JPH07208470A - Synchronized dynamo-electric machine with magnetic bearing and controlling device therefor and method thereof - Google Patents
Synchronized dynamo-electric machine with magnetic bearing and controlling device therefor and method thereofInfo
- Publication number
- JPH07208470A JPH07208470A JP2194794A JP2194794A JPH07208470A JP H07208470 A JPH07208470 A JP H07208470A JP 2194794 A JP2194794 A JP 2194794A JP 2194794 A JP2194794 A JP 2194794A JP H07208470 A JPH07208470 A JP H07208470A
- Authority
- JP
- Japan
- Prior art keywords
- rotor
- magnetic bearing
- electric motor
- stator
- magnetic
- 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.)
- Granted
Links
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
- 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
- F16C32/0444—Details of devices to control the actuation of the electromagnets
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、回転子に永久磁石を備
えた同期電動機を磁気軸受により非接触支持する回転電
機と制御装置及び方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary electric machine and a control device and method for supporting a synchronous motor having a permanent magnet on a rotor by magnetic bearings in a non-contact manner.
【０００２】[0002]
【従来の技術】回転電機は高速化し長寿命化するに加え
て信頼性を高めて高性能化される傾向にある。その傾向
に応えられる要素技術として、非接触支持する磁気軸受
が注目されている。従来、制御形の磁気軸受は、回転軸
を支持するため回転軸以外の５自由度を拘束する５軸制
御の軸受が用いられることが多いが、各制御軸毎に変位
センサと浮上制御器と電流増幅器を必要とするため、軸
受の制御装置は複雑で高価なものであった。そこで、永
久磁石の反発力を利用する反発形の軸受を併用したり、
制御形軸受の制御軸と直交方向に受動的な支持力がある
ことを利用して制御軸数を低減し１軸や３軸制御の軸受
としたり、ラジアル軸受と電動機を同じ鉄心上に形成し
て２つの機能を兼用する軸受などが開発されてきた。ま
た、永久磁石を等極ピッチで配置した回転子と、固定子
の励磁磁極数を永久磁石の極数より２つ多いか２つ少な
くし、回転子と固定子間に働く磁気反発力によって浮上
力と同時に回転力を得る磁気軸受がある（例えば、特開
平４ー１６０２２２号公報）。2. Description of the Related Art Rotating electric machines tend to be improved in performance by increasing reliability in addition to increasing speed and life. Magnetic element bearings that are supported in a non-contact manner are drawing attention as an elemental technology that can respond to this tendency. Conventionally, a control type magnetic bearing often uses a five-axis control bearing that constrains five degrees of freedom other than the rotation shaft to support the rotation shaft. However, a displacement sensor and a levitation controller are provided for each control shaft. Because of the need for current amplifiers, the bearing controls were complex and expensive. Therefore, in combination with a repulsive bearing that utilizes the repulsive force of the permanent magnet,
Utilizing the passive bearing force of the control type bearing in the direction orthogonal to the control axis, the number of control axes is reduced to form a single-axis or three-axis control bearing, or the radial bearing and the electric motor are formed on the same iron core. Bearings that have dual functions have been developed. In addition, the number of exciting magnetic poles of the rotor and the rotor in which permanent magnets are arranged at an equal pole pitch is two or two less than the number of permanent magnet poles, and the magnetic repulsive force acting between the rotor and the stator levitates the surface. There is a magnetic bearing that obtains a rotational force at the same time as a force (for example, Japanese Patent Laid-Open No. 4-160222).
【０００３】[0003]
【発明が解決しようとする課題】ところが、前者のよう
な方式では、軸受とは別に駆動用のモータを必要とする
ためそれぞれの固定子、回転子を備えており寸法を小さ
くすることができず全体構造がさほど簡単なものとなっ
ていなかった。また、後者のような方式では、電動機兼
用軸受が磁気吸引力を利用するものであったため、回転
駆動機能と浮上機能を兼ね備えた制御装置を必要とする
ため、回転子と固定子間の回転方向の位相ズレと浮上力
及び回転力の関係が特殊な関数となるため回転制御と浮
上制御の何れにも非線形な関数を制御ループに含み補償
が容易でないという欠点があり、制御装置が複雑とな
り、やはり簡単なものとはなっていなかった。そこで、
本発明はかかる課題に対し、回転電機の構成と制御装置
を簡単化し、実用性を向上することを目的とする。However, in the former method, a motor for driving is required in addition to the bearing, and therefore each stator and rotor are provided, and the size cannot be reduced. The whole structure was not so simple. Also, in the latter method, since the bearing that also serves as the electric motor uses magnetic attraction, a control device that has both a rotation drive function and a levitation function is required. Since there is a special function in the relationship between the phase shift and the levitation force and the rotational force, there is a drawback that the control loop contains a non-linear function in both the rotation control and the levitation control, and it is not easy to compensate. After all, it was not easy. Therefore,
An object of the present invention is to simplify the configuration of the rotating electric machine and the control device to improve the practicality.
