JPH1122730A - Magnetic bearing and magnetic bearing unit - Google Patents

Magnetic bearing and magnetic bearing unit

Info

Publication number
JPH1122730A
JPH1122730A JP17962597A JP17962597A JPH1122730A JP H1122730 A JPH1122730 A JP H1122730A JP 17962597 A JP17962597 A JP 17962597A JP 17962597 A JP17962597 A JP 17962597A JP H1122730 A JPH1122730 A JP H1122730A
Authority
JP
Japan
Prior art keywords
rotating body
control
electromagnets
electromagnet
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.)
Pending
Application number
JP17962597A
Other languages
Japanese (ja)
Inventor
Hirotoyo Miyagawa
裕豊 宮川
Manabu Taniguchi
学 谷口
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koyo Seiko Co Ltd
Original Assignee
Koyo Seiko Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Koyo Seiko Co Ltd filed Critical Koyo Seiko Co Ltd
Priority to JP17962597A priority Critical patent/JPH1122730A/en
Publication of JPH1122730A publication Critical patent/JPH1122730A/en
Pending legal-status Critical Current

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
    • F16C32/0457—Details of the power supply to 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
    • 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
    • F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
    • 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
    • F16C32/0474—Active magnetic bearings for rotary movement

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a magnetic bearing to save a power. SOLUTION: A magnetic bearing 2 comprises a pair of electromagnets 5 and 6 arranged in a manner to nip a target 4 of a rotor 1 therebetween from both side in the direction of a horizontal control axis (an X-axis); a displacement detecting device 7 to detect displacement in the direction of the control axis of the rotor 1; and an electromagnet control device 8 to feed an excitation current, consisting of a constant steady current and a control current changed due to displacement of the rotor 1, to the electromagnets 5 and 6 to support the rotor 1 in a neutral position. The electromagnet control device 8 controls both the steady currents of a pair of the electromagnets 5 and 6 to 0, and the component in the control axial direction of gravity exerted on the rotor 1 is balanced with a magnetic suction force by the steady currents of a pair of the electromagnets 5 and 6.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】この発明は、たとえばフライ
ホイール式電力貯蔵装置などに使用される磁気軸受ユニ
ットおよび磁気軸受ユニットを構成する磁気軸受に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic bearing unit used for, for example, a flywheel type power storage device, and a magnetic bearing constituting the magnetic bearing unit.

【０００２】[0002]

【従来の技術】磁気軸受を使用したフライホイール式電
力貯蔵装置として、鉛直状の回転体を１組のアキシアル
磁気軸受ユニットと２組のラジアル磁気軸受ユニットで
非接触支持するものが知られている。また、電力貯蔵装
置には、電力貯蔵時には電動機として電力取出し時には
発電機として機能する発電兼用電動機が設けられてお
り、電力貯蔵時には、回転体は、上記の磁気軸受ユニッ
トで非接触支持された状態で、電動機により高速回転さ
せられる。2. Description of the Related Art As a flywheel type power storage device using magnetic bearings, there is known a flywheel type power storage device in which a vertical rotating body is supported in a non-contact manner by one set of axial magnetic bearing units and two sets of radial magnetic bearing units. . In addition, the power storage device is provided with a generator / motor that functions as a motor during power storage and as a generator when power is taken out.When power is stored, the rotating body is supported by the magnetic bearing unit in a non-contact manner. Then, it is rotated at high speed by an electric motor.

【０００３】アキシアル磁気軸受ユニットは、回転体の
軸方向の１箇所を鉛直なアキシアル制御軸（軸方向の制
御軸）方向の中立位置に非接触支持するものである。ラ
ジアル磁気軸受ユニットは、回転体の軸方向の２箇所に
おいて、それぞれ、アキシアル制御軸と直交するととも
に互いに直交する２つの水平なラジアル制御軸（径方向
の制御軸）方向の中立位置に回転体を非接触支持するも
のである。[0003] The axial magnetic bearing unit is configured to non-contactly support one location in the axial direction of the rotating body at a neutral position in a vertical axial control axis (axial control axis). The radial magnetic bearing unit places the rotating body at a neutral position in two horizontal radial control axes (radial control axes) orthogonal to the axial control axis and orthogonal to each other at two locations in the axial direction of the rotating body. Non-contact support.

【０００４】この明細書において、アキシアル制御軸を
Ｚ軸、ラジアル制御軸の一方をＸ軸、他方をＹ軸という
ことにする。[0004] In this specification, the axial control axis is referred to as a Z axis, one of the radial control axes is referred to as an X axis, and the other is referred to as a Y axis.

【０００５】アキシアル磁気軸受ユニットは、回転体を
鉛直なＺ軸方向に非接触支持する１組のアキシアル磁気
軸受（Ｚ軸磁気軸受）から構成されている。アキシアル
磁気軸受は、回転体の被支持部分であるフランジ部をＺ
軸方向の両側から挟むように配置された上下１対の電磁
石（Ｚ軸電磁石）と、回転体の中立位置からのＺ軸方向
の変位（以下単に「Ｚ軸変位」という）を検出する変位
検出装置（Ｚ軸変位検出装置）と、回転体のＺ軸変位に
基づいて各電磁石に励磁電流を供給する電磁石制御装置
（Ｚ軸電磁石制御装置）とを備えている。各電磁石に供
給される励磁電流は、定常電流と制御電流を合わせたも
のである。１対の電磁石の定常電流は互いに等しく、か
つ回転体のＺ軸変位にかかわらず一定である。制御電流
は回転体のＺ軸変位に応じて変化し、１対の電磁石につ
いて、常に、制御電流の絶対値は互いに等しく、符号は
反対である。すなわち、一方の電磁石の制御電流が正の
値であるときは、他方の電磁石の制御電流はそれと絶対
値の等しい負の値である。回転体は鉛直に配置されてい
るため、その重量はアキシアル磁気軸受によって支持さ
れる。このため、上側（Ｚ軸正（＋）側）の第１Ｚ軸電
磁石による上向きの磁気吸引力が、下側（Ｚ軸負（−）
側）の第２Ｚ軸電磁石のそれより回転体の重量分だけ大
きくなっている。つまり、常に、第１Ｚ軸電磁石の制御
電流は正の値で、第２Ｚ軸電磁石の制御電流は負の値に
なっている。[0005] The axial magnetic bearing unit comprises a set of axial magnetic bearings (Z-axis magnetic bearings) that support the rotating body in a non-contact manner in the vertical Z-axis direction. In the axial magnetic bearing, the flange portion, which is the supported portion of the rotating body, is
A pair of upper and lower electromagnets (Z-axis electromagnets) arranged to be sandwiched from both sides in the axial direction, and displacement detection for detecting displacement in the Z-axis direction from a neutral position of the rotating body (hereinafter, simply referred to as “Z-axis displacement”). A device (Z-axis displacement detection device) and an electromagnet control device (Z-axis electromagnet control device) for supplying an exciting current to each electromagnet based on the Z-axis displacement of the rotating body are provided. The exciting current supplied to each electromagnet is the sum of the steady current and the control current. The stationary currents of the pair of electromagnets are equal to each other and constant regardless of the Z-axis displacement of the rotating body. The control current changes according to the Z-axis displacement of the rotating body, and for a pair of electromagnets, the absolute values of the control current are always equal to each other and have opposite signs. That is, when the control current of one electromagnet is a positive value, the control current of the other electromagnet is a negative value having an absolute value equal to that. Since the rotating body is arranged vertically, its weight is supported by the axial magnetic bearing. For this reason, the upward magnetic attraction force of the upper (first Z-axis electromagnet) (the Z-axis positive (+) side) is lower than the lower (Z-axis negative (-) side).
Side) is larger than that of the second Z-axis electromagnet by the weight of the rotating body. That is, the control current of the first Z-axis electromagnet is always a positive value, and the control current of the second Z-axis electromagnet is always a negative value.

【０００６】各ラジアル磁気軸受ユニットは、回転体を
水平なＸ軸方向に非接触支持する１組のラジアル磁気軸
受（Ｘ軸磁気軸受）と、回転体を水平なＹ軸方向に非接
触支持する１組のラジアル磁気軸受（Ｙ軸磁気軸受）と
から構成されている。Each radial magnetic bearing unit supports a set of radial magnetic bearings (X-axis magnetic bearings) that support the rotating body in the horizontal X-axis direction without contact, and supports the rotating body in a non-contact manner in the horizontal Y-axis direction. And a set of radial magnetic bearings (Y-axis magnetic bearings).

【０００７】Ｘ軸磁気軸受は、回転体の外周に設けられ
た被支持部分であるターゲットをＸ軸方向の両側から挟
むように配置された１対の電磁石（Ｘ軸電磁石）と、回
転体の中立位置からのＸ軸方向の変位（以下単に「Ｘ軸
変位」という）を検出する変位検出装置（Ｘ軸変位検出
装置）と、回転体のＸ軸変位に基づいて各電磁石に励磁
電流を供給する電磁石制御装置（Ｘ軸電磁石制御装置）
とを備えている。各電磁石に供給される励磁電流は、Ｚ
軸磁気軸受の場合と同様、定常電流と制御電流を合わせ
たものである。回転体は鉛直に配置されているため、回
転体には、水平なＸ軸方向には１対のＸ軸電磁石による
磁気吸引力しか作用しない。このため、回転体がＸ軸方
向の中立位置にあるときは、各電磁石の制御電流は０で
あり、回転体が中立位置よりＸ軸負側に変位すると、Ｘ
軸正側の第１Ｘ軸電磁石の制御電流は正の値で、Ｘ軸負
側の第２Ｘ軸電磁石の制御電流はそれと絶対値の等しい
負の値となり、回転体が中立位置よりＸ軸正側に変位す
ると、Ｘ軸負側の第２Ｘ軸電磁石の制御電流は正の値
で、Ｘ軸正側の第１Ｘ軸電磁石の制御電流はそれと絶対
値の等しい負の値となる。The X-axis magnetic bearing comprises a pair of electromagnets (X-axis electromagnets) arranged so as to sandwich a target, which is a supported portion provided on the outer periphery of the rotating body, from both sides in the X-axis direction, A displacement detection device (X-axis displacement detection device) for detecting displacement in the X-axis direction from the neutral position (hereinafter simply referred to as "X-axis displacement"), and an excitation current is supplied to each electromagnet based on the X-axis displacement of the rotating body. Electromagnet controller (X-axis electromagnet controller)
And The exciting current supplied to each electromagnet is Z
As in the case of the shaft magnetic bearing, the steady current and the control current are combined. Since the rotating body is disposed vertically, only a magnetic attraction force by a pair of X-axis electromagnets acts on the rotating body in the horizontal X-axis direction. Therefore, when the rotating body is at the neutral position in the X-axis direction, the control current of each electromagnet is 0, and when the rotating body is displaced from the neutral position to the negative side of the X-axis, X
The control current of the first X-axis electromagnet on the positive side of the axis is a positive value, and the control current of the second X-axis electromagnet on the negative side of the X-axis is a negative value having an absolute value equal to the control current. , The control current of the second X-axis electromagnet on the negative side of the X-axis has a positive value, and the control current of the first X-axis electromagnet on the positive side of the X-axis has a negative value equal to the absolute value.

【０００８】Ｙ軸磁気軸受は、制御軸がＹ軸であるとい
う点を除いて、Ｘ軸磁気軸受と同じ構成を有し、１対の
Ｙ軸電磁石と、Ｙ軸変位検出装置と、Ｙ軸電磁石制御装
置を備えている。The Y-axis magnetic bearing has the same configuration as the X-axis magnetic bearing except that the control axis is the Y-axis, and includes a pair of Y-axis electromagnets, a Y-axis displacement detecting device, An electromagnet controller is provided.

【０００９】各磁気軸受において、電磁石制御装置は、
回転体の変位に対応する電磁石の磁気吸引力を求め、こ
れに比例する信号を制御電流信号として電磁石に供給し
ている。また、各磁気軸受において、１対の電磁石にバ
イアス電流として常に一定の定常電流を供給しているの
は、電磁石における制御電流と磁気吸引力との関係を線
形化するためである。図９は、Ｘ軸磁気軸受における電
磁石の制御電流と磁気吸引力との関係を表わすグラフで
ある。In each magnetic bearing, the electromagnet control device
The magnetic attraction force of the electromagnet corresponding to the displacement of the rotating body is obtained, and a signal proportional to this is supplied to the electromagnet as a control current signal. In each magnetic bearing, a constant steady current is always supplied as a bias current to a pair of electromagnets in order to linearize the relationship between the control current and the magnetic attraction force in the electromagnets. FIG. 9 is a graph showing the relationship between the control current of the electromagnet and the magnetic attractive force in the X-axis magnetic bearing.

【００１０】次に、図９を参照して、Ｘ軸磁気軸受にお
ける電磁石の制御電流と磁気吸引力との関係について説
明する。Next, the relationship between the control current of the electromagnet in the X-axis magnetic bearing and the magnetic attractive force will be described with reference to FIG.

【００１１】図９において、横軸は第１電磁石の制御電
流Ｉ1 を示し、右側が正、左側が負である。第２電磁石
の制御電流Ｉ2 は第１電磁石のそれと絶対値が等しくて
符号が逆であるから、第２電磁石の制御電流Ｉ2 につい
ては、横軸の左側が正、右側が負である。縦軸は電磁石
による磁気吸引力Ｆを示し、上側が正、下側が負であ
る。Ｆ1 は第１電磁石の磁気吸引力、Ｆ2 は第２電磁石
の磁気吸引力、Ｆt は２つの電磁石の磁気吸引力を合わ
せた電磁石全体の磁気吸引力を表わしている。磁気吸引
力は、Ｘ軸の正側向きを正、負側向きを負としている。
したがって、第１電磁石の磁気吸引力は正、第２電磁石
の磁気吸引力は負となる。各電磁石に供給される定常電
流をＩo とすると、第１電磁石については、制御電流Ｉ
1 が（−Ｉo ）のときに磁気吸引力Ｆ1 が０であり、制
御電流Ｉ1 が増加するにつれて磁気吸引力Ｆ1 は二次関
数的に増加する。第２電磁石については、制御電流Ｉ2
が（−Ｉo ）（第１電磁石の制御電流Ｉ1 がＩo ）のと
きに磁気吸引力Ｆ2 が０であり、制御電流Ｉ2 が増加
（第１電磁石の制御電流Ｉ1 が減少）するにつれて磁気
吸引力Ｆ2 の絶対値は二次関数的に増加する。制御電流
Ｉ1 、Ｉ2 が０のとき、第１電磁石の磁気吸引力はＦo
、第２電磁石の磁気吸引力は（−Ｆo ）であり、電磁
石全体の磁気吸引力は０となる。そして、電磁石全体の
磁気吸引力Ｆt は、原点(O) を通り第１電磁石の制御電
流Ｉ1 の増加に伴って増加する直線となる。すなわち、
制御電流Ｉ1 と全体の磁気吸引力Ｆt は比例する。In FIG. 9, the horizontal axis represents the control current I1 of the first electromagnet, and the right side is positive and the left side is negative. Since the control current I2 of the second electromagnet has the same absolute value as that of the first electromagnet but has the opposite sign, the left side of the horizontal electromagnet is positive and the right side of the control current I2 is negative. The vertical axis indicates the magnetic attraction force F by the electromagnet, where the upper side is positive and the lower side is negative. F1 represents the magnetic attraction of the first electromagnet, F2 represents the magnetic attraction of the second electromagnet, and Ft represents the magnetic attraction of the entire electromagnet obtained by combining the magnetic attraction of the two electromagnets. The magnetic attraction force is positive for the positive direction of the X-axis and negative for the negative direction.
Therefore, the magnetic attraction of the first electromagnet is positive and the magnetic attraction of the second electromagnet is negative. Assuming that the steady current supplied to each electromagnet is Io, the control current I
When 1 is (-Io), the magnetic attractive force F1 is 0, and as the control current I1 increases, the magnetic attractive force F1 increases quadratically. For the second electromagnet, the control current I2
Is (-Io) (the control current I1 of the first electromagnet is Io), the magnetic attractive force F2 is 0, and as the control current I2 increases (the control current I1 of the first electromagnet decreases), the magnetic attractive force F2 increases. The absolute value of increases quadratically. When the control currents I1 and I2 are 0, the magnetic attraction of the first electromagnet is Fo
, The magnetic attraction of the second electromagnet is (−Fo), and the magnetic attraction of the entire electromagnet is zero. The magnetic attraction force Ft of the entire electromagnet is a straight line that passes through the origin (O) and increases as the control current I1 of the first electromagnet increases. That is,
The control current I1 is proportional to the total magnetic attractive force Ft.

