JPS5839251B2 - magnetic bearing device - Google Patents

Description

【発明の詳細な説明】 本発明は、永久磁石の吸引力と電磁コイルの制御吸引力
との相互作用により、ステータ部に対しロータ部を非接
触で支持する磁気軸受装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a magnetic bearing device that supports a rotor part in a non-contact manner with respect to a stator part through the interaction of the attractive force of a permanent magnet and the controlled attractive force of an electromagnetic coil.

磁気軸受とは、回転している物体を支持する力として、
磁気力を利用する軸受である。A magnetic bearing is a force that supports a rotating object.
This is a bearing that uses magnetic force.

この磁気軸受は摩擦・疲労による寿命の制限がないこと
、摩擦トルクが極めて小さいこと、真空・高温・低温等
の特殊な環境に対する適合性が優れている等の著しい特
色があるために近年盛んに研究されている。These magnetic bearings have become popular in recent years due to their remarkable characteristics, such as no life limit due to friction or fatigue, extremely low friction torque, and excellent suitability for special environments such as vacuum, high temperature, and low temperature. being researched.

そしてこの用途としては、例えば遠心分離器、真空ポン
プ、ジャイロ、精密測定器、人工衛星用制御機器等の使
用が有望視されている。As for this application, for example, use in centrifugal separators, vacuum pumps, gyros, precision measuring instruments, control equipment for artificial satellites, etc. is considered to be promising.

一般には、この種の磁気軸受は永久磁石と電磁コイルと
を使用し、永久磁石による吸引力の不平衡を、電磁コイ
ルによる吸引力で平衡させるようになっている。Generally, this type of magnetic bearing uses a permanent magnet and an electromagnetic coil, and the unbalanced attraction force of the permanent magnet is balanced by the attraction force of the electromagnetic coil.

然しなから回転軸と直交方向の軸廻り剛性を向上させる
ために、一般には軸方向に背が高くかつ無駄な重量が多
く、小型で軽量化が要求される人工衛星等の搭載には不
適当なものが多かった。However, in order to improve the rigidity around the axis in the direction orthogonal to the rotation axis, it is generally taller in the axial direction and has a lot of unnecessary weight, making it unsuitable for mounting on artificial satellites etc. that require small size and light weight. There were many things.

本発明の目的は、上述の欠点を解消すると共に、ロータ
部をステータ部に対し回転させながら、かつロータ部を
ステータ部に対し姿勢の制御もでき、しかも回転中のロ
ータの振れ廻りをも減衰可能な磁気軸受装置を提供する
ことにあり、その内容は、非接触で相対的に回転し得る
ロータ部とステータ部とを有する２組の磁気軸受から放
り、各々のロータ部同志及びステータ部同志を非磁性体
から成る連結部材により接続した装置であって、少なく
とも一方の磁気軸受に於いて、ロータ部或いはステータ
部又はこれら双方に永久磁石を介在し、ロータ部は円環
状のヨークから成り、その外周部は回転軸方向を句〈２
個の端部を有し、内周部は回転軸の半径方向を向く端部
を有し、ステータ部ば回転軸の半径方向の外側に配置す
る磁性体から成る円環状の第１の電磁ヨークと、内側に
配置する磁性体から成る円状の第２の電磁ヨークとを有
し第１の電磁ヨークは、第１の電磁コイルを巻回すると
共に、円周方向に沿った開口部を設け、該開口部内に挿
入したロータ部ヨークの前記外周部の端部との間に、永
久磁石及び第１の電磁コイルによる磁束を軸方向に通過
させる第１及び第２の空隙磁路を形成し、第２の電磁ヨ
ークは、ロータ部ヨークの内周部の前記回転軸の半径方
向を向く端部と対向して第３の空隙磁路を形成する半径
方向を向く端部を有すると共に、前記第３の空隙磁路を
形成する第２の電磁ヨークの端部を軸対称に３個以上に
分割し、分割された第２の電磁ヨーク部分の少なくとも
２個に第２の電磁コイルを巻回し永久磁石及び第２の電
磁コイルによる磁束を第３の空隙磁路では半径方向に通
過させるようにしたことを特徴とするものである。It is an object of the present invention to eliminate the above-mentioned drawbacks, and also to be able to control the attitude of the rotor part relative to the stator part while rotating the rotor part relative to the stator part, and to also attenuate the wobbling of the rotating rotor. The purpose is to provide a possible magnetic bearing device, which consists of two sets of magnetic bearings each having a rotor part and a stator part that can rotate relative to each other in a non-contact manner. are connected by a connecting member made of a non-magnetic material, in which at least one of the magnetic bearings has a permanent magnet interposed in the rotor part, the stator part, or both, the rotor part consisting of an annular yoke, Its outer periphery is expressed in the direction of the rotational axis.
an annular first electromagnetic yoke made of a magnetic material, the inner peripheral part of which has an end facing in the radial direction of the rotating shaft, and the stator part of which is disposed outside the rotating shaft in the radial direction; and a circular second electromagnetic yoke made of a magnetic material disposed inside. , forming first and second air-gap magnetic paths through which the magnetic flux from the permanent magnet and the first electromagnetic coil passes in the axial direction between the outer circumferential end of the rotor yoke inserted into the opening. , the second electromagnetic yoke has an end facing in the radial direction forming a third air gap magnetic path opposite to the end facing in the radial direction of the rotating shaft of the inner peripheral part of the rotor part yoke, and The end of the second electromagnetic yoke that forms the third air gap magnetic path is divided into three or more parts axially symmetrically, and a second electromagnetic coil is wound around at least two of the divided second electromagnetic yoke parts. It is characterized in that the magnetic flux generated by the permanent magnet and the second electromagnetic coil is passed through the third air gap magnetic path in the radial direction.