【０００４】[0004]
【課題を解決するための手段】上記課題を実現するた
め、本発明の同期回転電機を、等極ピッチで相隣れる磁
石の極性を交互に入替え配置した複数の永久磁石よりな
る電動機の回転子と、この回転子とエアギャップを介し
て対向する、固定子鉄心に巻線を巻回した電動機の固定
子とよりなる永久磁石形同期電動機と、この永久磁石形
同期電動機の回転軸を非接触支持する磁気軸受よりなる
磁気軸受を用いた同期回転電機において、前記永久磁石
形同期電動機が、上部円板の下側・周方向に固着された
永久磁石よりなる電動機の回転子と、この回転子の下側
にエアギャップを介して対向する、固定子鉄心に巻線を
巻回した電動機の固定子と、前記電動機の回転子の回転
位置を検出する回転センサで構成されるアキシャルギャ
ップ・縦形・同期電動機であり、前記磁気軸受が、前記
回転軸に設けた磁性体の鉄心よりなる磁気軸受の回転子
と、この磁気軸受の回転子とエアギャップを介して対向
する、鉄心に巻線を巻回した磁気軸受の固定子と、前記
磁気軸受の回転子とこの磁気軸受の固定子間のエアギャ
ップを検出する変位センサで構成されるラジアル磁気軸
受で同期回転電機を構成する。また、その制御装置は、
永久磁石形同期電動機の回転子の回転位置を検出する回
転センサと、その出力信号から、前記電動機の回転子の
回転速度に比例する信号を得るＦ／Ｖコンバータと、外
部から与える速度指令とこのＦ／Ｖコンバータの出力信
号を比較する比較器と、この比較器の出力信号を受けて
電動機の固定子の励磁磁極位置の位相を制御する速度制
御器と、この速度制御器の信号を受け出力信号の大きさ
を制限するリミッターと、このリミッターの出力信号を
受けてＡ／Ｄ変換するＡ／Ｄコンバータと、前記回転セ
ンサの信号からこのＡ／Ｄコンバータの信号を減算する
減算器と、この減算器の出力信号を受けてあらかじめ記
憶された信号を出力するＲＯＭと、このＲＯＭの出力信
号を受けてＤ／Ａ変換するＤ／Ａコンバータと、このＤ
／Ａコンバータの信号を受けて電流増幅する増幅器とで
構成する。さらに、その制御方法は、前記ラジアル磁気
軸受が、変位センサの信号を受けて磁気軸受の固定子に
電流を供給する軸受制御装置により、磁気軸受の回転子
を磁気軸受の固定子の径方向中央に浮上するよう制御す
ると同時に、前記の磁気軸受を用いた同期回転電機を前
記の磁気軸受を用いた同期回転電機の制御装置により、
前記電動機の回転子の磁極位置と前記電動機の固定子の
励磁磁極の位置をずらして、前記電動機の回転子のアキ
シャル方向の浮上と回転を制御する。In order to achieve the above object, the rotor of an electric motor according to the present invention comprises a plurality of permanent magnets in which the polarities of adjacent magnets are alternately exchanged at an equal pole pitch. And a permanent magnet type synchronous motor comprising a stator of an electric motor in which windings are wound around a stator iron core, which faces the rotor via an air gap, and a rotating shaft of the permanent magnet type synchronous motor does not come into contact with each other. In a synchronous rotating electric machine using a magnetic bearing composed of supporting magnetic bearings, the permanent magnet type synchronous motor has a rotor of the electric motor composed of permanent magnets fixed to the lower side and the circumferential direction of the upper disc, and the rotor. Axial gap, vertical type, which is composed of a stator of an electric motor in which a winding is wound around a stator core, which faces the lower side of the electric motor through an air gap, and a rotation sensor for detecting the rotational position of the rotor of the electric motor. Synchronous power A magnetic bearing having a magnetic core provided on the rotary shaft, and a rotor of the magnetic bearing that faces the rotor of the magnetic bearing via an air gap. A synchronous rotating electric machine is constituted by the stator of the magnetic bearing, the rotor of the magnetic bearing, and the radial magnetic bearing configured by a displacement sensor for detecting an air gap between the stator of the magnetic bearing. Also, the control device is
A rotation sensor for detecting the rotation position of the rotor of the permanent magnet type synchronous motor, an F / V converter for obtaining a signal proportional to the rotation speed of the rotor of the motor from its output signal, and a speed command given from the outside. A comparator for comparing the output signal of the F / V converter, a speed controller for receiving the output signal of the comparator and controlling the phase of the magnetic pole position of the excitation pole of the stator of the motor, and a signal for outputting the speed controller A limiter for limiting the magnitude of the signal, an A / D converter for A / D converting the output signal of the limiter, a subtractor for subtracting the signal of the A / D converter from the signal of the rotation sensor, A ROM that receives the output signal of the subtractor and outputs a prestored signal; a D / A converter that receives the output signal of this ROM and performs D / A conversion;
And an amplifier that receives a signal from the A / A converter and amplifies the current. Further, the control method is such that the radial magnetic bearing receives a signal from a displacement sensor and supplies a current to the stator of the magnetic bearing, and causes the rotor of the magnetic bearing to move in the radial center of the stator of the magnetic bearing. At the same time controlling to levitate to the synchronous rotary electric machine using the magnetic bearing, by the control device of the synchronous rotary electric machine using the magnetic bearing,
The position of the magnetic pole of the rotor of the electric motor and the position of the exciting magnetic pole of the stator of the electric motor are shifted to control the levitation and rotation of the rotor of the electric motor in the axial direction.
【０００５】[0005]
【作用】上記手段により、上部円板部の同期電動機兼用
軸受が反発力を利用しているため浮上のための制御をす
ることなく、回転のみの制御をすれば非接触浮上して回
転することができ、また、制御形のラジアル軸受により
高い支持剛性で径方向の支持ができるため、全体として
構成が簡素化された信頼性の高い回転電機を構成するこ
とができるのである。By the above means, the synchronous motor bearing of the upper disk portion uses repulsive force, so that the control is performed only for rotation without controlling the levitation, so that the bearing rotates without contact. In addition, since the control type radial bearing can support the radial direction with high support rigidity, it is possible to configure a highly reliable rotating electric machine having a simplified configuration as a whole.