【００１２】Ｘ軸電磁石制御装置は、回転体のＸ軸変位
に対応する電磁石全体の磁気吸引力Ｆを求め、この磁気
吸引力Ｆに対応する第１電磁石の制御電流Ｉ1 を求め、
Ｉ1に対応する制御電流信号を第１電磁石に、（−Ｉ1
）に対応する制御電流信号を第２電磁石にそれぞれ出
力する。Ｘ軸変位に対応する電磁石全体の磁気吸引力Ｆ
は、公知のＰＩＤ制御回路などにより簡単に求めること
ができる。また、前述のように第１電磁石の制御電流Ｉ
1 と電磁石全体の磁気吸引力Ｆt とは比例するので、電
磁石全体の磁気吸引力Ｆが求まれば、上記の比例関係か
ら、容易に第１電磁石の制御電流Ｉ1 を求めることがで
きる。The X-axis electromagnet control device obtains a magnetic attraction force F of the entire electromagnet corresponding to the X-axis displacement of the rotating body, obtains a control current I1 of the first electromagnet corresponding to the magnetic attraction force F,
The control current signal corresponding to I1 is sent to the first electromagnet (-I1
) Is output to the second electromagnet. Magnetic attraction force F of the entire electromagnet corresponding to X-axis displacement
Can be easily obtained by a known PID control circuit or the like. Further, as described above, the control current I of the first electromagnet is
Since 1 and the magnetic attractive force Ft of the entire electromagnet are proportional, if the magnetic attractive force F of the entire electromagnet is obtained, the control current I1 of the first electromagnet can be easily obtained from the above proportional relationship.

【００１３】たとえば、回転体が中立位置からＸ軸方向
の負側に微小変位した場合、変位検出装置により変位が
検出され、回転体を中立位置に戻すように各電磁石に励
磁電流が供給される。図９に示すように、第１電磁石に
は、定常電流Ｉo と正の値の制御電流Ｉa を合わせた励
磁電流（Ｉo ＋Ｉa ）が供給され、これに対応するＸ軸
正側向きの磁気吸引力Ｆ1aが第１電磁石に発生する。ま
た、第２電磁石には、定常電流Ｉo と負の値の制御電流
（−Ｉa ）を合わせた励磁電流（Ｉo −Ｉa ）が供給さ
れ、これに対応するＸ軸負側向きの磁気吸引力（−Ｆ2
a）が第２電磁石に発生する。第１電磁石の磁気吸引力
Ｆ1aの絶対値は第２電磁石の磁気吸引力（−Ｆ2a）の絶
対値より大きく、両者を合わせた電磁石全体の磁気吸引
力Ｆa は正の値となり、回転体はＸ軸の正側すなわち変
位が小さくなる側に吸引される。For example, when the rotating body is slightly displaced from the neutral position to the negative side in the X-axis direction, the displacement is detected by the displacement detecting device, and the exciting current is supplied to each electromagnet so as to return the rotating body to the neutral position. . As shown in FIG. 9, the first electromagnet is supplied with an exciting current (Io + Ia) obtained by combining the steady current Io and the positive control current Ia, and the corresponding magnetic attraction force in the positive direction on the X-axis. F1a is generated in the first electromagnet. The second electromagnet is supplied with an exciting current (Io-Ia) obtained by combining the steady current Io and a negative control current (-Ia), and the corresponding magnetic attraction force (X-negative direction) on the negative side of the X-axis. -F2
a) occurs in the second electromagnet. The absolute value of the magnetic attraction force F1a of the first electromagnet is larger than the absolute value of the magnetic attraction force (−F2a) of the second electromagnet. The suction is performed on the positive side of the shaft, that is, on the side where the displacement becomes smaller.

【００１４】回転体が中立位置からＸ軸方向の正側に微
小変位した場合は、上記とは逆に、電磁石全体の磁気吸
引力は負の値となり、第１電磁石にはこの磁気吸引力に
比例する負の値の制御電流が供給され、第２電磁石には
これと絶対値が等しい正の値の制御電流が供給される。When the rotating body is slightly displaced from the neutral position to the positive side in the X-axis direction, contrary to the above, the magnetic attraction of the entire electromagnet has a negative value, and the first electromagnet has a negative value. A proportional negative control current is supplied, and the second electromagnet is supplied with a positive control current having an absolute value equal to the control current.

【００１５】このように、従来の磁気軸受では、回転体
の変位にかかわらず、１対の電磁石に常に定常電流が供
給されているため、電磁石による消費電力が大きく、し
たがって、磁気軸受、磁気軸受ユニットおよびこれを用
いた装置の消費電力が大きいという問題がある。As described above, in the conventional magnetic bearing, since a steady current is always supplied to the pair of electromagnets regardless of the displacement of the rotating body, the power consumption by the electromagnets is large. There is a problem that the power consumption of the unit and the device using the unit is large.

【００１６】上記のようなラジアル磁気軸受の電磁石に
は、従来、回転体の周方向にのびる連結部の両端に径方
向内側に突出した磁極部が形成された略馬蹄形のコアに
コイルが巻かれたヘテロポーラ型と呼ばれるものが使用
されている。このようなヘテロポーラ型の電磁石の場
合、両端の磁極部は互いに逆の極性に励磁されるため、
２対の電磁石を備えた磁気軸受ユニット全体で見ると、
回転体の回転方向に逆の極性の磁極部が４つずつ並ぶこ
とになる。このため、回転体の周囲の回転方向の磁束の
変化が大きく、回転により回転体のターゲットの表面に
渦電流が発生し、それによる回転損失が大きい。したが
って、その分、電動機の消費電力が大きくなり、やは
り、磁気軸受あるいは磁気軸受ユニットを用いた装置の
消費電力が大きいという問題がある。Conventionally, the electromagnet of the radial magnetic bearing has a coil wound around a substantially horseshoe-shaped core in which magnetic pole portions projecting radially inward are formed at both ends of a connecting portion extending in the circumferential direction of the rotating body. What is called a heteropolar type is used. In the case of such a heteropolar electromagnet, the magnetic pole portions at both ends are excited with opposite polarities, so that
Looking at the whole magnetic bearing unit with two pairs of electromagnets,
Four magnetic poles of opposite polarities are arranged in the rotating direction of the rotating body. For this reason, the change of the magnetic flux in the rotation direction around the rotating body is large, and the rotation generates an eddy current on the surface of the target of the rotating body, resulting in a large rotation loss. Accordingly, there is a problem that the power consumption of the electric motor is increased correspondingly, and the power consumption of the device using the magnetic bearing or the magnetic bearing unit is also large.

【００１７】回転体を磁気軸受で非接触支持する装置に
は、回転体が水平に配置されるものや斜めに配置される
ものもあるが、そのような場合にも、上記と同様の問題
がある。In a device for supporting a rotating body in a non-contact manner with a magnetic bearing, there are a rotating body arranged horizontally and an obliquely arranged body. In such a case, the same problem as described above occurs. is there.

【００１８】この発明の目的は、上記の問題を解決し、
省電力化が可能な磁気軸受および磁気軸受ユニットを提
供することにある。An object of the present invention is to solve the above problems,
An object of the present invention is to provide a magnetic bearing and a magnetic bearing unit capable of saving power.

【００１９】[0019]

【課題を解決するための手段および発明の効果】請求項
１の磁気軸受は、回転体を１つの制御軸方向に非接触支
持するための磁気軸受であって、回転体を磁気吸引力に
よって前記制御軸方向の所定の中立位置に非接触支持す
るために前記制御軸方向の両側から前記回転体の被支持
部分を挟むように配置された１対の電磁石と、前記回転
体の前記中立位置からの前記制御軸方向の変位を検出す
る変位検出手段と、前記回転体を前記中立位置に支持す
るために前記各電磁石に一定の定常電流と前記回転体の
前記制御軸方向の変位によって変化する制御電流とから
なる励磁電流を供給する電磁石制御手段とを備えている
磁気軸受において、前記電磁石制御手段が、前記１対の
電磁石の両方の定常電流をともに０とするか、あるいは
一方にのみ一定の定常電流を供給して、前記回転体に作
用する重力の前記制御軸方向の成分と前記１対の電磁石
の定常電流による磁気吸引力が釣合うようにするもので
あることを特徴とするものである。According to a first aspect of the present invention, there is provided a magnetic bearing for supporting a rotating body in a non-contact manner in one control axis direction, wherein the rotating body is driven by magnetic attraction. A pair of electromagnets arranged to sandwich the supported portion of the rotating body from both sides in the control axis direction for non-contact support at a predetermined neutral position in the control axis direction, and from the neutral position of the rotating body A displacement detecting means for detecting a displacement of the rotating body in the control axis direction, and a constant current flowing through each of the electromagnets for supporting the rotating body at the neutral position, and a control which changes by a displacement of the rotating body in the control axis direction. And an electromagnet control means for supplying an exciting current consisting of an electric current, wherein the electromagnet control means sets both the steady-state currents of the pair of electromagnets to 0, or a constant value for only one of them. A normal current is supplied to balance a component of gravity acting on the rotating body in the control axis direction with a magnetic attraction force due to a steady current of the pair of electromagnets. is there.

【００２０】制御軸が水平である場合、電磁石制御手段
は、１対の電磁石の両方の定常電流をともに０として、
１対の電磁石の定常電流による磁気吸引力を０とする。
つまり、磁気軸受は、１対の電磁石に従来は常に供給さ
れていた定常電流を０にしたものである。この場合、制
御軸が水平であるから、回転体に作用する重力の制御軸
方向の成分は０であり、１対の電磁石の両方の定常電流
を０とすることにより、重力の制御軸方向の成分（＝
０）と１対の電磁石の定常電流による磁気吸引力（＝
０）とを釣合わせることができる。そして、回転体の変
位が０のときは、いずれの電磁石の励磁電流も０であ
り、回転体に変位が生じたときも、いずれか一方の電磁
石に制御電流のみからなる励磁電流が供給されるだけで
ある。このため、１対の電磁石の励磁電流を合わせた磁
気軸受全体の電磁石の消費電流が、従来のものに比べて
かなり小さくなる。When the control axis is horizontal, the electromagnet control means sets both the steady currents of the pair of electromagnets to 0,
The magnetic attraction by the steady current of the pair of electromagnets is set to zero.
That is, in the magnetic bearing, the steady current conventionally conventionally always supplied to the pair of electromagnets is reduced to zero. In this case, since the control axis is horizontal, the component of the gravity acting on the rotating body in the direction of the control axis is 0, and by setting the steady current of both electromagnets to 0, the component of the gravity in the control axis direction is reduced. Component (=
0) and the magnetic attraction force (=
0) can be balanced. When the displacement of the rotating body is 0, the exciting current of any of the electromagnets is 0. When the rotating body is displaced, the exciting current including only the control current is supplied to one of the electromagnets. Only. For this reason, the current consumption of the electromagnets of the entire magnetic bearing in which the excitation currents of the pair of electromagnets are combined is considerably smaller than that of the conventional one.

【００２１】制御軸が水平でない場合、すなわち鉛直で
あるか傾いている場合、１対の電磁石のうち、上側にあ
る電磁石にのみ回転体に作用する重力の制御軸方向の成
分と釣合う磁気吸引力を発生させるのに必要な最小限の
一定の定常電流を供給するとともに、下側にある電磁石
の定常電流を０とし、重力の制御軸方向の成分と１対の
電磁石の定常電流による磁気吸引力とを釣合わせる。こ
の場合も、一方の電磁石にのみ必要最小限の定常電流を
供給すればよく、１対の電磁石の励磁電流を合わせた磁
気軸受全体の電磁石の消費電流が、従来のものに比べて
かなり小さくなる。When the control axis is not horizontal, that is, when the control axis is vertical or inclined, magnetic attraction that balances a component in the control axis direction of gravity acting on the rotating body only on the upper one of the pair of electromagnets. A minimum constant steady current required to generate a force is supplied, the steady current of the lower electromagnet is set to 0, and the magnetic attraction by the component in the control axis direction of gravity and the steady current of a pair of electromagnets. Balance power. Also in this case, it is sufficient to supply the minimum necessary steady-state current to only one of the electromagnets, and the current consumption of the electromagnets of the entire magnetic bearing including the excitation currents of the pair of electromagnets is considerably smaller than that of the conventional one. .

【００２２】このように、請求項１の磁気軸受によれ
ば、１対の電磁石に供給する定常電流を０にするか、あ
るいは必要最小限にすることができ、磁気軸受全体の電
磁石の消費電流を従来のものに比べてかなり小さくする
ことができる。したがって、磁気軸受、これを用いた磁
気軸受ユニット、およびこれを用いたたとえばフライホ
イール式電力貯蔵装置などの装置の省電力化が可能であ
る。As described above, according to the magnetic bearing of the first aspect, the steady current supplied to the pair of electromagnets can be reduced to zero or required minimum, and the current consumption of the electromagnets of the entire magnetic bearing can be reduced. Can be made considerably smaller than the conventional one. Therefore, it is possible to reduce the power consumption of the magnetic bearing, the magnetic bearing unit using the same, and a device such as a flywheel type power storage device using the same.

