, left and right of the rotating body 10.
Therefore, the structure is stable against disturbances in all directions of the rotating body 10.
なお、本発明は上述した各実施例に限定される
ものではない。例えば、第１乃至第３の継鉄は必
ずしも円形リング状に限るものではなく、矩形リ
ング状のものであつてもよい。さらに、継鉄や回
転体等の材料は、適宜変更可能である。その他、
本発明の要旨を逸脱しない範囲で、種々変形して
実施することができる。 Note that the present invention is not limited to each of the embodiments described above. For example, the first to third yokes are not necessarily limited to circular ring shapes, but may be rectangular ring shapes. Furthermore, the materials of the yoke, rotating body, etc. can be changed as appropriate. others,
Various modifications can be made without departing from the spirit of the invention.
第１図は本発明の第１の実施例に係わるフライ
ホイール装置の概略構成を示す立体図、第２図は
上記装置をXY平面で切断した断面図、第３図は
上記装置の要部構成を拡大して示す断面図、第４
図は第２の実施例の要部構成を示す断面図、第５
図乃至第７図は第３の実施例の概略構成を示すも
ので第５図はXY平面で切断した断面図、第６図
はXZ平面で切断した断面図、第７図はＺ方向か
ら見た立体図、第８図および第９図はそれぞれ上
記第３の実施例の作用を説明するための断面図で
ある。
１０…回転体、２０ａ，〜，２０ｆ…電磁石、
２１ａ，〜，２１ｆ…磁極、２２ａ，〜，２２ｆ
…溝、２３ａ，〜，２３ｆ…コイル、２６ａ，
〜，２６ｆ…ギヤツプ、３０ａ，〜，３０ｄ…変
位計、４０ａ，〜，４０ｆ…モータステータ（駆
動部）、４１ａ，〜，４１ｆ…磁極、４２ａ，〜，
４２ｂ…コイル、５１…制御器、５２…電力増幅
器、６０…第１の継鉄、７０ａ，〜，７０ｄ…永
久磁石、８０…第２の継鉄、９０…第３の継鉄。
FIG. 1 is a three-dimensional view showing a schematic configuration of a flywheel device according to a first embodiment of the present invention, FIG. 2 is a sectional view of the device taken along the XY plane, and FIG. 3 is a configuration of main parts of the device. 4th cross-sectional view showing an enlarged view of
The figure is a sectional view showing the main part configuration of the second embodiment.
Figures 7 to 7 show the schematic configuration of the third embodiment. Figure 5 is a sectional view taken along the XY plane, Figure 6 is a sectional view taken along the XZ plane, and Figure 7 is a sectional view taken from the Z direction. The three-dimensional view, FIGS. 8 and 9 are sectional views for explaining the operation of the third embodiment, respectively. 10... Rotating body, 20a, ~, 20f... Electromagnet,
21a, ~, 21f...magnetic pole, 22a, ~, 22f
...Groove, 23a, ~, 23f...Coil, 26a,
~, 26f... Gap, 30a, ~, 30d... Displacement meter, 40a, ~, 40f... Motor stator (drive unit), 41a, ~, 41f... Magnetic pole, 42a, ~,
42b... Coil, 51... Controller, 52... Power amplifier, 60... First yoke, 70a, to, 70d... Permanent magnet, 80... Second yoke, 90... Third yoke.
Claims (1)
もに中間層が導電体で形成された３層構造の壁を
持ち、中空球状に形成された回転体と、この回転
体の中心を原点として規定される直角座標上の相
互に直交するＸ軸、Ｙ軸、Ｚ軸上にそれぞれ前記
回転体を挟んで対向配置された一対の電磁石を１
組とする３組の電磁石を主体に構成されて前記回
転体を磁気力によつて完全非接触に支承する磁気
軸受と、この磁気軸受を構成している各電磁石の
回りに上記電磁石と同心的に配置されて同一軸上
で対向するもの同志が協動して選択された軸回り
に前記回転体を磁気力で回転駆動する３組のモー
タステータとを具備してなることを特徴とするフ
ライホイール装置。 ２ 球状あるいは中空球状に形成されるとともに
表面に磁性体層を有した回転体と、この回転体を
磁気力によつて完全非接触に支承する磁気軸受と
を具備し、前記磁気軸受は、前記回転体を挟んで
離間対向配置された第１および第２の磁極と、こ
れらの磁極の対向方向と直交する方向に前記回転
体を挟んで離間対向配置された第３および第４の
磁極と、前記各磁極の２つの対向方向に対してそ
れぞれ直交する方向に前記回転体を挟んで離間対
向配置された第５および第６の磁極と、前記回転
体の外側に配置され、その内側に前記第１乃至第
４の磁極を固着したリング状の第１の継鉄と、前
記第１乃至第４の磁極に対応して前記第１の継鉄
と外側にそれぞれ固着され、前記回転体の中心を
通る方向に着磁された第１乃至第４の永久磁石
と、前記回転体の外側に配置され、その内側に前
記第１および第２の永久磁石と前記第５および第
６の磁極とを固着したリング状の第２の継鉄と、
前記回転体の外側に配置され、その内側に前記第
３および第４の永久磁石を固着し、かつ前記第２
の継鉄と連結されたリング状の第３の継鉄と、前
記第１乃至第６の磁極にそれぞれ装着された第１
乃至第６のコイルとを主体に構成されていること
を特徴とするフライホイール装置。[Claims] 1. A rotating body formed in a hollow spherical shape and having a wall of a three-layer structure in which the outer layer and the inner layer are made of a magnetic material and the middle layer is made of a conductive material, and the rotating body A pair of electromagnets are arranged facing each other across the rotating body on mutually orthogonal X-axis, Y-axis, and Z-axis on rectangular coordinates defined with the center of the body as the origin.