【０００６】[0006]
【実施例】以下、本発明の実施例を図に基づいて説明す
る。図１は、実施例の磁気軸受を用いたアキシャルギャ
ップ・縦形・同期回転電機の断面図である。図１におい
て、１は垂直に設けられた回転軸であり上端に円板状の
上部円板２が固着されている。上部円板２の下側外周に
は外縁２２が形成されて段差が設けられている。外縁２
２の内径側には、周方向に着磁された永久磁石３３を極
性を交互に入替え、等極ピッチで配置した円板状の電動
機の回転子３１があり、電動機の回転子３１の外周と外
縁２２の内周、電動機の回転子３１の上面と上部円板２
の下側面が密着して接着等によって上部円板２に固着さ
れている。電動機の回転子３１の下側には、軸方向のエ
アギャップを介し、鉄心に電動機の巻線４４が巻回され
た円板状の電動機の固定子３２がフレーム５に固定され
ている。電動機の回転子３１と電動機の固定子３２でア
キシャルギャップ・縦形・同期電動機３を構成してい
る。電動機の回転子３１の中心部には、中空の強磁性体
よりなる鉄心からなる円筒状の磁気軸受の回転子４１が
固着してあり、その外周にはラジアル方向のエアギャッ
プを介して鉄心に磁気軸受の巻線４５を巻回した複数の
電磁石からなる円筒状の磁気軸受の固定子４２がフレー
ム５に固定してある。磁気軸受の固定子４２の近傍に
は、変位センサ４３を設け、フレーム５に対する回転軸
１の位置すなわち磁気軸受の回転子４１と磁気軸受の固
定子４２間のエアギャップを検出する。磁気軸受の回転
子４１と磁気軸受の固定子４２と変位センサ４３とでラ
ジアル磁気軸受４を構成し、回転軸１と直交し且つ互い
に直交する２方向の浮上制御を可能にしてある。６はフ
レーム５に固定され回転軸１の回転位置を検出する回転
センサである。この回転センサ６によって、電動機の回
転子３１の回転信号Ｎf が検出される。回転信号Ｎ
f は、電動機の固定子３２に対する電動機の回転子３１
の回転位置として、１回転に１パルスの回転基準信号Ｎ
s と１回転に多数パルスの回転位置信号Ｎp に対応する
２つの２進信号として得られる。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a sectional view of an axial gap / vertical / synchronous rotary electric machine using the magnetic bearing of the embodiment. In FIG. 1, reference numeral 1 denotes a vertical rotation shaft having a disc-shaped upper disc 2 fixed to the upper end thereof. An outer edge 22 is formed on the lower outer periphery of the upper disc 2 to provide a step. Outer edge 2
On the inner diameter side of 2, there is a disc-shaped electric motor rotor 31 in which permanent magnets 33 magnetized in the circumferential direction are alternately exchanged in polarity and arranged at an equal pole pitch. Inner periphery of outer edge 22, upper surface of rotor 31 of electric motor and upper disc 2
The lower side surface of the upper part is closely attached and fixed to the upper disc 2 by adhesion or the like. Below the rotor 31 of the electric motor, a disc-shaped electric motor stator 32, in which an electric motor winding 44 is wound around an iron core, is fixed to the frame 5 via an air gap in the axial direction. The rotor 31 of the electric motor and the stator 32 of the electric motor constitute the axial gap / vertical / synchronous electric motor 3. A rotor 41 of a cylindrical magnetic bearing made of an iron core made of a hollow ferromagnetic material is fixed to the center of a rotor 31 of the electric motor, and the rotor 41 is attached to the outer periphery of the rotor 41 via an air gap in the radial direction. A cylindrical magnetic bearing stator 42 composed of a plurality of electromagnets around which a magnetic bearing winding 45 is wound is fixed to the frame 5. A displacement sensor 43 is provided near the stator 42 of the magnetic bearing to detect the position of the rotary shaft 1 with respect to the frame 5, that is, the air gap between the rotor 41 of the magnetic bearing and the stator 42 of the magnetic bearing. The rotor 41 of the magnetic bearing, the stator 42 of the magnetic bearing, and the displacement sensor 43 constitute the radial magnetic bearing 4, and the levitation control in two directions orthogonal to the rotary shaft 1 and orthogonal to each other is possible. A rotation sensor 6 is fixed to the frame 5 and detects a rotation position of the rotation shaft 1. This rotation sensor 6, the rotation signal N f of the rotor 31 of the electric motor is detected. Rotation signal N
f is the rotor 31 of the motor with respect to the stator 32 of the motor
The rotation reference signal N is one pulse per rotation as the rotation position of
It is obtained as two binary signals corresponding to the rotational position signal N p of a large number of pulses for s and one rotation.
【０００７】ラジアル軸受４の制御装置は、回転軸１と
直交し且つ互いに直交する２方向のそれぞれにおいて、
変位センサ４３の信号と浮上位置指令とを比較器で比較
し、その偏差にもとずいて浮上制御器が働き、回転子４
１の両側に対向して設けられた２つの電磁石に電流を供
給する公知のものである。図２は、アキシャルギャップ
・縦形・同期電動機３の制御装置を示す構成図である。
ωs はインバータ等、外部の制御装置から与えられる速
度指令である。７１は信号Ｎf をＦ／Ｖ変換して回転速
度に比例する直流信号ωf を出力するＦ／Ｖコンバー
タ、７２は速度指令ωs とＦ／Ｖコンバータ７１の信号
ωf を比較する比較器、７３は比較器７２の信号をＰＩ
Ｄ補償器などで位相補償する速度制御器である。７４は
出力リミッタであり、速度制御器７３の信号を受けて、
その値が一定値以上のときは、あらかじめ設定してある
上限値を出力する。なお、この上限値は、図３（ｂ）に
示した回転子の磁極が２極の場合は、回転子３１の回転
基準位置の方向ｘr と固定子３２の励磁磁極の方向ｘs
の角度φが４５゜位となる値がよい。回転子の磁極がｎ
極の場合はその角度φが９０°／ｎ位となる値がよい。
７５はリミッター７４の信号をデジタルに変換するＡ／
Ｄコンバータ、７０は回転軸１の回転位置を示すＮf の
２進信号からＡ／Ｄコンバータ７５の信号を減算する減
算器である。７６は、減算器７０の信号をアドレスと
し、該当するアドレスに励磁された固定子３２の磁極が
左側にスムーズに回転するよう、前もって計算された指
令値を記憶したデータを出力するＲＯＭである。７７
１、７７２はＲＯＭ７６の信号を受けアナログ信号に変
換するＤ／Ａコンバータ、７８１、７８２はＤ／Ａコン
バータ７７１、７７２の信号を受けて電力を増幅する増
幅器、７９１、７９２は電動機の固定子３２に巻回され
た電動機の巻線４４の内各磁極の固定子コイルである。The control device for the radial bearing 4 is arranged in each of two directions orthogonal to the rotary shaft 1 and orthogonal to each other.