【００２３】請求項２の磁気軸受は、請求項１の磁気軸
受において、前記制御軸が水平な制御軸であり、前記電
磁石制御手段が、前記１対の電磁石の両方の電磁石の定
常電流をともに０とするものである。つまり、請求項２
の磁気軸受は、回転体を１つの水平制御軸方向に非接触
支持するための磁気軸受であって、回転体を磁気吸引力
によって前記制御軸方向の所定の中立位置に非接触支持
するために前記制御軸方向の両側から前記回転体の被支
持部分を挟むように配置された１対の電磁石と、前記回
転体の前記中立位置からの前記制御軸方向の変位を検出
する変位検出手段と、前記回転体を前記中立位置に支持
するために前記各電磁石に一定の定常電流と前記回転体
の前記制御軸方向の変位によって変化する制御電流とか
らなる励磁電流を供給する電磁石制御手段とを備えてい
る磁気軸受において、前記電磁石制御手段が、前記１対
の電磁石の両方の定常電流をともに０として、前記回転
体に作用する重力の前記制御軸方向の成分と前記１対の
電磁石の定常電流による磁気吸引力が釣合うようにする
ものである。さらに言替えれば、請求項２の磁気軸受
は、１対の電磁石に従来は常に供給されていた定常電流
を０にしたものである。A magnetic bearing according to a second aspect of the present invention is the magnetic bearing according to the first aspect, wherein the control axis is a horizontal control axis, and the electromagnet control means controls a steady current of both electromagnets of the pair of electromagnets. It is assumed to be 0. That is, claim 2
Is a magnetic bearing for supporting the rotating body in a non-contact manner in one horizontal control axis direction, and for supporting the rotating body at a predetermined neutral position in the control axis direction by magnetic attraction. A pair of electromagnets arranged so as to sandwich the supported portion of the rotating body from both sides in the control axis direction, and a displacement detecting means for detecting a displacement in the control axis direction from the neutral position of the rotating body, Electromagnet control means for supplying an exciting current consisting of a constant steady current to each of the electromagnets and a control current that varies with displacement of the rotating body in the control axis direction to support the rotating body at the neutral position. In the magnetic bearing, the electromagnet control means sets both the steady-state currents of both the pair of electromagnets to 0, and controls the component of gravity acting on the rotating body in the control axis direction and the steady-state current of the pair of electromagnets. Magnetic attraction force due is controlled in such balance. In other words, the magnetic bearing according to claim 2 is one in which the steady current conventionally conventionally supplied to the pair of electromagnets is set to zero.

【００２４】請求項２の磁気軸受の場合、制御軸が水平
であるから、回転体に作用する重力の制御軸方向の成分
は０であり、１対の電磁石の両方の定常電流を０とする
ことにより、重力の制御軸方向の成分（＝０）と１対の
電磁石の定常電流による磁気吸引力（＝０）とを釣合わ
せることができる。そして、回転体の変位が０のとき
は、いずれの電磁石の励磁電流も０であり、回転体に変
位が生じたときも、いずれか一方の電磁石に制御電流の
みからなる励磁電流が供給されるだけである。このた
め、１対の電磁石の励磁電流を合わせた磁気軸受全体の
電磁石の消費電流が、従来のものに比べてかなり小さく
なる。In the case of the magnetic bearing of the second aspect, since the control axis is horizontal, the component of gravity acting on the rotating body in the direction of the control axis is zero, and the steady current of both electromagnets is set to zero. This makes it possible to balance the component (= 0) of gravity in the control axis direction with the magnetic attraction (= 0) due to the steady current of the pair of electromagnets. When the displacement of the rotating body is 0, the exciting current of any of the electromagnets is 0. When the rotating body is displaced, the exciting current including only the control current is supplied to one of the electromagnets. Only. For this reason, the current consumption of the electromagnets of the entire magnetic bearing in which the excitation currents of the pair of electromagnets are combined is considerably smaller than that of the conventional one.

【００２５】請求項３の磁気軸受は、請求項１の磁気軸
受において、前記制御軸が水平でない制御軸であり、前
記電磁石制御手段が、前記１対の電磁石のうち上側にあ
るものにのみ一定の定常電流を供給するものである。つ
まり、請求項３の磁気軸受は、回転体を１つの水平でな
い制御軸方向に非接触支持するための磁気軸受であっ
て、回転体を磁気吸引力によって前記制御軸方向の所定
の中立位置に非接触支持するために前記制御軸方向の両
側から前記回転体の被支持部分を挟むように配置された
１対の電磁石と、前記回転体の前記中立位置からの前記
制御軸方向の変位を検出する変位検出手段と、前記回転
体を前記中立位置に支持するために前記各電磁石に一定
の定常電流と前記回転体の前記制御軸方向の変位によっ
て変化する制御電流とからなる励磁電流を供給する電磁
石制御手段とを備えている磁気軸受において、前記電磁
石制御手段が、上側にある電磁石にのみ一定の定常電流
を供給して、前記回転体に作用する重力の前記制御軸方
向の成分と前記１対の電磁石の定常電流による磁気吸引
力が釣合うようにするものである。According to a third aspect of the present invention, in the magnetic bearing of the first aspect, the control axis is a non-horizontal control axis, and the electromagnet control means is fixed only to an upper one of the pair of electromagnets. Is supplied. That is, the magnetic bearing according to claim 3 is a magnetic bearing for supporting the rotating body in a non-horizontal control axis direction in a non-contact manner, and the rotating body is moved to a predetermined neutral position in the control axis direction by magnetic attraction. A pair of electromagnets arranged so as to sandwich the supported portion of the rotating body from both sides in the control axis direction for non-contact support, and a displacement of the rotating body in the control axis direction from the neutral position is detected. And a magnetizing current consisting of a constant steady-state current and a control current that varies according to the displacement of the rotating body in the control axis direction in order to support the rotating body at the neutral position. In a magnetic bearing comprising an electromagnet control means, the electromagnet control means supplies a constant steady current only to an electromagnet located on an upper side, and a component of gravity acting on the rotating body in the control axis direction and the 1 It is desirable to make magnetic attraction is balanced by a steady current of the electromagnet.

【００２６】請求項３の磁気軸受の場合も、上側にある
一方の電磁石にのみ必要最小限の定常電流を供給すれば
よく、１対の電磁石の励磁電流を合わせた磁気軸受全体
の電磁石の消費電流が、従来のものに比べてかなり小さ
くなる。In the case of the magnetic bearing of the third aspect, it is sufficient to supply a minimum necessary steady-state current to only one of the electromagnets on the upper side, and the consumption of the electromagnets of the entire magnetic bearing is equal to the exciting current of the pair of electromagnets. The current is much smaller than in the prior art.

【００２７】請求項４の磁気軸受は、請求項１、２また
は３の磁気軸受において、前記電磁石制御手段が、前記
回転体の前記制御軸方向の変位に対応する前記１対の電
磁石による磁気吸引力値を求めて磁気吸引力信号として
出力する磁気吸引力演算手段と、この磁気吸引力信号に
対応する前記各電磁石の制御電流値を求めて制御電流信
号として前記各電磁石に出力する制御電流補正手段とを
備えているものである。A magnetic bearing according to a fourth aspect of the present invention is the magnetic bearing according to the first, second or third aspect, wherein the electromagnet control means performs magnetic attraction by the pair of electromagnets corresponding to the displacement of the rotating body in the control axis direction. Magnetic attraction force calculating means for obtaining a force value and outputting it as a magnetic attraction force signal; control current correction for obtaining a control current value of each of the electromagnets corresponding to the magnetic attraction force signal and outputting the control current value to each of the electromagnets as a control current signal Means.

【００２８】磁気吸引力演算手段は、回転体の制御軸方
向の変位に対応する１対の電磁石による磁気吸引力値を
求めるものであるから、従来の電磁石制御装置と同じ構
成にすることができる。１対の電磁石のうち、少なくと
も一方の定常電流は０であるから、制御電流と磁気吸引
力との関係は線形ではないが、制御電流補正手段によ
り、磁気吸引力演算手段から出力された磁気吸引力信号
に対応する各電磁石の制御電流値を求めて制御電流信号
として各電磁石に出力するので、常に、回転体の位置制
御のために必要な磁気吸引力に応じた所望の制御電流を
電磁石に供給することができる。したがって、従来の電
磁石制御装置と同じ磁気吸引力演算手段を用いて、電磁
石の制御電流を適正に制御することができる。The magnetic attraction force calculating means is for obtaining the magnetic attraction force value by a pair of electromagnets corresponding to the displacement of the rotating body in the control axis direction, so that it can have the same configuration as the conventional electromagnet control device. . Since the steady current of at least one of the pair of electromagnets is 0, the relationship between the control current and the magnetic attraction force is not linear, but the control current correction means outputs the magnetic attraction output from the magnetic attraction force calculation means. Since the control current value of each electromagnet corresponding to the force signal is obtained and output to each electromagnet as a control current signal, a desired control current according to the magnetic attraction force required for position control of the rotating body is always applied to the electromagnet. Can be supplied. Therefore, the control current of the electromagnet can be appropriately controlled using the same magnetic attraction force calculating means as the conventional electromagnet control device.

【００２９】請求項５の磁気軸受ユニットは、回転体を
その回転軸心と直交するとともに互いに直交する２つの
制御軸方向に非接触支持するための磁気軸受ユニットで
あって、前記回転体を第１の制御軸方向に非接触支持す
るための第１の磁気軸受と、前記回転体を第２の制御軸
方向に非接触支持するための第２の磁気軸受とを備え、
前記各磁気軸受が、前記回転体を磁気吸引力によって前
記各制御軸方向の所定の中立位置に非接触支持するため
に前記各制御軸方向の両側から前記回転体の被支持部分
を挟むように配置された１対の電磁石と、前記回転体の
前記中立位置からの前記各制御軸方向の変位を検出する
変位検出手段と、前記回転体を前記中立位置に支持する
ために前記各電磁石に一定の定常電流と前記回転体の前
記制御軸方向の変位によって変化する制御電流とからな
る励磁電流を供給する電磁石制御手段とをそれぞれ備え
ている磁気軸受ユニットにおいて、前記各磁気軸受の前
記電磁石制御手段が、前記１対の電磁石の両方の定常電
流をともに０とするか、あるいは一方にのみ一定の定常
電流を供給して、前記回転体に作用する重力の前記各制
御軸方向の成分と前記１対の電磁石の定常電流による磁
気吸引力が釣合うようにするものであることを特徴とす
るものである。A magnetic bearing unit according to a fifth aspect of the present invention is a magnetic bearing unit for supporting the rotating body in a non-contact manner in two control axis directions orthogonal to the rotation axis and orthogonal to each other. A first magnetic bearing for supporting the rotating body in a non-contact manner in a control axis direction, and a second magnetic bearing for supporting the rotating body in a non-contact manner in a second control axis direction;
The respective magnetic bearings sandwich the supported portion of the rotating body from both sides in the respective control axis directions in order to non-contact support the rotating body at a predetermined neutral position in the respective control axis directions by magnetic attraction. A pair of electromagnets arranged, displacement detecting means for detecting displacement of the rotating body from the neutral position in each of the control axis directions, and constant for each of the electromagnets to support the rotating body at the neutral position And a magnet control means for supplying an exciting current comprising a steady current of the rotating body and a control current that varies according to the displacement of the rotating body in the control axis direction, wherein the electromagnet controlling means of each magnetic bearing is provided. However, both steady currents of the pair of electromagnets are set to 0, or a constant steady current is supplied to only one of the electromagnets, and a component of gravity acting on the rotating body in each of the control axis directions is provided. It is characterized in that due to the static current serial pair of electromagnets is intended to make the magnetic attractive force are balanced.

【００３０】請求項５の磁気軸受ユニットにおける各磁
気軸受は、請求項１の磁気軸受と同じものである。Each magnetic bearing in the magnetic bearing unit of claim 5 is the same as the magnetic bearing of claim 1.

【００３１】したがって、請求項１の磁気軸受の場合と
同様、磁気軸受の制御軸が水平である場合、１対の電磁
石の定常電流を０とすることができ、磁気軸受の制御軸
が水平でない場合、一方の電磁石にのみ必要最小限の定
常電流を供給すればよい。Therefore, when the control axis of the magnetic bearing is horizontal, the steady current of the pair of electromagnets can be set to 0, and the control axis of the magnetic bearing is not horizontal. In this case, a minimum necessary steady-state current may be supplied to only one electromagnet.

【００３２】両方の磁気軸受の制御軸がともに水平であ
れば、両方の磁気軸受について、１対の電磁石の定常電
流をともに０とすることができる。If the control axes of both magnetic bearings are both horizontal, the steady currents of the pair of electromagnets can be made zero for both magnetic bearings.

【００３３】一方の磁気軸受の制御軸が水平で、他方の
磁気軸受の制御軸が水平でない場合は、この他方の電磁
石の一方の電磁石にのみ必要最小限の定常電流を供給す
ればよい。When the control axis of one magnetic bearing is horizontal and the control axis of the other magnetic bearing is not horizontal, it is sufficient to supply a minimum necessary steady-state current to only one of the other electromagnets.

【００３４】両方の磁気軸受の制御軸がともに水平でな
い場合は、両方の磁気軸受の一方の電磁石にのみ必要最
小限の定常電流を供給すればよい。If the control shafts of both magnetic bearings are not horizontal, it is sufficient to supply a minimum necessary steady-state current to only one electromagnet of both magnetic bearings.

【００３５】したがって、請求項５の磁気軸受ユニット
によれば、２つの磁気軸受の電磁石に供給する定常電流
を０にするか、あるいは必要最小限にすることができ、
磁気軸受ユニット全体の電磁石の消費電流を従来のもの
に比べてかなり小さくすることができる。したがって、
磁気軸受ユニット、およびこれを用いたたとえばフライ
ホイール式電力貯蔵装置などの装置の省電力化が可能で
ある。Therefore, according to the magnetic bearing unit of the fifth aspect, the steady current supplied to the electromagnets of the two magnetic bearings can be reduced to zero or required minimum.
The current consumption of the electromagnet of the entire magnetic bearing unit can be considerably reduced as compared with the conventional one. Therefore,
It is possible to reduce the power consumption of the magnetic bearing unit and a device such as a flywheel type power storage device using the magnetic bearing unit.