本発明を図示の実施例に基づいて詳細に説明する。The present invention will be explained in detail based on illustrated embodiments.

第１図は本発明に係る磁気軸受装置の縦断面図であり、
第２図は第１図の■−■線に沿った拡大断面図である。FIG. 1 is a longitudinal sectional view of a magnetic bearing device according to the present invention,
FIG. 2 is an enlarged sectional view taken along the line ■-■ in FIG. 1.

本装置は２個の磁気軸受１，１′から成り、磁気軸受１
と磁気軸受１′とは上下対称に構成されている。This device consists of two magnetic bearings 1 and 1'.
and the magnetic bearing 1' are configured vertically symmetrically.

磁気軸受１，１′は、それぞれロータ部２とステータ部
３を有し、ロータ部２，２同志及びステータ部３，３同
志は、例えばアルミニウム、銅等の非磁性体から成る連
結部材４，５によって連結されている。The magnetic bearings 1 and 1' each have a rotor part 2 and a stator part 3, and the rotor parts 2 and 2 and the stator parts 3 and 3 each have a connecting member 4 made of a non-magnetic material such as aluminum or copper. connected by 5.

ロータ部２は円環状の磁性体のヨーク６から成シ、外周
部はＴ字状に形成され、その２個の端部７，８は軸Ｚ、
Ｚ方向を向いて配置され、内周部は２個の端部９，１０
に形成され、一方の端部９は半径方向を向き他方の端部
１０は軸方向を向いている。The rotor part 2 is made up of an annular magnetic yoke 6, and its outer peripheral part is formed in a T-shape, and its two ends 7 and 8 are connected to the axis Z,
It is arranged facing the Z direction, and the inner peripheral part has two end parts 9 and 10.
, with one end 9 facing in the radial direction and the other end 10 facing in the axial direction.

ステータ部３は２個の径の異る円環状の第１の電磁ヨー
ク１１と略円板状の第２の電磁ヨーク１２から成り、電
磁ヨーク１１．１２同志は半径方向に磁化された永久磁
石１３に接続されている。The stator section 3 consists of two annular first electromagnetic yokes 11 and a substantially disk-shaped second electromagnetic yoke 12 with different diameters, and the electromagnetic yokes 11 and 12 are permanent magnets magnetized in the radial direction. 13.

外側に配置された第１の電磁ヨーク１１はその一部に第
１の電磁コイル１４が巻回された断面四角形の枠体から
成り、その内側には円周方向に沿って開口部１５が設け
られ、その開口部１５内にロータ部２のヨーク６のＴ字
状端部７，８が挿入され、開口部１５の端部１６，１７
との間に第１及び第２の空隙磁路１８及び１９が形成さ
れている。The first electromagnetic yoke 11 disposed on the outside consists of a frame with a rectangular cross section around which the first electromagnetic coil 14 is wound, and an opening 15 is provided inside the frame along the circumferential direction. The T-shaped ends 7 and 8 of the yoke 6 of the rotor section 2 are inserted into the opening 15, and the ends 16 and 17 of the opening 15 are inserted.
First and second air gap magnetic paths 18 and 19 are formed between the two.