The signal of the displacement sensor 43 and the flying position command are compared by a comparator, and the flying controller operates based on the deviation, and the rotor 4
It is a well-known one that supplies current to two electromagnets provided on both sides of 1. FIG. 2 is a configuration diagram showing a control device of the axial gap / vertical / synchronous motor 3.
ω s is a speed command given from an external control device such as an inverter. Reference numeral 71 denotes an F / V converter that performs F / V conversion of the signal N f and outputs a DC signal ω f proportional to the rotation speed, and 72 is a comparator that compares the speed command ω s and the signal ω f of the F / V converter 71. , 73 outputs the signal from the comparator 72 to PI
This is a speed controller that performs phase compensation with a D compensator or the like. 74 is an output limiter, which receives a signal from the speed controller 73,
When the value is a certain value or more, the preset upper limit value is output. It should be noted that the upper limit value is the direction x r of the rotation reference position of the rotor 31 and the direction x s of the exciting magnetic pole of the stator 32 when the magnetic poles of the rotor shown in FIG.
It is preferable that the angle φ is about 45 °. The magnetic pole of the rotor is n
In the case of a pole, it is preferable that the angle φ be 90 ° / n.
A / A 75 converts the limiter 74 signal to digital
A D converter, 70 is a subtracter for subtracting the signal of the A / D converter 75 from the N f binary signal indicating the rotational position of the rotary shaft 1. Reference numeral 76 is a ROM which outputs the data in which the command value calculated in advance is stored so that the signal of the subtractor 70 is used as an address and the magnetic pole of the stator 32 excited at the corresponding address rotates smoothly to the left. 77
Reference numerals 1 and 772 denote D / A converters that receive signals from the ROM 76 and convert the signals into analog signals. Reference numerals 781 and 782 denote amplifiers that receive signals from the D / A converters 771 and 772 to amplify power. 791 and 792 denote stators 32 of the electric motor. It is a stator coil of each magnetic pole in the winding 44 of the electric motor wound around.
【０００８】以下に動作を説明する。速度指令ωs がゼ
ロの時の動作を図３（ａ）を用いて説明する。図３
（ａ）は図１のアキシャルギャップ・縦形・同期電動機
３のみを軸方向から見た図であり、電動機の回転子３１
の永久磁石が持つ磁極をＮ，Ｓと表し、電動機の固定子
３２が作る磁極を（Ｎ），（Ｓ）と表している。ＸS は
固定側の基準の方向を示しており、ｘr は電動機の回転
子３１の回転基準位置の方向、ｘsは電動機の固定子３
２の励磁極の方向を示している。電動機の回転子３１の
回転基準位置方向ｘr は回転センサ６が検出する１回転
に１パルスの回転基準位置に対応する位置であり、ｘr
の方向に磁極Ｎ、その反対方向磁極Ｓが着磁されてい
る。電動機の固定子３２の励磁の方向ｘs は電動機の固
定子３２に巻回された固定子コイル７９１、７９２に電
流が供給されて生じる磁極の方向を示しており、ｘs の
方向に（Ｎ）、その反対方向に（Ｓ）が生じる。図３
（ａ）では、ｘr とｘs が同じ方向を向いているが、こ
の状態で、アキシャルギャップ・縦形・同期電動機３の
制御装置を示す構成図は次のようになる。回転信号Ｎf
のうち、回転基準信号ＮS はパルスがないのでＦ／Ｖコ
ンバータ７１の出力信号ωf はゼロであり、速度指令ω
s もゼロである。回転信号Ｎf のうち、回転位置信号Ｎ
p は２進データであって、固定側の基準方向ＸS に対す
る回転子の方向ｘr の角度θr に対応しており、例え
ば、１回転を１２８分割してあれば、θr が、Ｘs に対
して、ほぼ４０゜のときは、１２８×４０／３６０＝１
４という値にしてある。回転基準信号ＮS はパルスがな
いのでＦ／Ｖコンバータ７１の出力信号ωf はゼロであ
り、速度指令ωs もゼロであるので、Ａ／Ｄコンバータ
７５の出力がゼロとなり、減算器７０の出力はＮf の回
転位置信号Ｎp がそのまま出力され１４という２進デー
タがＲＯＭ７６に送られる。ＲＯＭ７６は、減算器７０
の信号を記憶素子のアドレスとして入力し、そのアドレ
スの記憶データを指令値として出力する。ＲＯＭ７６の
回転基準信号ＮS と回転位置信号Ｎp に対応する２つの
出力は、Ｄ／Ａコンバータ７７１、７７２に入力されて
Ｄ／Ａ変換され、アナログ信号に変換される。そして、
Ｄ／Ａコンバータ７７１、７７２の信号が増幅器７８
１、７８２で電力増幅され電動機の固定子３２の固定子
コイル７９１、７９２に電流が供給される。こうして励
磁された電動機の固定子３２の磁極は、ＲＯＭ７６の入
力データが１４という値であったので固定側のＸS から
１４×３６０／１２８＝ほぼ４０゜の方向に（Ｎ）極
を、その反対方向に（Ｓ）極が生じる。このようにし
て、固定子磁極と回転子磁極の回転方向位置がほぼ同じ
となるので、電動機の回転子３１は回転力を受けず、磁
気反発力と回転軸１全体にかかる重力とによる釣合い位
置で非接触浮上するのである。The operation will be described below. The operation when the speed command ω s is zero will be described with reference to FIG. Figure 3
(A) is a view of only the axial gap / vertical / synchronous motor 3 of FIG. 1 as viewed from the axial direction, and shows a rotor 31 of the motor.
The magnetic poles possessed by the permanent magnet are represented by N and S, and the magnetic poles formed by the stator 32 of the electric motor are represented by (N) and (S). X S indicates the reference direction on the fixed side, x r is the direction of the rotation reference position of the rotor 31 of the electric motor, and x s is the stator 3 of the electric motor.