【００３６】請求項６の磁気軸受ユニットは、請求項５
の磁気軸受ユニットにおいて、前記回転体の回転軸心が
鉛直状をなし、前記各磁気軸受の前記電磁石制御手段
が、前記１対の電磁石の両方の定常電流をともに０とす
るものであることを特徴とするものである。つまり、請
求項６の磁気軸受ユニットは、鉛直状の回転体をその回
転軸心と直交するとともに互いに直交する２つの水平な
制御軸方向に非接触支持するための磁気軸受ユニットで
あって、前記回転体を第１の制御軸方向に非接触支持す
るための第１の磁気軸受と、前記回転体を第２の制御軸
方向に非接触支持するための第２の磁気軸受とを備え、
前記各磁気軸受が、前記回転体を磁気吸引力によって前
記各制御軸方向の所定の中立位置に非接触支持するため
に前記各制御軸方向の両側から前記回転体の被支持部分
を挟むように配置された１対の電磁石と、前記回転体の
前記中立位置からの前記各制御軸方向の変位を検出する
変位検出手段と、前記回転体を前記中立位置に支持する
ために前記各電磁石に一定の定常電流と前記回転体の前
記制御軸方向の変位によって変化する制御電流とからな
る励磁電流を供給する電磁石制御手段とをそれぞれ備え
ている磁気軸受ユニットにおいて、前記各磁気軸受の前
記電磁石制御手段が、前記１対の電磁石の両方の定常電
流をともに０として、前記回転体に作用する重力の前記
各制御軸方向の成分と前記１対の電磁石の定常電流によ
る磁気吸引力が釣合うようにするものである。さらに言
替えれば、請求項６の磁気軸受ユニットは、２つの磁気
軸受の１対の電磁石に従来は常に供給されていた定常電
流を全て０にしたものである。According to a sixth aspect of the present invention, there is provided the magnetic bearing unit of the fifth aspect.
In the magnetic bearing unit of (1), the rotating shaft of the rotating body has a vertical shape, and the electromagnet control means of each of the magnetic bearings sets both steady currents of the pair of electromagnets to 0. It is a feature. In other words, the magnetic bearing unit according to claim 6 is a magnetic bearing unit for supporting the vertical rotating body in a non-contact manner in two horizontal control axis directions orthogonal to the rotation axis and orthogonal to each other. A first magnetic bearing for supporting the rotating body in a non-contact manner in a first control axis direction, and a second magnetic bearing for supporting the rotating body in a non-contact manner in a second control axis direction;
The respective magnetic bearings sandwich the supported portion of the rotating body from both sides in the respective control axis directions in order to non-contact support the rotating body at a predetermined neutral position in the respective control axis directions by magnetic attraction. A pair of electromagnets arranged, displacement detecting means for detecting displacement of the rotating body from the neutral position in each of the control axis directions, and constant for each of the electromagnets to support the rotating body at the neutral position And a magnet control means for supplying an exciting current comprising a steady current of the rotating body and a control current that varies according to the displacement of the rotating body in the control axis direction, wherein the electromagnet controlling means of each magnetic bearing is provided. However, when both steady currents of the pair of electromagnets are set to 0, the components of gravity acting on the rotating body in the respective control axis directions and the magnetic attraction force due to the steady currents of the pair of electromagnets are reduced. It is intended to Migihitsuji. In other words, the magnetic bearing unit according to claim 6 is one in which the steady current conventionally conventionally supplied to a pair of electromagnets of two magnetic bearings is all zero.

【００３７】請求項６の磁気軸受ユニットにおける磁気
軸受は、請求項２の磁気軸受と同じものである。The magnetic bearing in the magnetic bearing unit of claim 6 is the same as the magnetic bearing of claim 2.

【００３８】したがって、請求項６の磁気軸受ユニット
の場合、請求項２の磁気軸受の場合と同様、各磁気軸受
の定常電流を全て０とすることができ、磁気軸受ユニッ
ト全体の電磁石の消費電流を非常に小さくすることがで
きる。Therefore, in the case of the magnetic bearing unit of claim 6, as in the case of the magnetic bearing of claim 2, the steady-state current of each magnetic bearing can be all zero, and the current consumption of the electromagnet of the entire magnetic bearing unit. Can be very small.

【００３９】請求項７の磁気軸受ユニットは、請求項５
または６の磁気軸受ユニットにおいて、前記各磁気軸受
の各電磁石が、前記回転体の回転軸心方向にのびる連結
部の両端部に前記制御軸方向の内側に突出した磁極部が
形成されたコアを備え、前記全電磁石のコアの一方の同
一端部の磁極部が同一の極性を有し、他方の同一端部の
磁極部が上記と逆の同一の極性を有するものである。According to a seventh aspect of the present invention, there is provided the magnetic bearing unit of the fifth aspect.
Or, in the magnetic bearing unit of 6, each electromagnet of each of the magnetic bearings has a core in which magnetic pole portions projecting inward in the control axis direction are formed at both ends of a connecting portion extending in the rotation axis direction of the rotating body. The magnetic poles at one and the same end of the cores of all the electromagnets have the same polarity, and the magnetic poles at the other and the same end have the same polarity opposite to the above.

【００４０】この場合、同一極性を有する一方の同一端
部の磁極部に面する回転体の周囲の磁束の変化が小さく
なり、したがって、回転により回転体の表面に生じる渦
電流が小さくなり、回転損失が小さくなる。他方の同一
端部の磁極部についても同様であり、磁気軸受ユニット
全体の回転損失が小さくなる。したがって、電動機の消
費電力が小さくなり、磁気軸受ユニットを用いた装置の
消費電力が小さくなる。In this case, the change in the magnetic flux around the rotating body facing the magnetic pole at the same end having the same polarity is reduced, so that the eddy current generated on the surface of the rotating body due to the rotation is reduced. Loss is reduced. The same applies to the other magnetic pole portion at the same end, and the rotational loss of the entire magnetic bearing unit is reduced. Therefore, the power consumption of the electric motor is reduced, and the power consumption of the device using the magnetic bearing unit is reduced.

【００４１】[0041]

【発明の実施の形態】以下、図１〜図８を参照して、こ
の発明の実施形態について説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

【００４２】図１〜図５は、この発明を鉛直状の回転体
を１組のアキシアル磁気軸受ユニットと上下２組のラジ
アル磁気軸受ユニットで非接触支持する装置（たとえば
フライホイール式電力貯蔵装置）に適用した実施形態を
示している。この場合、Ｚ軸は鉛直に、Ｘ軸およびＹ軸
は水平に配置される。FIGS. 1 to 5 show a device (for example, a flywheel type power storage device) in which a vertical rotating body is supported in a non-contact manner by one set of axial magnetic bearing units and two sets of upper and lower radial magnetic bearing units. 1 shows an embodiment applied to the present invention. In this case, the Z axis is arranged vertically, and the X and Y axes are arranged horizontally.

【００４３】図１および図２は、１組のラジアル磁気軸
受ユニットの部分を示している。FIGS. 1 and 2 show parts of a set of radial magnetic bearing units.

【００４４】ラジアル磁気軸受ユニットは、回転体(1)
をＸ軸方向に非接触支持するためのラジアル磁気軸受
（Ｘ軸磁気軸受）(2) と、回転体(1) をＹ軸方向に非接
触支持するためのラジアル磁気軸受（Ｙ軸磁気軸受）
(3) とを備えている。The radial magnetic bearing unit comprises a rotating body (1)
Radial magnetic bearing (X-axis magnetic bearing) for supporting the rotor in the X-axis direction without contact (2) and radial magnetic bearing (Y-axis magnetic bearing) for supporting the rotating body (1) in the Y-axis direction without contact
(3).

【００４５】Ｘ軸磁気軸受(2) は、回転体(1) を磁気吸
引力によってＸ軸方向の所定の中立位置に非接触支持す
るためにＸ軸方向の両側から回転体(1) の外周のターゲ
ット（被支持部分）(4) を挟むように配置された１対の
電磁石（Ｘ軸電磁石）(5)(6)と、回転体(1) の中立位置
からのＸ軸方向の変位を検出する変位検出手段を構成す
る変位検出装置（Ｘ軸変位検出装置）(7) と、回転体
(1) を中立位置に支持するために回転体(1) のＸ軸方向
の変位に基づいて各電磁石(5)(6)に励磁電流を供給する
電磁石制御手段を構成する電磁石制御装置（Ｘ軸電磁石
制御装置）(8) とを備えている。The X-axis magnetic bearing (2) is provided on the outer periphery of the rotating body (1) from both sides in the X-axis direction to support the rotating body (1) in a non-contact manner at a predetermined neutral position in the X-axis direction by magnetic attraction. And a pair of electromagnets (X-axis electromagnets) (5) and (6) arranged so as to sandwich the target (supported portion) (4) and the displacement of the rotating body (1) in the X-axis direction from the neutral position A displacement detecting device (X-axis displacement detecting device) (7) constituting a displacement detecting means for detecting, and a rotating body
An electromagnet control device (X) constituting electromagnet control means for supplying an exciting current to each electromagnet (5) (6) based on the displacement of the rotating body (1) in the X-axis direction to support (1) in the neutral position. Shaft electromagnet controller) (8).

【００４６】１対の電磁石(5)(6)のうち、Ｘ軸正側のも
のをＸ軸第１電磁石(5) 、Ｘ軸負側のものをＸ軸第２電
磁石(6) ということにする。各電磁石(5)(6)は、回転体
(1)の回転軸心方向（Ｚ軸方向）にのびる連結部(9a)の
両端部にＸ軸方向の内側に突出した磁極部(9b)(9c)が一
体に形成されたコア(9) と、コア(9) の磁極部(9b)(9c)
に巻かれたコイル(10)とを備えている。各電磁石(5)(6)
の連結部(9a)がハウジング(11)の内周部に固定され、磁
極部(9b)(9c)が回転体(1) のターゲット(4) にＸ軸方向
の外側からわずかな空隙をあけて対向している。各電磁
石(5)(6)のコイル(10)は、電磁石制御装置(8) に接続さ
れている。そして、制御装置(8) からコイル(10)に供給
される励磁電流により、１対の電磁石(5)(6)の上側の磁
極部(9b)が同一の極性に励磁され、下側の磁極部(9c)が
上記と逆の同一の極性に励磁される。この例では、上側
の磁極部(9b)がＮ極、下側の磁極部(9c)がＳ極となる。Of the pair of electromagnets (5) and (6), the one on the positive side of the X-axis is referred to as an X-axis first electromagnet (5), and the one on the negative side of the X-axis is referred to as an X-axis second electromagnet (6). I do. Each electromagnet (5) (6) is a rotating body
A core (9) in which magnetic pole portions (9b) and (9c) protruding inward in the X-axis direction are integrally formed at both ends of a connecting portion (9a) extending in the rotation axis direction (Z-axis direction) of (1). And the magnetic poles (9b) and (9c) of the core (9)
And a coil (10) wound therearound. Each electromagnet (5) (6)
The connecting part (9a) is fixed to the inner peripheral part of the housing (11), and the magnetic pole parts (9b) (9c) leave a slight gap from the outside in the X-axis direction to the target (4) of the rotating body (1). Facing each other. The coil (10) of each of the electromagnets (5) and (6) is connected to an electromagnet controller (8). The upper magnetic pole portion (9b) of the pair of electromagnets (5) and (6) is excited to the same polarity by the exciting current supplied to the coil (10) from the control device (8), and the lower magnetic pole is The section (9c) is excited to the same polarity opposite to the above. In this example, the upper magnetic pole portion (9b) is an N pole, and the lower magnetic pole portion (9c) is an S pole.

【００４７】Ｘ軸変位検出装置(7) は、回転体(1) をＸ
軸方向の両側から挟むように各電磁石(5)(6)のすぐ下の
ハウジング(11)の内周部に固定されて回転体(1) との間
のＸ軸方向の空隙の大きさを検出する１対の変位センサ
（Ｘ軸センサ）(12)(13)と、Ｘ軸第１センサ(12)の出力
からＸ軸第２センサ(13)の出力を減算することにより回
転体(1) のＸ軸方向の中立位置からの変位を求める減算
器(14)とを備えている。減算器(14)の出力は、制御装置
(8) に入力する。The X-axis displacement detecting device (7) converts the rotating body (1) to X
It is fixed to the inner periphery of the housing (11) immediately below each electromagnet (5) (6) so as to sandwich it from both sides in the axial direction, and the size of the gap in the X-axis direction with the rotating body (1) is reduced. By subtracting the output of the X-axis second sensor (13) from the output of the X-axis first sensor (12) and the pair of displacement sensors (X-axis sensors) (12) (13) to be detected, ) Is obtained from the neutral position in the X-axis direction. The output of the subtractor (14) is
Enter in (8).

【００４８】制御装置(8) は、両方の電磁石(5)(6)の定
常電流を０とし、回転体(1) にＸ軸方向の変位が生じた
ときに、いずれか一方の電磁石(5)(6)に制御電流のみか
らなる励磁電流を供給する。したがって、回転体(1) の
変位が０のときは、各電磁石(5)(6)の制御電流も０であ
り、定常電流と制御電流を合わせた各電磁石(5)(6)の励
磁電流も０である。この場合、制御軸であるＸ軸は水平
であるから、回転体(1) に作用する重力のＸ軸方向の成
分は０であり、回転体(1) が中立位置にあるとき、両方
の電磁石(5)(6)の励磁電流が０で、これらの磁気吸引力
が０であっても、回転体(1) に作用するＸ軸方向の力は
０で、釣合いが保たれる。そして、回転体(1) が中立位
置からＸ軸負側に変位したときは、Ｘ軸正側の第１電磁
石(5)にのみ変位量に応じた正の値の制御電流が供給さ
れ、この電磁石(5) の磁気吸引力により回転体(1) はＸ
軸正方向に吸引される。回転体(1) が中立位置からＸ軸
正側に変位したときは、Ｘ軸負側の第２電磁石(6) にの
み変位量に応じた正の値の制御電流が供給され、この電
磁石(6) の磁気吸引力により回転体(1) はＸ軸負方向に
吸引される。このように１対の電磁石(5)(6)の制御電流
が制御されることにより、回転体(1) がＸ軸方向の中立
位置に保持される。The control device (8) sets the steady-state current of both electromagnets (5) and (6) to 0, and when the rotating body (1) is displaced in the X-axis direction, one of the electromagnets (5) and (6) is turned off. (6) An excitation current consisting of only the control current is supplied to (6). Therefore, when the displacement of the rotating body (1) is 0, the control current of each of the electromagnets (5) and (6) is also 0, and the excitation current of each of the electromagnets (5) and (6) obtained by combining the steady current and the control current is Is also 0. In this case, since the X axis, which is the control axis, is horizontal, the component of gravity acting on the rotating body (1) in the X axis direction is 0, and when the rotating body (1) is in the neutral position, both electromagnets (5) Even if the exciting current of (6) is zero and the magnetic attraction force is zero, the force acting on the rotating body (1) in the X-axis direction is zero and the balance is maintained. When the rotating body (1) is displaced from the neutral position to the negative side of the X-axis, a control current having a positive value corresponding to the amount of displacement is supplied only to the first electromagnet (5) on the positive side of the X-axis. Due to the magnetic attraction of the electromagnet (5), the rotating body (1) becomes X
It is sucked in the positive axial direction. When the rotating body (1) is displaced from the neutral position to the positive side of the X-axis, a control current of a positive value corresponding to the displacement is supplied only to the second electromagnet (6) on the negative side of the X-axis. The rotating body (1) is attracted in the negative X-axis direction by the magnetic attraction force of (6). By controlling the control current of the pair of electromagnets (5) and (6) in this manner, the rotating body (1) is held at the neutral position in the X-axis direction.

【００４９】制御装置(8) は、磁気吸引力演算手段とし
ての磁気吸引力演算装置(15)、制御電流補正手段として
の制御電流補正装置(16)および各電磁石(5)(6)に対応す
る電力増幅器(17)(18)を備えている。The control device (8) corresponds to the magnetic attraction force calculating device (15) as the magnetic attraction force calculating means, the control current correcting device (16) as the control current correcting means, and the electromagnets (5) and (6). Power amplifiers (17) and (18).