A magnetic bearing is mainly composed of three sets of electromagnets and supports the rotating body completely non-contact by magnetic force, and a magnetic bearing is provided around each electromagnet constituting the magnetic bearing concentrically with the electromagnet. 3 sets of motor stators disposed on the same axis and facing each other on the same axis and working together to drive the rotary body to rotate around the selected axis by magnetic force. wheel device. 2. A rotating body formed in a spherical or hollow spherical shape and having a magnetic layer on the surface, and a magnetic bearing that supports the rotating body completely non-contact by magnetic force, the magnetic bearing comprising: first and second magnetic poles that are spaced apart and facing each other with a rotating body in between; third and fourth magnetic poles that are spaced apart and facing each other with the rotating body in between in a direction perpendicular to the direction in which these magnetic poles face each other; A fifth and a sixth magnetic pole are arranged opposite to each other with the rotating body interposed therebetween in a direction perpendicular to the two opposing directions of each of the magnetic poles, and a fifth and sixth magnetic pole are arranged outside the rotating body and inside thereof. A ring-shaped first yoke to which the first to fourth magnetic poles are fixed, and a ring-shaped first yoke which is fixed to the outside of the first yoke corresponding to the first to fourth magnetic poles, First to fourth permanent magnets magnetized in the passing direction, and the first and second permanent magnets and the fifth and sixth magnetic poles are arranged outside the rotating body and fixed to the inside thereof. a ring-shaped second yoke;
The third and fourth permanent magnets are disposed outside the rotating body, the third and fourth permanent magnets are fixed to the inside thereof, and the second
a ring-shaped third yoke connected to the yoke; and a first yoke attached to each of the first to sixth magnetic poles.
A flywheel device characterized in that the flywheel device is mainly composed of a sixth coil to a sixth coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59135976A JPS6117741A (en) | 1984-06-30 | 1984-06-30 | Fly wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59135976A JPS6117741A (en) | 1984-06-30 | 1984-06-30 | Fly wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6117741A JPS6117741A (en) | 1986-01-25 |
| JPH0441120B2 true JPH0441120B2 (en) | 1992-07-07 |
Family
ID=15164270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59135976A Granted JPS6117741A (en) | 1984-06-30 | 1984-06-30 | Fly wheel device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6117741A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0688624A1 (en) | 1994-06-20 | 1995-12-27 | Research Development Corporation Of Japan | Electric discharge machining method for insulating material using electroconductive layer formed thereon |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62225500A (en) * | 1986-03-26 | 1987-10-03 | 工業技術院長 | Attitude controller for body |
| JPS6320297A (en) * | 1986-07-14 | 1988-01-27 | 石川島播磨重工業株式会社 | Vibrationproof and support mechanism of device in space |
| JP4046063B2 (en) * | 2003-10-28 | 2008-02-13 | 松下電工株式会社 | Massage machine |
| JP4616122B2 (en) * | 2005-08-22 | 2011-01-19 | 株式会社イワキ | Magnetic bearing |
| JP4942173B2 (en) * | 2006-09-26 | 2012-05-30 | 独立行政法人 宇宙航空研究開発機構 | Non-contact type rigid body rotation control device |
| JP5931499B2 (en) * | 2012-02-22 | 2016-06-08 | サンケン電気株式会社 | Flywheel device and energy storage device including the same |
| DK3334654T3 (en) * | 2015-08-12 | 2021-06-07 | Uab Pazangus Pozicionavimo Sprendimai | SATELLITE ORIENTATION CONTROL SYSTEM |
| CN105799952B (en) * | 2016-04-29 | 2018-05-25 | 北京航空航天大学 | A kind of multiple degrees of freedom momentum-exchange formula aerospace craft pose adjustment executing agency |
| CN106644535B (en) * | 2016-09-13 | 2019-05-24 | 北京控制工程研究所 | A kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform |
| CN110371322B (en) * | 2019-08-06 | 2022-02-08 | 北京航空航天大学 | Mounting bracket for satellite momentum wheel group |
| CN114670083B (en) * | 2022-04-24 | 2023-03-10 | 西安交通大学 | Bearing platform for non-contact driving three-rotational-freedom-degree displacement output |
-
1984
- 1984-06-30 JP JP59135976A patent/JPS6117741A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0688624A1 (en) | 1994-06-20 | 1995-12-27 | Research Development Corporation Of Japan | Electric discharge machining method for insulating material using electroconductive layer formed thereon |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6117741A (en) | 1986-01-25 |
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