The direction of the excitation magnetic pole of 2 is shown. The rotation reference position direction x r of the rotor 31 of the electric motor is a position corresponding to the rotation reference position of one pulse per one rotation detected by the rotation sensor 6, and x r
The magnetic pole N is magnetized in the direction of and the magnetic pole S in the opposite direction is magnetized. Direction x s of the excitation of the stator 32 of the motor indicates the direction of the magnetic pole current to the stator coils 791 and 792 which is wound stator 32 wound motor occurs is supplied, in the direction of x s (N ), And (S) occurs in the opposite direction. Figure 3
In (a), x r and x s face the same direction, but in this state, the configuration diagram showing the control device of the axial gap vertical type synchronous motor 3 is as follows. Rotation signal N f
Among them, since the rotation reference signal N S has no pulse, the output signal ω f of the F / V converter 71 is zero, and the speed command ω
s is also zero. Of the rotation signal N f , the rotation position signal N
p is binary data and corresponds to the angle θ r of the rotor direction x r with respect to the fixed side reference direction X S. For example, if one rotation is divided into 128, θ r is X. relative s, when approximately 40 °, 128 × 40/360 = 1
It has a value of 4. Since the rotation reference signal N S has no pulse, the output signal ω f of the F / V converter 71 is zero, and the speed command ω s is also zero, so that the output of the A / D converter 75 becomes zero and the subtractor 70 outputs As the output, the rotational position signal N p of N f is output as it is, and binary data of 14 is sent to the ROM 76. The ROM 76 is a subtractor 70
Is input as the address of the storage element, and the storage data at that address is output as the command value. Two outputs of the ROM 76 corresponding to the rotation reference signal N S and the rotation position signal N p are input to D / A converters 771 and 772, D / A converted, and converted into analog signals. And
The signals of the D / A converters 771 and 772 are amplifiers 78.
The electric power is amplified by 1, 782 and current is supplied to the stator coils 791, 792 of the stator 32 of the electric motor. The magnetic pole of the stator 32 of the electric motor excited in this way has a value of 14 as the input data of the ROM 76, so the (N) pole is in the direction of 14 × 360/128 = approximately 40 ° from X S on the fixed side. The (S) pole is generated in the opposite direction. In this way, the positions of the stator magnetic poles and the rotor magnetic poles in the rotational direction are substantially the same, so that the rotor 31 of the electric motor does not receive the rotational force, and the balance position due to the magnetic repulsive force and the gravity applied to the entire rotary shaft 1 is used. Therefore, it is contactlessly levitated.
【０００９】次に速度指令ωS がゼロでない場合につい
て説明する。電動機の回転子３１の回転速度がこの速度
指令より小さく、ある時点の電動機の回転子３１の回転
位置を示すθr がＸs にたいして、ほぼ４０゜の位置に
あるとすると、回転位置信号Ｎp は１４という値であ
る。Ｆ／Ｖコンバータ７１の入力信号Ｎp はパルス列と
なっているが、Ｆ／Ｖ変換された出力信号ωf は速度指
令ωS より小さいため、比較器７２の出力はプラスの信
号となる。この信号を受けた速度制御器７３は、位相制
御して指令信号ωを出力する。その信号ωが上限値を越
えると、リミッター７４が働いて、上限値を出力し、上
限値を越えてなければそのまま出力される。リミッター
７４の信号を受けたＡ／Ｄコンバータ７５は、信号をデ
ジタルに変換して出力する。この信号と、電動機の回転
子３１の回転信号Ｎf のうちのθrに対応する回転位置
信号Ｎp を受けた減算器７０は後者の信号から前者の信
号を減算して出力する。速度制御器７３の指令信号ωが
２０゜に相当する信号であるとすると、Ａ／Ｄコンバー
タ７５の出力は２０／３６０×１２８＝７という値の２
進数であり、減算器７０の出力信号は１４ー７＝７であ
る。この信号を受けたＲＯＭ７６は、これをアドレスと
して記憶してあるデータを出力し、Ｄ／Ａコンバータ７
７１、７７２と増幅器７８１、７８２を介して、固定子
コイル７９１、７９２に電流を供給する。これによって
生じる電動機の固定子３２の磁極の方向ｘs は、図３
（ｂ）に示すように、固定側のＸs から７×３６０／１
２８＝ほぼ２０゜の方向になり、その方向に磁極
（Ｎ）、その反対方向に磁極（Ｓ）が生じる。固定子磁
極と回転子磁極が、図３（ｂ）のように、ずれるため電
動機の回転子３１は磁気反発力と重力の働きによって上
向きの浮上力と同時に左向きの回転力を受け非接触浮上
したまま回転が加速される。電動機の回転子３１の回転
速度が速度指令ωs より大きいときは、減算器７０が受
ける２つの信号のうちＡ／Ｄコンバータ７５から受ける
信号のほうが負になるため、減算器７０の出力は回転子
３１の回転位置に対応する値より大きな値となる。従っ
て電動機の固定子磁極と電動機の回転子磁極が図３
（ｂ）と逆の関係になり、電動機の回転子３１は右向き
の回転力をうけ回転が減速される。以上のようにして、
回転速度より速度指令のほうが大きいときは電動機の回
転子３１が非接触浮上したまま加速され、回転速度より
速度指令のほうが小きいときは電動機の回転子３１が非
接触浮上したまま減速され、この動作を繰り返すので、
電動機の回転子３１は非接触浮上したまま速度指令ωs
に対応する回転速度で回転できるのである。アキシャル
ギャップ・縦形・同期電動機３により上向きの反発力で
上下方向を支持して回転力を生ぜしめているため、アキ
シャル軸受を特別に必要としていない。そこに生じる径
方向の不安定力はラジアル磁気軸受４が働いて所定位置
に浮上支持するため、磁気軸受の制御軸を２軸とするこ
とができる。Next, a case where the speed command ω S is not zero will be described. Assuming that the rotation speed of the rotor 31 of the electric motor is smaller than this speed command and θ r indicating the rotational position of the rotor 31 of the electric motor at a certain point is at a position of about 40 ° with respect to X s , the rotational position signal N p Is a value of 14. The input signal N p of the F / V converter 71 is a pulse train, but the output signal ω f after F / V conversion is smaller than the speed command ω S , so the output of the comparator 72 is a positive signal. Upon receiving this signal, the speed controller 73 controls the phase and outputs the command signal ω. When the signal ω exceeds the upper limit value, the limiter 74 operates to output the upper limit value. If the signal ω does not exceed the upper limit value, the signal is output as it is. The A / D converter 75 receiving the signal from the limiter 74 converts the signal into a digital signal and outputs it. Upon receiving this signal and the rotational position signal N p corresponding to θ r of the rotational signal N f of the rotor 31 of the electric motor, the subtractor 70 subtracts the former signal from the latter signal and outputs it. Assuming that the command signal ω of the speed controller 73 is a signal corresponding to 20 °, the output of the A / D converter 75 is 20/360 × 128 = 7.