【００５０】図３は、１対の電磁石(5)(6)の制御電流と
磁気吸引力との関係を表わすグラフである。図３におい
て、横軸の原点(O) より右側の部分は第１電磁石(5) の
制御電流Ｉ1 を示し、右側が正、左側が負である。横軸
の原点(O) より左側の部分は第２電磁石(6) の制御電流
Ｉ2 を示し、左側が正、右側が負である。縦軸は電磁石
(5)(6)による磁気吸引力Ｆを示し、上側が正、下側が負
である。Ｆ1 は第１電磁石(5) の磁気吸引力、Ｆ2 は第
２電磁石(6) の磁気吸引力を表わしている。Ａは、従来
のように線形化された場合の２つの電磁石(5)(6)全体の
磁気吸引力（図９のＦt に相当）を表わしている。制御
電流Ｉ1 、Ｉ2 は０あるいは正の値であり、一方が正の
値のとき、他方は０である。両方の電磁石(5)(6)の定常
電流が０であるから、制御電流Ｉ1 、Ｉ2 が０のとき、
電磁石(5)(6)の励磁電流は０で、磁気吸引力Ｆ1 、Ｆ2
は０である。第１電磁石(5) の磁気吸引力Ｆ1 は正の値
で、制御電流Ｉ1 の増加に伴って二次関数的に増加す
る。第１電磁石(5) の制御電流Ｉ1 が正の値であると
き、第２電磁石(6) の制御電流Ｉ2 は０で、その磁気吸
引力Ｆ2 は０であるから、第１電磁石(5) の磁気吸引力
Ｆ1 がそのまま全体の磁気吸引力となる。第２電磁石
(6) の磁気吸引力Ｆ2 は負の値で、その絶対値は制御電
流Ｉ2 の増加に伴って二次関数的に増加する。第２電磁
石(6) の制御電流Ｉ2 が正の値であるとき、第１電磁石
(5) の制御電流Ｉ1 は０で、その磁気吸引力Ｆ1 は０で
あるから、第２電磁石(6) の磁気吸引力Ｆ2 がそのまま
全体の磁気吸引力となる。補正装置(16)には、第１電磁
石(5) の制御電流Ｉ1 と磁気吸引力Ｆ1 との関係、およ
び第２電磁石(6) の制御電流Ｉ2 と磁気吸引力Ｆ2 との
関係が記憶されている。FIG. 3 is a graph showing the relationship between the control current of the pair of electromagnets (5) and (6) and the magnetic attraction force. In FIG. 3, the portion on the right side of the origin (O) on the horizontal axis indicates the control current I1 of the first electromagnet (5), where the right side is positive and the left side is negative. The portion on the left side of the origin (O) on the horizontal axis indicates the control current I2 of the second electromagnet (6), the left side being positive and the right side being negative. The vertical axis is electromagnet
(5) The magnetic attraction force F according to (6) is shown, with the upper side being positive and the lower side being negative. F1 represents the magnetic attraction of the first electromagnet (5), and F2 represents the magnetic attraction of the second electromagnet (6). A represents the magnetic attractive force (corresponding to Ft in FIG. 9) of the entire two electromagnets (5) and (6) when linearized as in the prior art. The control currents I1 and I2 are 0 or a positive value. When one is a positive value, the other is 0. Since the steady currents of both electromagnets (5) and (6) are 0, when the control currents I1 and I2 are 0,
The exciting current of the electromagnets (5) and (6) is 0, and the magnetic attraction force F1, F2
Is 0. The magnetic attraction force F1 of the first electromagnet (5) is a positive value, and increases quadratically as the control current I1 increases. When the control current I1 of the first electromagnet (5) is a positive value, the control current I2 of the second electromagnet (6) is 0 and its magnetic attraction F2 is 0. The magnetic attractive force F1 becomes the entire magnetic attractive force as it is. 2nd electromagnet
The magnetic attraction force F2 in (6) is a negative value, and its absolute value increases quadratically as the control current I2 increases. When the control current I2 of the second electromagnet (6) is a positive value,
Since the control current I1 in (5) is 0 and its magnetic attraction F1 is 0, the magnetic attraction F2 of the second electromagnet (6) becomes the whole magnetic attraction. The correction device (16) stores the relationship between the control current I1 of the first electromagnet (5) and the magnetic attraction force F1, and the relationship between the control current I2 of the second electromagnet (6) and the magnetic attraction force F2. I have.

【００５１】次に、図３を参照して、制御装置(8) にお
ける電磁石(5)(6)の制御電流の制御について詳細に説明
する。Next, the control of the control current of the electromagnets (5) and (6) in the control device (8) will be described in detail with reference to FIG.

【００５２】制御装置(8) の磁気吸引力演算装置(15)
は、変位検出装置(7) で検出された回転体(1) の変位に
基づき、これに対応する１対の電磁石(5)(6)全体の磁気
吸引力値（磁気吸引力０の点からの増減値）を求め、磁
気吸引力信号として制御電流補正装置(16)に出力する。
この演算装置(15)における処理は、従来の電磁石制御装
置におけるものと同様である。制御電流補正装置(16)
は、磁気吸引力演算装置(15)からの磁気吸引力信号に基
づき、各電磁石(5)(6)に供給する制御電流値を求め、制
御電流信号として対応する増幅器(17)(18)に出力する。
各増幅器(17)(18)は、制御電流補正装置(16)からの制御
電流信号を増幅し、対応する電磁石(5)(6)に制御電流と
して供給する。The magnetic attractive force calculating device (15) of the control device (8)
Is based on the displacement of the rotating body (1) detected by the displacement detecting device (7), and the magnetic attraction force value of the entire pair of electromagnets (5) and (6) corresponding to the displacement (from the point of zero magnetic attraction force) Is obtained and output to the control current correction device (16) as a magnetic attraction signal.
The processing in the arithmetic device (15) is the same as that in the conventional electromagnet control device. Control current compensator (16)
Calculates a control current value to be supplied to each electromagnet (5) (6) based on a magnetic attraction signal from the magnetic attraction force calculation device (15), and outputs the control current value to the corresponding amplifier (17) (18) as a control current signal. Output.
Each of the amplifiers (17) and (18) amplifies the control current signal from the control current correction device (16) and supplies it to the corresponding electromagnets (5) and (6) as a control current.

【００５３】回転体(1) の変位が０のとき、磁気吸引力
演算装置(15)で演算される電磁石(5)(6)による磁気吸引
力値は０であり、これに対応する制御電流Ｉ1 、Ｉ2 は
ともに０であるから、制御電流補正装置(16)で求められ
る各電磁石(5)(6)の制御電流値はともに０であり、補正
装置(16)から増幅器(17)(18)に出力される制御電流信号
は０である。このため、増幅器(17)(18)から各電磁石(1
7)(18)に供給される制御電流すなわち励磁電流は０で、
全体の磁気吸引力が０となり、回転体(1) に作用するＸ
軸方向の力が０で、回転体(1) は中立位置に保持され
る。When the displacement of the rotating body (1) is zero, the value of the magnetic attraction force by the electromagnets (5) and (6) calculated by the magnetic attraction force calculating device (15) is 0, and the corresponding control current Since I1 and I2 are both 0, the control current values of the electromagnets (5) and (6) obtained by the control current correction device (16) are both 0, and the amplifiers (17) and (18) are output from the correction device (16). ) Is 0. Therefore, each of the electromagnets (1
7) The control current or excitation current supplied to (18) is 0,
The total magnetic attractive force becomes 0, and X acting on the rotating body (1)
With no axial force, the rotating body (1) is held in the neutral position.

【００５４】回転体(1) が負側に変位した場合、演算装
置(15)で演算される磁気吸引力値は正の値となる。これ
をＦa とすると、補正手段(16)は、第２電磁石(6) の制
御電流値を０として、これを第２の制御電流信号として
第２増幅器(18)に出力するとともに、記憶している磁気
吸引力Ｆ1 と制御電流Ｉ1 との関係から、Ｆa に対応す
る第１電磁石(5) の制御電流値Ｉa を求めて、これを第
１の制御電流信号として第１増幅器(17)に出力する。こ
れにより、第１電磁石(5) に磁気吸引力Ｆa が発生し、
回転体(1) はＸ軸正方向に吸引される。このとき、従来
のように、線形化されたＡに基づいて、Ｆa に比例する
値を制御電流値Ｉa'としたのでは、実際の磁気吸引力は
Ｆa'となり、所望の磁気吸引力Ｆa は得られない。とこ
ろが、上記のように、実際の磁気吸引力Ｆ1 に基づいて
制御電流値を求めているので、所望の磁気吸引力Ｆa が
得られる。When the rotating body (1) is displaced to the negative side, the value of the magnetic attraction force calculated by the arithmetic unit (15) is a positive value. If this is Fa, the correction means (16) sets the control current value of the second electromagnet (6) to 0, outputs this to the second amplifier (18) as a second control current signal, and stores the same. A control current value Ia of the first electromagnet (5) corresponding to Fa is obtained from the relationship between the magnetic attraction force F1 and the control current I1, and this is output to the first amplifier (17) as a first control current signal. I do. As a result, a magnetic attraction Fa is generated in the first electromagnet (5),
The rotating body (1) is sucked in the positive X-axis direction. At this time, if a value proportional to Fa is set as the control current value Ia 'based on the linearized A as in the conventional case, the actual magnetic attraction force becomes Fa', and the desired magnetic attraction force Fa becomes I can't get it. However, since the control current value is obtained based on the actual magnetic attraction force F1 as described above, a desired magnetic attraction force Fa can be obtained.

【００５５】回転体(1) が正側に変位した場合、演算装
置(15)で演算される磁気吸引力値は負の値となる。これ
を（−Ｆb ）とすると、補正手段(16)は、第１電磁石
(5) の制御電流値を０として、これを第１の制御電流信
号として第１増幅器(17)に出力するとともに、記憶して
いる磁気吸引力Ｆ2 と制御電流Ｉ2 との関係から、（−
Ｆb ）に対応する第２電磁石(6) の制御電流値Ｉb を求
めて、これを第２の制御電流信号として第２増幅器(18)
に出力する。これにより、第２電磁石(6) に磁気吸引力
（−Ｆb ）が発生し、回転体(1) はＸ軸負方向に吸引さ
れる。When the rotating body (1) is displaced to the positive side, the value of the magnetic attractive force calculated by the arithmetic unit (15) becomes a negative value. Assuming that this is (-Fb), the correction means (16) is the first electromagnet.
Assuming that the control current value of (5) is 0, this is output to the first amplifier (17) as a first control current signal, and from the stored relationship between the magnetic attraction force F2 and the control current I2, (-
Fb), a control current value Ib of the second electromagnet 6 corresponding to the second amplifier 18 is determined as a second control current signal.
Output to As a result, a magnetic attraction (-Fb) is generated in the second electromagnet (6), and the rotating body (1) is attracted in the negative X-axis direction.

【００５６】上記のように電磁石(5)(6)の制御電流が制
御されることにより、回転体(1) がＸ軸方向の中立位置
に保持される。By controlling the control current of the electromagnets (5) and (6) as described above, the rotating body (1) is held at the neutral position in the X-axis direction.

【００５７】Ｙ軸磁気軸受(3) は、１対のＹ軸電磁石(2
0)(21)と、Ｙ軸変位検出装置(22)と、Ｙ軸電磁石制御装
置(23)とを備えている。The Y-axis magnetic bearing (3) is a pair of Y-axis electromagnets (2
0) and (21), a Y-axis displacement detection device (22), and a Y-axis electromagnet control device (23).

【００５８】Ｙ軸電磁石(20)(21)はＸ軸電磁石(5)(6)と
同じ構成を有し、同じ部分には同一の符号を付してい
る。１対のＹ軸電磁石(20)(21)の上側の磁極部(9b)は、
Ｘ軸電磁石(5)(6)の上側の磁極部(9b)と同じ極性に励磁
され、Ｘ軸電磁石(5)(6)とＹ軸電磁石(20)(21)の上側の
磁極部(9b)は回転体(1) のターゲット(4) の上部の軸方
向の同一位置に対向している。１対のＹ軸電磁石(20)(2
1)の下側の磁極部(9c)は、Ｘ軸電磁石(5)(6)の下側の磁
極部(9c)と同じ極性に励磁され、Ｘ軸電磁石(5)(6)とＹ
軸電磁石(20)(21)の下側の磁極部(9c)は回転体(1) のタ
ーゲット(4) の下部の軸方向の同一位置に対向してい
る。The Y-axis electromagnets (20) and (21) have the same configuration as the X-axis electromagnets (5) and (6), and the same parts are denoted by the same reference numerals. The upper magnetic pole portion (9b) of the pair of Y-axis electromagnets (20) (21)
It is excited to the same polarity as the upper magnetic pole part (9b) of the X-axis electromagnets (5) and (6), and the upper magnetic pole part (9b) of the X-axis electromagnets (5) and (6) and the Y-axis electromagnets (20) and (21). ) Faces the same position in the axial direction above the target (4) of the rotating body (1). A pair of Y-axis electromagnets (20) (2
1) The lower magnetic pole portion (9c) is excited to the same polarity as the lower magnetic pole portion (9c) of the X-axis electromagnets (5) and (6), and the X-axis electromagnets (5) and (6) are
The lower magnetic pole portion (9c) of the shaft electromagnets (20, 21) faces the same position in the axial direction below the target (4) of the rotating body (1).

【００５９】Ｙ軸変位検出装置(22)は、１対のＹ軸セン
サ(24)(25)と、減算器(26)とを備えている。Ｙ軸センサ
(24)および減算器(26)は、Ｘ軸変位検出装置(7) におけ
るＸ軸センサ(12)(13)および減算器(14)と同じものであ
る。The Y-axis displacement detecting device (22) includes a pair of Y-axis sensors (24) (25) and a subtractor (26). Y-axis sensor
The (24) and the subtractor (26) are the same as the X-axis sensors (12) and (13) and the subtractor (14) in the X-axis displacement detecting device (7).

【００６０】Ｙ軸電磁石制御装置(23)は、Ｘ軸電磁石制
御装置(8) と同じ構成を有する。そして、Ｘ軸磁気軸受
(2) の場合と同様、Ｙ軸変位検出装置(22)で検出された
回転体(1) のＹ軸方向の変位に基づいて、各Ｙ軸電磁石
(20)(21)の制御電流が制御されることにより、回転体
(1) がＹ軸方向の中立位置に非接触支持される。The Y-axis electromagnet controller (23) has the same configuration as the X-axis electromagnet controller (8). And the X-axis magnetic bearing
As in the case of (2), each Y-axis electromagnet is determined based on the Y-axis direction displacement of the rotating body (1) detected by the Y-axis displacement detection device (22).
(20) By controlling the control current of (21), the rotating body
(1) is supported in a non-contact manner at a neutral position in the Y-axis direction.

【００６１】そして、Ｘ軸磁気軸受(2) とＹ軸磁気軸受
(3) により、回転体(1) がＸ軸方向およびＹ軸方向の中
立位置に保持される。The X-axis magnetic bearing (2) and the Y-axis magnetic bearing
By (3), the rotating body (1) is held at the neutral position in the X-axis direction and the Y-axis direction.

【００６２】図示は省略したが、他の１組のラジアル磁
気軸受ユニットも上記のラジアル磁気軸受ユニットと同
じ構成を有する。そして、これら２組のラジアル磁気軸
受ユニットにより、回転体(1) がＸ軸方向およびＹ軸方
向に非接触支持される。Although not shown, the other set of radial magnetic bearing units has the same configuration as the above-described radial magnetic bearing unit. The rotating body (1) is supported in a non-contact manner in the X-axis direction and the Y-axis direction by these two sets of radial magnetic bearing units.

【００６３】図４は、アキシアル磁気軸受ユニットの部
分を示している。FIG. 4 shows a part of the axial magnetic bearing unit.

【００６４】アキシアル磁気軸受ユニットは、回転体
(1) をＺ軸方向に非接触支持するためのアキシアル磁気
軸受（Ｚ軸軸受）(30)を備えている。The axial magnetic bearing unit is a rotating body.
An axial magnetic bearing (Z-axis bearing) (30) for supporting (1) non-contact in the Z-axis direction is provided.

【００６５】Ｚ軸磁気軸受(30)は、回転体(1) を磁気吸
引力によってＺ軸方向の所定の中立位置に非接触支持す
るためにＺ軸方向の両側から回転体(1) のフランジ部
（被支持部分）(1a)を挟むようにハウジング(11)の内周
部に固定された１対の電磁石（Ｚ軸電磁石）(31)(32)
と、回転体(1) の中立位置からのＺ軸方向の変位を検出
する変位検出手段を構成する変位検出装置（Ｚ軸変位検
出装置）(33)と、回転体(1) を中立位置に支持するため
に回転体(1) のＺ軸方向の変位に基づいて各電磁石(31)
(32)に励磁電流を供給する電磁石制御手段を構成する電
磁石制御装置（Ｚ軸電磁石制御装置）(34)とを備えてい
る。The Z-axis magnetic bearing (30) is provided with a flange of the rotating body (1) from both sides in the Z-axis direction to support the rotating body (1) at a predetermined neutral position in the Z-axis direction by magnetic attraction. A pair of electromagnets (Z-axis electromagnets) fixed to the inner periphery of the housing (11) so as to sandwich the portion (supported portion) (1a) (31) (32)
A displacement detecting device (Z-axis displacement detecting device) (33) constituting displacement detecting means for detecting a displacement in the Z-axis direction from the neutral position of the rotating body (1), and the rotating body (1) in the neutral position. Each electromagnet (31) is supported based on the displacement of the rotating body (1) in the Z-axis direction.
An electromagnet control device (Z-axis electromagnet control device) (34) constituting electromagnet control means for supplying an exciting current to (32).

【００６６】１対の電磁石のうち、Ｚ軸正側のものをＺ
軸第１電磁石(31)、Ｚ軸負側のものをＺ軸第２電磁石(3
2)ということにする。第１電磁石(31)はフランジ部(1a)
の上端面に、第２電磁石(32)はフランジ部(1a)の下端面
にそれぞれＺ軸方向の両側からわずかな空隙をあけて対
向している。各電磁石(31)(32)は電磁石制御装置(34)に
接続されており、制御装置(34)から供給される励磁電流
により、各電磁石(31)(32)が励磁され、フランジ部(1a)
をＺ軸方向の両側に吸引する。Of the pair of electromagnets, the one on the Z axis positive side is Z
Axis first electromagnet (31), the Z-axis negative side is replaced with the Z-axis second electromagnet (3
2) The first electromagnet (31) is a flange (1a)
The second electromagnet (32) faces the lower end surface of the flange portion (1a) with a slight gap from both sides in the Z-axis direction. Each of the electromagnets (31) and (32) is connected to an electromagnet control device (34), and the respective electromagnets (31) and (32) are excited by an excitation current supplied from the control device (34), and the flange portion (1a )
Is sucked to both sides in the Z-axis direction.

【００６７】Ｚ軸変位検出装置(33)は、回転体(1) の上
端面に上から対向するようにハウジング(11)の上部内面
に固定されて回転体(1) の上端面との間のＺ軸方向の空
隙の大きさを検出する変位センサ（Ｚ軸センサ）(35)
と、Ｚ軸センサ(35)の出力を増幅して回転体(1) のＺ軸
方向の変位を求める増幅器(36)とを備えている。増幅器
(36)の出力は、制御装置(34)に入力する。The Z-axis displacement detecting device (33) is fixed to the upper inner surface of the housing (11) so as to face the upper end surface of the rotating body (1) from above, and is located between the upper end surface of the rotating body (1). Displacement sensor (Z-axis sensor) for detecting the size of the gap in the Z-axis direction (35)
And an amplifier (36) for amplifying the output of the Z-axis sensor (35) to obtain the displacement of the rotating body (1) in the Z-axis direction. amplifier
The output of (36) is input to the control device (34).

【００６８】回転体(1) は鉛直状に配置されているの
で、回転体(1) には、Ｚ軸方向に重力が作用する。制御
装置(34)は、上側にある第１電磁石(31)にのみ一定の定
常電流を常時供給し、この定常電流による第１電磁石(3
1)の上向きの磁気吸引力と回転体(1) に作用するＺ軸方
向下向きの重力とを釣合わせている。そして、回転体
(1) の変位が０のときは、各電磁石(31)(32)の制御電流
は０である。第２電磁石(32)の制御電流が０であるた
め、その励磁電流も０であり、第２電磁石(32)による磁
気吸引力は０である。また、第１電磁石(31)の制御電流
が０であるため、その励磁電流は定常電流に等しく、こ
の励磁電流による上向きの磁気吸引力と回転体(1) に作
用する磁気吸引力とが釣合っている。回転体(1) が中立
位置からＺ軸負側に変位したときは、第２電磁石(32)の
制御電流は０のままであり、第１電磁石(31)に変位量に
応じた正の値の制御電流が供給される。そして、第１電
磁石(31)に供給される励磁電流は制御電流の分だけ大き
くなり、第１電磁石(31)による上向きの磁気吸引力が大
きくなって、回転体(1) は全体として上向きの力を受け
る。回転体(1) が中立位置からＺ軸正側に変位したとき
は、第１電磁石(31)に変位量に応じた負の値の制御電流
が供給され、これと絶対値が等しい正の値の制御電流が
第２電磁石(32)に供給される。そして、第１電磁石(31)
に供給される励磁電流は制御電流の分だけ小さくなっ
て、第１電磁石(31)による上向きの磁気吸引力が小さく
なり、第２電磁石(32)には制御電流による下向きの磁気
吸引力が発生する。このため、電磁石(31)(32)による上
向きの吸引力が小さくなり、回転体(1)は全体として下
向きの力を受ける。このように１対の電磁石(31)(32)の
制御電流が制御されることにより、回転体(1) がＺ軸方
向の中立位置に保持される。Since the rotating body (1) is arranged vertically, gravity acts on the rotating body (1) in the Z-axis direction. The control device (34) constantly supplies a constant steady current only to the upper first electromagnet (31), and the first electromagnet (3
1) The upward magnetic attraction force is balanced with the downward gravity acting on the rotating body (1) in the Z-axis direction. And the rotating body
When the displacement of (1) is zero, the control current of each of the electromagnets (31) and (32) is zero. Since the control current of the second electromagnet (32) is zero, the exciting current is also zero, and the magnetic attraction force of the second electromagnet (32) is zero. Also, since the control current of the first electromagnet (31) is 0, the exciting current is equal to the steady current, and the upward magnetic attraction by this exciting current and the magnetic attraction acting on the rotating body (1) are balanced. Matching. When the rotating body (1) is displaced from the neutral position to the negative side of the Z-axis, the control current of the second electromagnet (32) remains 0, and the first electromagnet (31) has a positive value corresponding to the amount of displacement. Is supplied. Then, the exciting current supplied to the first electromagnet (31) increases by the amount of the control current, and the upward magnetic attraction force of the first electromagnet (31) increases, so that the rotating body (1) as a whole Receive strength. When the rotating body (1) is displaced from the neutral position to the positive side of the Z-axis, a negative control current corresponding to the amount of displacement is supplied to the first electromagnet (31), and a positive value having an absolute value equal to the control current is supplied. Is supplied to the second electromagnet (32). And the first electromagnet (31)
The excitation current supplied to the first electromagnet is reduced by the control current, and the upward magnetic attraction force of the first electromagnet (31) is reduced, and the downward magnetic attraction force of the second electromagnet (32) is generated by the control current. I do. For this reason, the upward attractive force by the electromagnets (31) and (32) is reduced, and the rotating body (1) receives a downward force as a whole. By controlling the control current of the pair of electromagnets (31) and (32) in this manner, the rotating body (1) is held at the neutral position in the Z-axis direction.

【００６９】制御装置(34)は、磁気吸引力演算手段とし
ての磁気吸引力演算装置(37)、制御電流補正手段として
の制御電流補正装置(38)および各電磁石(31)(32)に対応
する電力増幅器(39)(40)を備えている。The control device (34) corresponds to the magnetic attraction force calculating device (37) as the magnetic attraction force calculating means, the control current correcting device (38) as the control current correcting means, and the electromagnets (31) and (32). Power amplifiers (39) and (40).

【００７０】図５は、１対の電磁石(31)(32)の制御電流
と磁気吸引力との関係を表わすグラフである。図５にお
いて、横軸は第１電磁石(31)の制御電流Ｉ1 を示し、右
側が正、左側が負である。第２電磁石(32)の制御電流Ｉ
2 は正の値であって、第１電磁石(31)の負の値の制御電
流Ｉ1 と絶対値が等しいので、横軸の原点(O) より左側
の部分は第２電磁石(32)の制御電流Ｉ2 も示し、第２電
磁石(32)の制御電流Ｉ2 については、左側が正、右側が
負である。縦軸は電磁石(31)(32)による磁気吸引力Ｆを
示し、上側が正、下側が負である。Ｆ1 は第１電磁石(3
1)の磁気吸引力、Ｆ2 は第２電磁石(32)の磁気吸引力、
Ｆt は２つの電磁石(31)(32)の磁気吸引力Ｆ1 、Ｆ2 を
合わせた電磁石(31)(32)全体の磁気吸引力を表わしてい
る。第１電磁石(31)に供給される定常電流をＩo とする
と、制御電流Ｉ1 が（−Ｉo ）のときに第１電磁石(31)
の磁気吸引力Ｆ1 は０である。この磁気吸引力Ｆ1 は、
制御電流Ｉ1 の増加に伴って二次関数的に増加し、制御
電流Ｉ1 が０のときＦo である。第１電磁石(31)の制御
電流Ｉ1 が正である領域において、第２電磁石(32)の制
御電流Ｉ2 は０であり、第２電磁石(32)の磁気吸引力Ｆ
2 は０である。したがって、第１電磁石(31)の磁気吸引
力Ｆ1 がそのまま全体の磁気吸引力Ｆt となる。第１電
磁石(31)の制御電流Ｉ1 が０のとき、第２電磁石(32)の
制御電流Ｉ2は０であり、その磁気吸引力Ｆ2 は０であ
る。そして、第１電磁石(31)の制御電流Ｉ1 が負である
領域において、制御電流Ｉ1 の減少（制御電流Ｉ2 の増
加）に伴って、第２電磁石(32)の磁気吸引力の絶対値は
二次関数的に増加する。したがって、全体の磁気吸引力
Ｆt は、制御電流Ｉ1 が０で磁気吸引力Ｆ1 がＦo の点
を通り制御電流Ｉ1 の減少に伴って減少する直線とな
る。補正装置(38)には、第１電磁石(31)の制御電流Ｉ1
と全体の磁気吸引力Ｆt との関係が記憶されている。FIG. 5 is a graph showing the relationship between the control current of the pair of electromagnets (31) and (32) and the magnetic attractive force. In FIG. 5, the horizontal axis represents the control current I1 of the first electromagnet (31), the right side being positive and the left side being negative. Control current I of the second electromagnet (32)
2 is a positive value, and since the absolute value is equal to the negative control current I1 of the first electromagnet (31), the portion to the left of the origin (O) on the horizontal axis is the control of the second electromagnet (32). The current I2 is also shown, and the control current I2 for the second electromagnet (32) is positive on the left and negative on the right. The vertical axis indicates the magnetic attraction force F by the electromagnets (31) and (32), with the upper side being positive and the lower side being negative. F1 is the first electromagnet (3
The magnetic attraction force of 1), F2 is the magnetic attraction force of the second electromagnet (32),
Ft represents the total magnetic attractive force of the electromagnets (31) and (32) obtained by combining the magnetic attractive forces F1 and F2 of the two electromagnets (31) and (32). Assuming that the steady current supplied to the first electromagnet (31) is Io, the first electromagnet (31) when the control current I1 is (-Io).
Has a zero magnetic attraction force F1. This magnetic attraction force F1 is
It increases quadratically as the control current I1 increases, and is Fo when the control current I1 is zero. In a region where the control current I1 of the first electromagnet (31) is positive, the control current I2 of the second electromagnet (32) is 0, and the magnetic attraction force F of the second electromagnet (32) is zero.
2 is 0. Therefore, the magnetic attractive force F1 of the first electromagnet (31) becomes the entire magnetic attractive force Ft. When the control current I1 of the first electromagnet (31) is zero, the control current I2 of the second electromagnet (32) is zero and the magnetic attraction F2 is zero. Then, in a region where the control current I1 of the first electromagnet (31) is negative, the absolute value of the magnetic attraction force of the second electromagnet (32) becomes two with the decrease of the control current I1 (increase of the control current I2). It increases like a quadratic function. Therefore, the total magnetic attraction force Ft is a straight line in which the control current I1 is 0 and the magnetic attraction force F1 passes through the point Fo and decreases as the control current I1 decreases. The correction device (38) includes a control current I1 for the first electromagnet (31).
The relationship between the magnetic force and the overall magnetic attractive force Ft is stored.

【００７１】次に、図５を参照して、制御装置(34)にお
ける電磁石(31)(32)の制御電流の制御について詳細に説
明する。Next, the control of the control current of the electromagnets (31) and (32) in the control device (34) will be described in detail with reference to FIG.

【００７２】制御装置(34)の磁気吸引力演算装置(37)
は、変位検出装置(33)で検出された回転体(1) の変位に
基づき、これに対応する１対の電磁石(31)(32)全体の磁
気吸引力値（磁気吸引力Ｆo の点からの増減値）を求
め、磁気吸引力信号として制御電流補正装置(38)に出力
する。この演算装置(37)における処理も、従来の電磁石
制御装置におけるものと同様である。制御電流補正装置
(38)は、磁気吸引力演算装置(37)からの磁気吸引力信号
に基づき、各電磁石(31)(32)に供給する制御電流値を求
め、制御電流信号として対応する増幅器(39)(40)に出力
する。各増幅器(39)(40)は、制御電流補正装置(38)から
の制御電流信号を増幅し、対応する電磁石(31)(32)に制
御電流として供給する。The magnetic attractive force calculating device (37) of the control device (34)
Is based on the displacement of the rotating body (1) detected by the displacement detecting device (33), and the magnetic attractive force value of the entire pair of electromagnets (31) and (32) corresponding to the displacement (from the point of magnetic attractive force Fo) Is obtained and output to the control current correction device (38) as a magnetic attraction signal. The processing in the arithmetic unit (37) is the same as that in the conventional electromagnet controller. Control current correction device
(38) obtains a control current value to be supplied to each of the electromagnets (31) and (32) based on a magnetic attraction signal from the magnetic attraction calculation device (37), and a corresponding amplifier (39) ( Output to 40). Each of the amplifiers (39) and (40) amplifies the control current signal from the control current correction device (38) and supplies it to the corresponding electromagnets (31) and (32) as a control current.