The output signal of the subtractor 70 is 14-7 = 7. Receiving this signal, the ROM 76 outputs the data stored as an address, and the D / A converter 7
Current is supplied to the stator coils 791 and 792 via 71 and 772 and amplifiers 781 and 782. The resulting magnetic pole direction x s of the stator 32 of the motor is
As shown in (b), from the fixed side X s , 7 × 360/1
28 = almost 20 °, a magnetic pole (N) is generated in that direction, and a magnetic pole (S) is generated in the opposite direction. Since the stator magnetic poles and the rotor magnetic poles are displaced as shown in FIG. 3B, the rotor 31 of the electric motor receives the upward floating force and the leftward rotating force by the action of the magnetic repulsive force and gravity, and floats in a non-contact manner. The rotation is accelerated as it is. When the rotation speed of the rotor 31 of the electric motor is higher than the speed command ω s , the signal received from the A / D converter 75 is the negative of the two signals received by the subtractor 70, so that the output of the subtractor 70 is rotated. The value is larger than the value corresponding to the rotation position of the child 31. Therefore, the stator poles of the motor and the rotor poles of the motor are shown in FIG.
In the opposite relationship to (b), the rotation of the rotor 31 of the electric motor is decelerated by the rightward rotational force. As described above,
When the speed command is larger than the rotation speed, the rotor 31 of the electric motor is accelerated while floating in the non-contact state. When the speed command is smaller than the rotation speed, the rotor 31 of the electric motor is decelerated while floating in the non-contact state. Because the operation is repeated,
The speed command ω s is maintained while the rotor 31 of the electric motor floats without contact.
It can rotate at a rotation speed corresponding to. Since the axial gap, the vertical type, and the synchronous motor 3 support the vertical direction by the upward repulsive force to generate the rotational force, no special axial bearing is required. The radial instability generated there is acted by the radial magnetic bearing 4 to levitate and support it at a predetermined position, so that the control shaft of the magnetic bearing can be two axes.
【００１０】なお、以上述べた実施例では、回転センサ
は、基準パルスと回転位置を示すデータが得られるもの
を用いたが、極検出用のホール・センサ等の付属装置を
伴うものであってもよく、図２で説明した機能が得られ
るものであれば、形式を問わない。また、回転センサ６
の信号のうち、回転基準信号Ｎs は、説明上１回転に１
パルスとしたが、回転速度信号を得るに必要であるた
め、回転位置信号Ｎp の最下位ビットの信号を用いれば
省略することができる。さらに、回転位置信号Ｎp の分
割数は、１回転を１２８分割したものを用いたが、分割
数は用途に応じて決めることができ、分割数を大きくし
たほうがリップルの少ないスムーズな速度制御ができ
る。また、電動機の固定子３２の巻線を２個とし、電動
機の回転子３１の永久磁石の極数に合わせて周方向に２
個の磁極が生じるようにしているが、電動機の回転子３
１の磁極に合わせてあれば２個に限るものではない。In the embodiment described above, the rotation sensor used is one that can obtain the reference pulse and the data indicating the rotation position, but it is accompanied by an auxiliary device such as a hall sensor for pole detection. The format is not limited as long as the function described in FIG. 2 can be obtained. In addition, the rotation sensor 6
The rotation reference signal N s of the signals of
Although the pulse is used, it is necessary to obtain the rotation speed signal, and thus it can be omitted if the signal of the least significant bit of the rotation position signal N p is used. Further, although the number of divisions of the rotational position signal N p is obtained by dividing one rotation into 128, the number of divisions can be determined according to the application, and the larger the number of divisions, the smoother the speed control with less ripples. it can. In addition, the number of windings of the stator 32 of the electric motor is two, and the number of windings is two in the circumferential direction according to the number of poles of the permanent magnet of the rotor 31 of the electric motor.
Although the magnetic poles are generated individually, the rotor 3 of the electric motor
The number of magnetic poles is not limited to two as long as it matches one magnetic pole.
【００１１】図１に示したものは、上部にアキシャルギ
ャップ形同期電動機を配置し、その内側下部にラジアル
磁気軸受を配置したものであったが、アキシャルギャッ
プ・縦形・同期電動機が固定子の上側の内側に回転子を
配置されたものであれば図１の配置に限るものではな
い。その一例を図４に断面図として示す。この例は、ラ
ジアル磁気軸受をアキシャルギャップ・縦形・同期電動
機より上側に配置したものである。固定台５２の中心に
固定軸５１を直立して設け、固定台５２の上面に電動機
の固定子３２を設けてある。電動機の固定子３２の側部
には回転センサ６を設けてある。固定軸５１の外周には
磁気軸受の固定子４２を固定してある。磁気軸受の固定
子４２の側部には変位センサ４３を設けてある。電動機
の固定子３２と、軸方向のエアギャップを介し対向し
て、電動機の回転子３１を配置してある。磁気軸受の固
定子４２と、ラジアル方向のエアギャップを介し対向し
て、磁気軸受の回転子４１を配置してある。電動機の回
転子３１と磁気軸受の回転子４１は磁性体よりなる回転
円環２１に固定してある。このようなに構成することに
より全体を偏平なものとすることができる。このほか、
ラジアル磁気軸受をアキシャルギャップ・縦形・同期電
動機のすぐ上側に配置したり、外周側に配置したりする
ことができることも、言うまでもないことである。ま
た、回転軸１は、中空のものであっても、中実であって
も構わない。同様に固定側も、中空であっても、中実で
あっても構わない。In the structure shown in FIG. 1, the axial gap type synchronous motor is arranged in the upper part, and the radial magnetic bearing is arranged in the inner lower part thereof. However, the axial gap type, the vertical type, and the synchronous motor are arranged above the stator. The arrangement is not limited to the arrangement shown in FIG. 1 as long as the rotor is arranged inside. An example thereof is shown in FIG. 4 as a sectional view. In this example, the radial magnetic bearing is arranged above the axial gap, vertical type, and synchronous motor. A fixed shaft 51 is provided upright at the center of the fixed table 52, and a stator 32 of the electric motor is provided on the upper surface of the fixed table 52. A rotation sensor 6 is provided on the side of the stator 32 of the electric motor. The stator 42 of the magnetic bearing is fixed to the outer periphery of the fixed shaft 51. A displacement sensor 43 is provided on the side of the stator 42 of the magnetic bearing. The rotor 31 of the electric motor is arranged so as to face the stator 32 of the electric motor via an air gap in the axial direction. A rotor 41 of the magnetic bearing is arranged so as to face the stator 42 of the magnetic bearing via an air gap in the radial direction. The rotor 31 of the electric motor and the rotor 41 of the magnetic bearing are fixed to the rotary ring 21 made of a magnetic material. With such a configuration, the whole can be made flat. other than this,
It goes without saying that the radial magnetic bearing can be arranged immediately above the axial gap / vertical type / synchronous motor or on the outer peripheral side. Further, the rotary shaft 1 may be hollow or solid. Similarly, the fixed side may be hollow or solid.
【００１２】[0012]
【発明の効果】以上述べたように、本発明によれば、回
転軸に設けたアキシャルギャップ形同期電動機が電動機
として機能するとともに上下方向に非接触支持する軸受
の機能も備えているため、回転軸に設けたラジアル軸受
によって回転軸が回転可能に非接触支持される。こうし
て、全体として、１つのラジアル軸受（軸受の制御軸は
２軸）と１つの電動機で回転電機を構成することができ
るのである。したがって、回転電機の全長を短くするこ
とができて危険速度を高め回転上限を大幅に高める効果
があり、制御装置を含めた全体装置が簡易化されて信頼
性が向上する効果がある。As described above, according to the present invention, the axial gap type synchronous motor provided on the rotating shaft functions as an electric motor and also has a function of a bearing for supporting in a non-contact manner in the vertical direction. The rotary shaft is rotatably supported by a radial bearing provided on the shaft in a non-contact manner. Thus, as a whole, the rotary electric machine can be configured with one radial bearing (the control shaft of the bearing is two shafts) and one electric motor. Therefore, there is an effect that the total length of the rotating electric machine can be shortened, the dangerous speed is increased, and the upper limit of the rotation is significantly increased, and the entire device including the control device is simplified and the reliability is improved.
【図１】本発明の実施例を示す回転電機の断面図FIG. 1 is a sectional view of a rotating electric machine showing an embodiment of the present invention.
【図２】本発明の実施例を示す制御装置の構成図FIG. 2 is a configuration diagram of a control device showing an embodiment of the present invention.
【図３】回転電機の動作を説明する図FIG. 3 is a diagram for explaining the operation of the rotating electric machine.
【図４】本発明の他の実施例を示す回転電機の断面図FIG. 4 is a sectional view of a rotating electric machine showing another embodiment of the present invention.
１ 回転軸 ２ 上部円板 ２１ 回転円環 ２２ 外縁 ３ アキシャルギャップ・縦形・同期電動機 ３１ 電動機の回転子 ３２ 電動機の固定子 ３３ 永久磁石 ４ ラジアル磁気軸受 ４１ 磁気軸受の回転子 ４２ 磁気軸受の固定子 ４３ 変位センサ ４４ 電動機の巻線 ４５ 磁気軸受の巻線 ５ フレーム ５１ 固定軸 ５２ 固定台 ６ 回転センサ ７０ 減算器 ７１ Ｆ／Ｖコンバータ ７２ 比較器 ７３ 速度制御器 ７４ リミッター ７５ Ａ／Ｄコンバータ ７６ ＲＯＭ ７７１、７７２ Ｄ／Ａコンバータ ７８１、７８２ 増幅器 ７９１、７９２ 固定子コイル DESCRIPTION OF SYMBOLS 1 rotating shaft 2 upper disc 21 rotating ring 22 outer edge 3 axial gap / vertical / synchronous motor 31 electric motor rotor 32 electric motor stator 33 permanent magnet 4 radial magnetic bearing 41 magnetic bearing rotor 42 magnetic bearing stator 43 Displacement sensor 44 Motor winding 45 Magnetic bearing winding 5 Frame 51 Fixed shaft 52 Fixed base 6 Rotation sensor 70 Subtractor 71 F / V converter 72 Comparator 73 Speed controller 74 Limiter 75 A / D converter 76 ROM 771 , 772 D / A converter 781, 782 Amplifier 791, 792 Stator coil
Claims (5)
に入替え配置した複数の永久磁石よりなる電動機の回転
子と、この回転子とエアギャップを介して対向する、固
定子鉄心に巻線を巻回した電動機の固定子とよりなる永
久磁石形同期電動機と、この永久磁石形同期電動機の回
転軸を非接触支持する磁気軸受よりなる磁気軸受を用い
た同期回転電機において、 前記永久磁石形同期電動機が、上部円板の下側・周方向
に固着された永久磁石よりなる電動機の回転子と、この
回転子の下側にエアギャップを介して対向する、固定子
鉄心に巻線を巻回した電動機の固定子と、前記電動機の
回転子の回転位置を検出する回転センサで構成されるア
キシャルギャップ・縦形・同期電動機であり、 前記磁気軸受が、前記回転軸に設けた磁性体の鉄心より
なる磁気軸受の回転子と、この磁気軸受の回転子とエア
ギャップを介して対向する、鉄心に巻線を巻回した磁気
軸受の固定子と、前記磁気軸受の回転子とこの磁気軸受
の固定子間のエアギャップを検出する変位センサで構成
されるラジアル磁気軸受であることを特徴とする磁気軸
受を用いた同期回転電機。1. A rotor of an electric motor comprising a plurality of permanent magnets in which the polarities of adjacent magnets are alternately exchanged at an equal pole pitch, and a stator iron core facing the rotor via an air gap. In a synchronous rotating electric machine using a permanent magnet type synchronous motor consisting of a stator of an electric motor wound with a wire and a magnetic bearing consisting of a magnetic bearing for supporting a rotating shaft of the permanent magnet type synchronous motor in a non-contact manner, the permanent magnet A synchronous motor is a rotor of an electric motor consisting of permanent magnets fixed to the lower side of the upper disk in the circumferential direction, and a winding on the stator core facing the lower side of this rotor via an air gap. A stator of a wound electric motor, and an axial gap vertical type synchronous electric motor composed of a rotation sensor for detecting the rotational position of the rotor of the electric motor, wherein the magnetic bearing is a magnetic body provided on the rotating shaft. From the iron core A rotor of a magnetic bearing, a stator of a magnetic bearing having a winding wound around an iron core, which faces the rotor of the magnetic bearing via an air gap, a rotor of the magnetic bearing and a fixing of the magnetic bearing. A synchronous rotating electric machine using a magnetic bearing, which is a radial magnetic bearing composed of a displacement sensor for detecting an air gap between the children.