【００７３】回転体(1) の変位が０のとき、演算装置(3
7)で演算される磁気吸引力値は０であり、これに対応す
る制御電流Ｉ1 、Ｉ2 はともに０であるから、補正装置
(38)で求められる各電磁石(31)(32)の制御電流値はとも
に０であり、補正装置(38)から増幅器(39)(40)に出力さ
れる制御電流信号は０である。このため、第１増幅器(3
9)から第１電磁石(31)に供給される励磁電流は定常電流
Ｉo に等しく、第２増幅器(40)から第２電磁石(32)に供
給される励磁電流は０であり、全体の磁気吸引力はＦo
となる。そして、この磁気吸引力Ｆo が回転体(1) に作
用する重力と釣合い、回転体(1) は中立位置に保持され
る。When the displacement of the rotating body (1) is 0, the arithmetic unit (3
Since the value of the magnetic attraction force calculated in 7) is 0 and the corresponding control currents I1 and I2 are both 0, the correction device
The control current value of each of the electromagnets (31) and (32) obtained in (38) is 0, and the control current signal output from the correction device (38) to the amplifiers (39) and (40) is 0. Therefore, the first amplifier (3
The exciting current supplied from 9) to the first electromagnet (31) is equal to the steady current Io, the exciting current supplied from the second amplifier (40) to the second electromagnet (32) is 0, and Power is Fo
Becomes This magnetic attraction Fo balances the gravity acting on the rotating body (1), and the rotating body (1) is held at the neutral position.

【００７４】回転体(1) が負側に変位した場合、演算装
置(37)で演算される磁気吸引力値は正の値となる。これ
をａとすると、全体の磁気吸引力はＦa となり、補正手
段(38)は、第２電磁石(32)の制御電流値を０として、こ
れを第２の制御電流信号として第２増幅器(40)に出力す
るとともに、記憶している磁気吸引力Ｆt と制御電流Ｉ
1 との関係から、Ｆa に対応する第１電磁石(31)の制御
電流値Ｉa を求めて、これを第１の制御電流信号として
第１増幅器(39)に出力する。これにより、第１電磁石(3
1)の励磁電流が（Ｉo ＋Ｉa ）となって、電磁石(31)に
よる上向きの磁気吸引力Ｆa （＝Ｆo ＋ａ）が回転体
(1) に作用する重力（＝Ｆo ）より大きくなり、回転体
(1) は全体として上向きの力を受ける。When the rotating body (1) is displaced to the negative side, the magnetic attraction value calculated by the arithmetic unit (37) becomes a positive value. Assuming this to be a, the overall magnetic attraction force is Fa, and the correction means (38) sets the control current value of the second electromagnet (32) to 0, and uses this as a second control current signal to generate the second amplifier (40). ) And the stored magnetic attractive force Ft and control current I
A control current value Ia of the first electromagnet (31) corresponding to Fa is obtained from the relationship with 1, and this is output to the first amplifier (39) as a first control current signal. Thereby, the first electromagnet (3
The exciting current of (1) becomes (Io + Ia), and the upward magnetic attraction Fa (= Fo + a) by the electromagnet (31) becomes a rotating body.
(1) becomes larger than the gravitational force (= Fo) acting on
(1) receives an upward force as a whole.

【００７５】回転体(1) が正側に変位した場合、演算装
置(15)で演算される磁気吸引力値は負の値となる。これ
を（−ｂ）とすると、全体磁気吸引力はＦb となり、補
正手段(38)は、記憶している磁気吸引力Ｆt と制御電流
Ｉ1 との関係から、Ｆb に対応する負の制御電流（−Ｉ
b ）を求めて、これを第１の制御電流信号として第１増
幅器(39)に出力するとともに、これと絶対値の等しい正
の制御電流Ｉb に対応する制御電流信号を制御電流信号
として第２増幅器(40)に出力する。これにより、第１電
磁石(31)の励磁電流が（Ｉo −Ｉb ）、第２電磁石(32)
の励磁電流がＩb となって、電磁石(31)(32)による上向
きの磁気吸引力Ｆb （＝Ｆo −ｂ）が回転体(1) に作用
する重力より小さくなり、回転体(1) は全体として下向
きの力を受ける。When the rotating body (1) is displaced to the positive side, the magnetic attraction value calculated by the arithmetic unit (15) becomes a negative value. Assuming that this is (-b), the total magnetic attractive force is Fb, and the correcting means (38) determines the negative control current (Fb) corresponding to Fb from the relationship between the stored magnetic attractive force Ft and the control current I1. -I
b) is obtained and output to the first amplifier (39) as a first control current signal, and the control current signal corresponding to the positive control current Ib having the same absolute value as the control current signal is output to the second amplifier (39). Output to the amplifier (40). As a result, the exciting current of the first electromagnet (31) becomes (Io-Ib), and the second electromagnet (32)
The exciting current of Ib becomes Ib, and the upward magnetic attraction Fb (= Fo−b) by the electromagnets (31) and (32) becomes smaller than the gravitational force acting on the rotating body (1). As a downward force.

【００７６】上記のように電磁石(31)(32)の制御電流が
制御されることにより、回転体(1)がＺ軸方向の中立位
置に保持される。By controlling the control current of the electromagnets (31) and (32) as described above, the rotating body (1) is held at the neutral position in the Z-axis direction.

【００７７】そして、このアキシアル磁気軸受ユニット
と前述の２組のラジアル磁気軸受ユニットにより、回転
体(1) がＸ軸、Ｙ軸およびＺ軸方向の中立位置に非接触
支持される。図示は省略したが、装置には、回転体(1)
を高速回転させるための内蔵型電動機が設けられてお
り、回転体(1) は、上記のようにラジアル磁気軸受ユニ
ットとアキシアル磁気軸受ユニットにより非接触支持さ
れた状態で、電動機により高速回転させられる。上記の
ラジアル磁気軸受ユニットの場合、ターゲット(4) の上
部の軸方向の同一位置に対向するＸ軸電磁石(5)(6)およ
びＹ軸電磁石(20)(21)の上側の磁極部(9b)が同じ極性を
有し、ターゲット(4) の下部の軸方向の同一位置に対向
するＸ軸電磁石(5)(6)およびＹ軸電磁石(20)(21)の下側
の磁極部(9c)が同じ極性を有するので、上側の磁極部(9
b)に面するターゲット(4) の周囲の磁束の変化、および
下側の磁極部(9c)に面するターゲット(4) の周囲の磁束
の変化がともに小さくなる。このため、回転体(1) の回
転によりターゲットの表面に生じる渦電流が小さくな
り、回転損失が小さくなる。したがって、ラジアル磁気
軸受ユニット全体の回転損失が小さくなって、電動機の
消費電力が小さくなり、装置全体の消費電力も小さくな
る。The rotating body (1) is supported in a non-contact manner at a neutral position in the X-axis, Y-axis and Z-axis directions by the axial magnetic bearing unit and the two sets of radial magnetic bearing units described above. Although illustration is omitted, the rotating body (1)
The rotating body (1) is rotated at a high speed by the motor while the rotating body (1) is supported in a non-contact manner by the radial magnetic bearing unit and the axial magnetic bearing unit as described above. . In the case of the radial magnetic bearing unit described above, the upper magnetic pole portion (9b) of the X-axis electromagnets (5) (6) and the Y-axis electromagnets (20) (21) facing the same position in the axial direction above the target (4) ) Have the same polarity, and the lower magnetic pole portion (9c) of the X-axis electromagnets (5) (6) and the Y-axis electromagnets (20) (21) facing the same position in the axial direction below the target (4). ) Have the same polarity, so the upper magnetic pole (9
The change in the magnetic flux around the target (4) facing the b) and the change in the magnetic flux around the target (4) facing the lower magnetic pole portion (9c) are both small. Therefore, the eddy current generated on the surface of the target due to the rotation of the rotating body (1) is reduced, and the rotation loss is reduced. Therefore, the rotational loss of the entire radial magnetic bearing unit is reduced, the power consumption of the motor is reduced, and the power consumption of the entire device is also reduced.

【００７８】図６〜図８は、この発明を水平状の回転体
を１組のアキシアル磁気軸受ユニットと２組のラジアル
磁気軸受ユニットで非接触支持する装置に適用した実施
形態を示している。この場合、Ｚ軸は水平に配置され、
Ｘ軸およびＹ軸については、一方が水平に配置されて他
方が鉛直に配置される場合と、両方が斜めに配置される
場合とがある。FIGS. 6 to 8 show an embodiment in which the present invention is applied to a device in which a horizontal rotating body is supported in a non-contact manner by one set of axial magnetic bearing units and two sets of radial magnetic bearing units. In this case, the Z axis is arranged horizontally,
Regarding the X axis and the Y axis, there are a case where one is arranged horizontally and the other is arranged vertically, and a case where both are arranged obliquely.

【００７９】図６および図７は、１組のラジアル磁気軸
受ユニットの部分の１例をそれぞれ示している。FIGS. 6 and 7 show an example of a part of a set of radial magnetic bearing units.

【００８０】図６はＸ軸が水平に配置されてＹ軸が鉛直
に配置される場合を示し、図１および図２のものに相当
する部分には同一の符号を付している。FIG. 6 shows a case where the X-axis is arranged horizontally and the Y-axis is arranged vertically. Parts corresponding to those in FIGS. 1 and 2 are denoted by the same reference numerals.

【００８１】この場合、Ｘ軸が水平であるから、回転体
(1) に作用する重力のＸ軸方向の成分は０である。した
がって、Ｘ軸磁気軸受(2) における電磁石制御装置(50)
は、図１の電磁石制御装置(8) と同じ構成を有する。す
なわち、制御装置(50)は、両方の電磁石(5)(6)の定常電
流を０とし、回転体(1) にＸ軸負方向の変位が生じたと
きに、第１電磁石(5) にのみ制御電流のみからなる励磁
電流を供給し、回転体(1) にＸ軸正方向の変位が生じた
ときに、第２電磁石(6) にのみ制御電流のみからなる励
磁電流を供給する。In this case, since the X axis is horizontal, the rotating body
The component of gravity acting on (1) in the X-axis direction is zero. Therefore, the electromagnet controller (50) in the X-axis magnetic bearing (2)
Has the same configuration as the electromagnet control device (8) of FIG. That is, the control device (50) sets the steady-state current of both electromagnets (5) and (6) to 0, and when the rotating body (1) is displaced in the negative direction of the X-axis, the first electromagnet (5) An excitation current consisting of only the control current is supplied, and when the rotating body (1) is displaced in the positive X-axis direction, an excitation current consisting of only the control current is supplied only to the second electromagnet (6).

【００８２】Ｙ軸は鉛直であるから、回転体(1) にはＹ
軸方向に重力が作用する。したがって、Ｙ軸磁気軸受
(3) における電磁石制御装置(51)は、図４の電磁石制御
装置(34)と同じ構成を有する。すなわち、制御装置(51)
は、上側にある第１電磁石(20)にのみ一定の定常電流を
常時供給して、この定常電流による第１電磁石(20)の上
向きの磁気吸引力と回転体(1) に作用するＹ軸方向下向
きの重力とを釣合わせ、回転体(1) にＹ軸負方向の変位
が生じたときに、第１電磁石(20)にのみ正の制御電流を
供給し、回転体(1) にＹ軸正方向の変位が生じたとき
に、第１電磁石(20)に負の制御電流を供給するととも
に、これと絶対値の等しい正の制御電流を第２電磁石(2
1)に供給する。Since the Y axis is vertical, the rotating body (1)
Gravity acts in the axial direction. Therefore, the Y-axis magnetic bearing
The electromagnet control device (51) in (3) has the same configuration as the electromagnet control device (34) in FIG. That is, the control device (51)
A constant current is always supplied only to the first electromagnet (20) on the upper side, and the upward magnetic attraction force of the first electromagnet (20) by this steady current and the Y-axis acting on the rotating body (1) When the rotating body (1) is displaced in the negative direction of the Y-axis, a positive control current is supplied only to the first electromagnet (20), and the rotating body (1) is rotated by Y. When a displacement in the positive axis direction occurs, a negative control current is supplied to the first electromagnet (20), and a positive control current having an absolute value equal to the negative control current is supplied to the second electromagnet (2).
Supply to 1).

【００８３】他は、前記実施形態の場合と同様である。The other points are the same as those in the above embodiment.

【００８４】図７はＸ軸とＹ軸の両方が斜めに配置され
る場合を示し、図６のものに相当する部分には同一の符
号を付している。FIG. 7 shows a case where both the X-axis and the Y-axis are arranged obliquely, and portions corresponding to those in FIG. 6 are denoted by the same reference numerals.

【００８５】この場合、Ｘ軸およびＹ軸がともに斜めに
なっているので、Ｘ軸磁気軸受(2)における電磁石制御
装置(52)およびＹ軸磁気軸受(3) における電磁石制御装
置(53)は、図６のＹ軸電磁石制御装置(51)とほぼ同じ構
成を有する。すなわち、Ｘ軸電磁石制御装置(52)は、上
側にある第１電磁石(5) にのみ一定の定常電流を常時供
給して、この定常電流による第１電磁石(5) のＸ軸方向
斜め上向きの磁気吸引力と回転体(1) に作用する重力の
Ｘ軸方向の斜め下向きの成分とを釣合わせ、回転体(1)
にＸ軸負方向の変位が生じたときに、第１電磁石(5) に
のみ正の制御電流を供給し、回転体(1) にＸ軸正方向の
変位が生じたときに、第１電磁石(5) に負の制御電流を
供給するとともに、これと絶対値の等しい正の制御電流
を第２電磁石(6) に供給する。Ｙ軸電磁石制御装置(53)
についても、同様である。In this case, since both the X axis and the Y axis are oblique, the electromagnet controller (52) in the X axis magnetic bearing (2) and the electromagnet controller (53) in the Y axis magnetic bearing (3) are 6 has substantially the same configuration as the Y-axis electromagnet control device (51) of FIG. That is, the X-axis electromagnet control device (52) constantly supplies a constant steady current only to the upper first electromagnet (5), and the first electromagnet (5) is obliquely upwardly inclined in the X-axis direction by the steady current. The magnetic attractive force and the obliquely downward component of the gravity acting on the rotating body (1) in the X-axis direction are balanced, and the rotating body (1)
When a displacement in the negative direction of the X-axis occurs, a positive control current is supplied only to the first electromagnet (5), and when a displacement in the positive direction of the X-axis occurs in the rotating body (1), the first electromagnet is supplied. A negative control current is supplied to (5), and a positive control current having an absolute value equal to the negative control current is supplied to the second electromagnet (6). Y-axis electromagnet controller (53)
The same applies to

【００８６】他は、前記実施形態の場合と同様である。The other points are the same as those in the above embodiment.

【００８７】図８はアキシアル磁気軸受ユニットの部分
の１例を示しており、図４のものに相当する部分には同
一の符号を付している。FIG. 8 shows an example of a portion of the axial magnetic bearing unit, and portions corresponding to those in FIG. 4 are denoted by the same reference numerals.