置を検出する回転センサと、その出力信号から、前記電
動機の回転子の回転速度に比例する信号を得るＦ／Ｖコ
ンバータと、外部から与える速度指令とこのＦ／Ｖコン
バータの出力信号を比較する比較器と、この比較器の出
力信号を受けて電動機の固定子の励磁磁極位置の位相を
制御する速度制御器と、この速度制御器の信号を受け出
力信号の大きさを制限するリミッターと、このリミッタ
ーの出力信号を受けてＡ／Ｄ変換するＡ／Ｄコンバータ
と、前記回転センサの信号からこのＡ／Ｄコンバータの
信号を減算する減算器と、この減算器の出力信号を受け
てあらかじめ記憶された信号を出力するＲＯＭと、この
ＲＯＭの出力信号を受けてＤ／Ａ変換するＤ／Ａコンバ
ータと、このＤ／Ａコンバータの信号を受けて電流増幅
する増幅器とで構成したことを特徴とする磁気軸受を用
いた同期回転電機の制御装置。2. A rotation sensor for detecting a rotation position of a rotor of a permanent magnet type synchronous motor, an F / V converter for obtaining a signal proportional to a rotation speed of the rotor of the motor from an output signal thereof, and an external sensor. A comparator for comparing the given speed command with the output signal of this F / V converter, a speed controller for receiving the output signal of this comparator and controlling the phase of the exciting magnetic pole position of the stator of the electric motor, and this speed controller To limit the magnitude of the output signal, an A / D converter that receives the output signal of the limiter and A / D converts it, and subtracts the signal of the A / D converter from the signal of the rotation sensor. A subtractor, a ROM for receiving an output signal of the subtractor and outputting a signal stored in advance, a D / A converter for receiving an output signal of the ROM and performing D / A conversion, and the D / A A control device for a synchronous rotating electric machine using a magnetic bearing, which is configured by an amplifier that receives a signal from a converter and amplifies a current.
信号を受けて磁気軸受の固定子に電流を供給する軸受制
御装置により、磁気軸受の回転子を磁気軸受の固定子の
径方向中央に浮上するよう制御すると同時に、請求項１
記載の磁気軸受を用いた同期回転電機を請求項２記載の
磁気軸受を用いた同期回転電機の制御装置により、前記
電動機の回転子の磁極位置と前記電動機の固定子の励磁
磁極の位置をずらして、前記電動機の回転子のアキシャ
ル方向の浮上と回転を制御することを特徴とする磁気軸
受を用いた同期回転電機の制御方法。3. The radial magnetic bearing floats the rotor of the magnetic bearing to the radial center of the stator of the magnetic bearing by a bearing control device that receives a signal from a displacement sensor and supplies an electric current to the stator of the magnetic bearing. At the same time as controlling to
A synchronous rotary electric machine using the magnetic bearing according to claim 2, wherein the magnetic pole position of the rotor of the electric motor and the position of the exciting magnetic pole of the stator of the electric motor are shifted by the control device for the synchronous rotary electric machine using the magnetic bearing of claim 2. And controlling the floating and rotation of the rotor of the electric motor in the axial direction.
から与える速度指令に応じて、前記電動機の回転子の磁
極位置と周方向にずれた位置に励磁し、前記電動機の回
転子を回転する請求項３記載の磁気軸受を用いた同期回
転電機の制御方法。4. An exciting magnetic pole of a stator of the electric motor is excited at a position circumferentially displaced from a magnetic pole position of the rotor of the electric motor in response to a speed command given from the outside to rotate the rotor of the electric motor. A method of controlling a synchronous rotating electric machine using the magnetic bearing according to claim 3.
る位置にある電動機の固定子の磁極を励磁し、前記電動
機の回転子と前記電動機の固定子間に働く磁気反発力で
前記電動機の回転子を浮上する請求項３または４記載の
磁気軸受を用いた同期回転電機の制御方法。5. A magnetic pole of a stator of an electric motor located at a position corresponding to a rotational position of a rotor of the electric motor is excited, and a magnetic repulsive force acting between the rotor of the electric motor and the stator of the electric motor causes a magnetic repulsion of the electric motor. A method of controlling a synchronous rotating electric machine using a magnetic bearing according to claim 3, wherein the rotor is levitated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02194794A JP3694794B2 (en) | 1994-01-21 | 1994-01-21 | Synchronous rotating electrical machine using magnetic bearing and control device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02194794A JP3694794B2 (en) | 1994-01-21 | 1994-01-21 | Synchronous rotating electrical machine using magnetic bearing and control device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07208470A true JPH07208470A (en) | 1995-08-11 |
| JP3694794B2 JP3694794B2 (en) | 2005-09-14 |
Family
ID=12069260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP02194794A Expired - Fee Related JP3694794B2 (en) | 1994-01-21 | 1994-01-21 | Synchronous rotating electrical machine using magnetic bearing and control device and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3694794B2 (en) |
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