【００８８】この場合、Ｚ軸が水平であるから、回転体
(1) に作用する重力のＺ軸方向の成分は０である。した
がって、Ｚ軸磁気軸受(30)における電磁石制御装置(54)
は、図１の電磁石制御装置(8) と同じ構成を有する。す
なわち、制御装置(54)は、両方の電磁石(31)(32)の定常
電流を０とし、回転体(1) にＺ軸負方向の変位が生じた
ときに、第１電磁石(31)にのみ制御電流のみからなる励
磁電流を供給し、回転体(1) にＺ軸正方向の変位が生じ
たときに、第２電磁石(32)にのみ制御電流のみからなる
励磁電流を供給する。In this case, since the Z axis is horizontal,
The component of gravity acting on (1) in the Z-axis direction is zero. Therefore, the electromagnet controller (54) in the Z-axis magnetic bearing (30)
Has the same configuration as the electromagnet control device (8) of FIG. That is, the control device (54) sets the steady-state current of both electromagnets (31) and (32) to 0, and when the rotating body (1) is displaced in the negative Z-axis direction, the first electromagnet (31) An exciting current consisting of only the control current is supplied, and when the rotating body (1) is displaced in the positive Z-axis direction, an exciting current consisting of only the control current is supplied only to the second electromagnet (32).

【００８９】他は、前記実施形態の場合と同様である。The other points are the same as those in the above embodiment.

【００９０】回転体が斜めに配置される場合、Ｚ軸磁気
軸受は図４のものと同様に構成され、Ｘ軸磁気軸受およ
びＹ軸磁気軸受は図６あるいは図７のものと同様に構成
される。When the rotating body is disposed obliquely, the Z-axis magnetic bearing is configured similarly to that of FIG. 4, and the X-axis magnetic bearing and Y-axis magnetic bearing are configured similar to that of FIG. 6 or FIG. You.

【図面の簡単な説明】[Brief description of the drawings]

【図１】図１は、この発明の１実施形態を示すラジアル
磁気軸受ユニットの縦断面部分の構成図である。FIG. 1 is a configuration diagram of a longitudinal section of a radial magnetic bearing unit showing one embodiment of the present invention.

【図２】図２は、図１のラジアル磁気軸受ユニットの横
断面部分の構成図である。FIG. 2 is a configuration diagram of a cross section of the radial magnetic bearing unit of FIG. 1;

【図３】図３は、図１のＸ軸磁気軸受における電磁石の
制御電流と磁気吸引力との関係を示すグラフである。FIG. 3 is a graph showing a relationship between a control current of an electromagnet and a magnetic attractive force in the X-axis magnetic bearing of FIG. 1;

【図４】図４は、この発明の１実施形態を示すアキシア
ル磁気軸受ユニットの縦断面部分の構成図である。FIG. 4 is a configuration diagram of a longitudinal section of an axial magnetic bearing unit showing one embodiment of the present invention.

【図５】図５は、図４のＺ軸磁気軸受における電磁石の
制御電流と磁気吸引力との関係を示すグラフである。FIG. 5 is a graph showing a relationship between a control current of an electromagnet and a magnetic attraction force in the Z-axis magnetic bearing of FIG.

【図６】図６は、この発明の１実施形態を示すラジアル
磁気軸受ユニットの横断面部分の構成図である。FIG. 6 is a configuration diagram of a cross section of a radial magnetic bearing unit showing one embodiment of the present invention.

【図７】図７は、この発明の１実施形態を示すラジアル
磁気軸受ユニットの横断面部分の構成図である。FIG. 7 is a configuration diagram of a cross-sectional portion of a radial magnetic bearing unit showing one embodiment of the present invention.

【図８】図８は、この発明の１実施形態を示すアキシア
ル磁気軸受ユニットの縦断面部分の構成図である。FIG. 8 is a configuration diagram of a longitudinal section of an axial magnetic bearing unit showing one embodiment of the present invention.

【図９】図９は、従来の磁気軸受における電磁石の制御
電流と磁気吸引力との関係を示すグラフである。FIG. 9 is a graph showing a relationship between control current of an electromagnet and magnetic attraction in a conventional magnetic bearing.

【符号の説明】[Explanation of symbols]

(1) 回転体 (1a) フランジ部（被支持部分） (2) Ｘ軸磁気軸受 (3) Ｙ軸磁気軸受 (4) ターゲット（被支持部分） (5)(6) Ｘ軸電磁石 (7) Ｘ軸変位検出装置（手段） (8)(50)(52) Ｘ軸電磁石制御装置（手段） (9) コア (9a) 連結部 (9b)(9c) 磁極部 (15)(37) 磁気吸引力演算装置（手段） (16)(38) 制御電流補正装置（手段） (20)(21) Ｙ軸電磁石 (22) Ｙ軸変位検出装置（手段） (23)(51)(53) Ｙ軸電磁石制御装置（手段） (30) Ｚ軸磁気軸受 (31)(32) Ｚ軸電磁石 (33) Ｚ軸変位検出装置（手段） (34)(54) Ｚ軸電磁石制御装置（手段） (1) Rotating body (1a) Flange (supported part) (2) X-axis magnetic bearing (3) Y-axis magnetic bearing (4) Target (supported part) (5) (6) X-axis electromagnet (7) X-axis displacement detector (means) (8) (50) (52) X-axis electromagnet controller (means) (9) Core (9a) Connecting part (9b) (9c) Magnetic pole part (15) (37) Magnetic attraction Force calculation device (means) (16) (38) Control current correction device (means) (20) (21) Y-axis electromagnet (22) Y-axis displacement detection device (means) (23) (51) (53) Y-axis Electromagnet control device (means) (30) Z-axis magnetic bearing (31) (32) Z-axis electromagnet (33) Z-axis displacement detection device (means) (34) (54) Z-axis electromagnet control device (means)

Claims (7)

【特許請求の範囲】[Claims] 【請求項１】回転体を１つの制御軸方向に非接触支持す
るための磁気軸受であって、回転体を磁気吸引力によっ
て前記制御軸方向の所定の中立位置に非接触支持するた
めに前記制御軸方向の両側から前記回転体の被支持部分
を挟むように配置された１対の電磁石と、前記回転体の
前記中立位置からの前記制御軸方向の変位を検出する変
位検出手段と、前記回転体を前記中立位置に支持するた
めに前記各電磁石に一定の定常電流と前記回転体の前記
制御軸方向の変位によって変化する制御電流とからなる
励磁電流を供給する電磁石制御手段とを備えている磁気
軸受において、 前記電磁石制御手段が、前記１対の電磁石の両方の定常
電流をともに０とするか、あるいは一方にのみ一定の定
常電流を供給して、前記回転体に作用する重力の前記制
御軸方向の成分と前記１対の電磁石の定常電流による磁
気吸引力が釣合うようにするものであることを特徴とす
る磁気軸受。1. A magnetic bearing for supporting a rotating body in a non-contact manner in one control axis direction, wherein said magnetic bearing is adapted to support a rotating body at a predetermined neutral position in said control axis direction by magnetic attraction. A pair of electromagnets arranged so as to sandwich the supported portion of the rotating body from both sides in the control axis direction, displacement detection means for detecting a displacement of the rotating body in the control axis direction from the neutral position, Electromagnet control means for supplying an exciting current consisting of a constant steady current to each of the electromagnets and a control current that varies with displacement of the rotating body in the control axis direction to support the rotating body at the neutral position. In the magnetic bearing, the electromagnet control means sets both of the steady currents of the pair of electromagnets to 0, or supplies a constant steady current to only one of the pair of electromagnets, thereby controlling the gravity acting on the rotating body. control A magnetic bearing wherein an axial component and a magnetic attraction force by a steady current of the pair of electromagnets are balanced. 【請求項２】前記制御軸が水平な制御軸であり、前記電
磁石制御手段が、前記１対の電磁石の両方の電磁石の定
常電流をともに０とするものであることを特徴とする請
求項１の磁気軸受。2. The apparatus according to claim 1, wherein said control axis is a horizontal control axis, and said electromagnet control means sets a steady current of both electromagnets of said pair of electromagnets to zero. Magnetic bearings. 【請求項３】前記制御軸が水平でない制御軸であり、前
記電磁石制御手段が、前記１対の電磁石のうち上側にあ
るものにのみ一定の定常電流を供給するものであること
を特徴とする請求項１の磁気軸受。3. The control shaft according to claim 2, wherein the control shaft is a non-horizontal control shaft, and the electromagnet control means supplies a constant steady current only to an upper one of the pair of electromagnets. The magnetic bearing according to claim 1. 【請求項４】前記電磁石制御手段が、前記回転体の前記
制御軸方向の変位に対応する前記１対の電磁石による磁
気吸引力値を求めて磁気吸引力信号として出力する磁気
吸引力演算手段と、この磁気吸引力信号に対応する前記
各電磁石の制御電流値を求めて制御電流信号として前記
各電磁石に出力する制御電流補正手段とを備えているこ
とを特徴とする請求項１〜３のいずれか１項の磁気軸
受。4. A magnetic attraction force calculating means for obtaining a magnetic attraction force value of the pair of electromagnets corresponding to a displacement of the rotating body in the control axis direction and outputting the magnetic attraction force value as a magnetic attraction force signal; 4. A control current correcting means for obtaining a control current value of each of the electromagnets corresponding to the magnetic attraction signal and outputting the control current value to each of the electromagnets as a control current signal. Or the magnetic bearing of item 1. 【請求項５】回転体をその回転軸心と直交するとともに
互いに直交する２つの制御軸方向に非接触支持するため
の磁気軸受ユニットであって、前記回転体を第１の制御
軸方向に非接触支持するための第１の磁気軸受と、前記
回転体を第２の制御軸方向に非接触支持するための第２
の磁気軸受とを備え、前記各磁気軸受が、前記回転体を
磁気吸引力によって前記各制御軸方向の所定の中立位置
に非接触支持するために前記各制御軸方向の両側から前
記回転体の被支持部分を挟むように配置された１対の電
磁石と、前記回転体の前記中立位置からの前記各制御軸
方向の変位を検出する変位検出手段と、前記回転体を前
記中立位置に支持するために前記各電磁石に一定の定常
電流と前記回転体の前記制御軸方向の変位によって変化
する制御電流とからなる励磁電流を供給する電磁石制御
手段とをそれぞれ備えている磁気軸受ユニットにおい
て、 前記各磁気軸受の前記電磁石制御手段が、前記１対の電
磁石の両方の定常電流をともに０とするか、あるいは一
方にのみ一定の定常電流を供給して、前記回転体に作用
する重力の前記各制御軸方向の成分と前記１対の電磁石
の定常電流による磁気吸引力が釣合うようにするもので
あることを特徴とする磁気軸受ユニット。5. A magnetic bearing unit for supporting a rotating body in a non-contact manner in two control axis directions orthogonal to and orthogonal to a rotation axis thereof, wherein the rotating body is not supported in a first control axis direction. A first magnetic bearing for contacting and supporting; and a second magnetic bearing for non-contactingly supporting the rotating body in a second control axis direction.
A magnetic bearing, wherein each of the magnetic bearings is provided with a magnetic attraction force to support the rotating body at a predetermined neutral position in each of the control axis directions in a non-contact manner. A pair of electromagnets arranged so as to sandwich the supported portion, displacement detecting means for detecting displacement of the rotating body from the neutral position in each of the control axis directions, and supporting the rotating body at the neutral position A magnetic bearing unit for supplying an exciting current including a constant steady current to each of the electromagnets and a control current that varies according to the displacement of the rotating body in the control axis direction. The electromagnet control means of the magnetic bearing sets both steady currents of the pair of electromagnets to 0, or supplies a constant steady current to only one of the pair of electromagnets, thereby controlling the gravity acting on the rotating body. A magnetic bearing unit for balancing a component in each control axis direction with a magnetic attraction by a steady current of the pair of electromagnets. 【請求項６】前記回転体の回転軸心が鉛直状をなし、前
記各磁気軸受の前記電磁石制御手段が、前記１対の電磁
石の両方の定常電流をともに０とするものであることを
特徴とする請求項５の磁気軸受ユニット。6. A method according to claim 6, wherein the rotating shaft of the rotating body has a vertical shape, and the electromagnet control means of each of the magnetic bearings sets both steady currents of the pair of electromagnets to zero. The magnetic bearing unit according to claim 5, wherein 【請求項７】前記各磁気軸受の各電磁石が、前記回転体
の回転軸心方向にのびる連結部の両端部に前記制御軸方
向の内側に突出した磁極部が形成されたコアを備え、前
記全電磁石のコアの一方の同一端部の磁極部が同一の極
性を有し、他方の同一端部の磁極部が上記と逆の同一の
極性を有することを特徴とする請求項５または６の磁気
軸受ユニット。7. Each of the electromagnets of each of the magnetic bearings includes a core having a magnetic pole portion protruding inward in the control axis direction at both ends of a connecting portion extending in the direction of the rotation axis of the rotating body. 7. The magnetic pole part at one and the same end of the core of all electromagnets has the same polarity, and the magnetic pole at the other same end has the same polarity opposite to the above. Magnetic bearing unit.
JP17962597A 1997-07-04 1997-07-04 Magnetic bearing and magnetic bearing unit Pending JPH1122730A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17962597A JPH1122730A (en) 1997-07-04 1997-07-04 Magnetic bearing and magnetic bearing unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17962597A JPH1122730A (en) 1997-07-04 1997-07-04 Magnetic bearing and magnetic bearing unit

Publications (1)

Publication Number Publication Date
JPH1122730A true JPH1122730A (en) 1999-01-26

Family

ID=16069046

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17962597A Pending JPH1122730A (en) 1997-07-04 1997-07-04 Magnetic bearing and magnetic bearing unit

Country Status (1)

Country Link
JP (1) JPH1122730A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005045266A1 (en) * 2003-11-05 2005-05-19 Jtekt Corporation Power amplification device and magnetic bearing
JP2008045687A (en) * 2006-08-18 2008-02-28 Jtekt Corp Magnetic bearing device
US7576463B2 (en) 2007-04-04 2009-08-18 Jtekt Corporation Magnetic bearing device and magnetic bearing spindle device
CN107299938A (en) * 2016-12-07 2017-10-27 江苏国泉泵业制造有限公司 A kind of vertical magnetic thrust bearing of magnetic fluid medium lubrication

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005045266A1 (en) * 2003-11-05 2005-05-19 Jtekt Corporation Power amplification device and magnetic bearing
JP2008045687A (en) * 2006-08-18 2008-02-28 Jtekt Corp Magnetic bearing device
US7576463B2 (en) 2007-04-04 2009-08-18 Jtekt Corporation Magnetic bearing device and magnetic bearing spindle device
CN107299938A (en) * 2016-12-07 2017-10-27 江苏国泉泵业制造有限公司 A kind of vertical magnetic thrust bearing of magnetic fluid medium lubrication
CN107299938B (en) * 2016-12-07 2018-11-30 江苏国泉泵业制造有限公司 A kind of vertical magnetic thrust bearing of magnetic fluid medium lubrication

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