内側に配置された第２の電磁ヨーク１２は片側の断面が
四角形の枠体の外隅部が円周方向に沿って切欠されてト
リ、との切欠によって生じた半径方向を向く端部２０は
軸対称に例えば十字状の分割部分２１ａ。The second electromagnetic yoke 12 disposed inside has a rectangular cross section on one side, and an outer corner of the frame is notched along the circumferential direction. For example, a cross-shaped divided portion 21a is axially symmetrical.

２１ｂ、２１ｃ、２１ｄに分割されてむり、かつ分割さ
れた分割部分２１ａ〜２１ｄごとに第２の電磁コイル２
２ａ、２２ｂ、２２ｃ、２２ｄが巻回されている。21b, 21c, and 21d, and a second electromagnetic coil 2 is provided for each divided portion 21a to 21d.
2a, 22b, 22c, and 22d are wound.

この分割部分２１ａ〜２１ｄから成る端部２０はロータ
部２のヨーク６の半径方向を向く端部９と対向して第３
の空隙磁路２３を形成している。The end portion 20 consisting of the divided portions 21a to 21d is located at the third end facing the end portion 9 of the yoke 6 of the rotor portion 2 facing in the radial direction.
An air gap magnetic path 23 is formed.

又、第２の電磁ヨーク１２の他方の端部２４は軸方向を
向き、ロータ部２のヨーク６の端部１０と対向し、第４
の空隙磁路２５が形成されている。The other end 24 of the second electromagnetic yoke 12 faces the axial direction and faces the end 10 of the yoke 6 of the rotor section 2.
An air gap magnetic path 25 is formed.

そしてロータ部２の軸方向の位置を検出するための１個
の軸方向位置検出器２６がステータ部３に取付けられて
配置され、軸方向制御回路２７を介して２組の磁気軸受
１，１′の双方の第１の電磁コイル１４．１４に供給す
る電流を制御するようになっている。An axial position detector 26 for detecting the axial position of the rotor section 2 is attached to the stator section 3 and is connected to the two sets of magnetic bearings 1 and 1 via an axial control circuit 27. ' The current supplied to both first electromagnetic coils 14 and 14 is controlled.

又、磁気軸受１，１′ごとにロータ部２の半径方向の位
置を検出する半径方向位置検出器２８ｘ、２８ｙ（図示
せず）、２８’ｘ、 ２８’ｙ （図示せず）が設けら
れ、それぞれ制御回路２９ｘ、２９ｙ（図示せず）、２
９’ｘ 。Further, radial position detectors 28x, 28y (not shown), 28'x, 28'y (not shown) are provided for each magnetic bearing 1, 1' to detect the radial position of the rotor section 2. , control circuits 29x, 29y (not shown), 2, respectively.
9'x.

２９′ｙ（図示せず）を介して、それぞれの磁気軸受１
，１′の第２の電磁コイル２２ａ、２２ｃ及び２２ｂ、
２２ｄに電流が供給される。29′y (not shown), each magnetic bearing 1
, 1' second electromagnetic coils 22a, 22c and 22b,
A current is supplied to 22d.

この半径方向位置検出器２８ｘ、２８ｙ、２８’ｘ、２
８’ｙは実施例ではＸ、Ｙ平面に於いて、Ｘ−Ｘ方向及
びＹ−Ｙ方向の位置をそれぞれ検出するために磁気軸受
１，１′ごとに２個ずつふり割けられていて、Ｘ−Ｘ、
Ｙ−Ｙ方向ごとにそれぞれの方向を向く分割部分２１ａ
〜２１ｄの第２の電磁コイル２２ａ〜２２ｄに電流を供
給することになる。This radial position detector 28x, 28y, 28'x, 2
In the embodiment, two 8'y are allocated for each of the magnetic bearings 1 and 1' in order to detect the position in the X-X direction and the Y-Y direction on the X and Y planes, respectively. -X,
Divided portions 21a facing each direction in each Y-Y direction
Current is supplied to the second electromagnetic coils 22a to 22d.

即ち、第２図に於いてＸ−Ｘ方向の位置制御は第２の電
磁コイル２２ａ及び２２ｃにより、Ｙ−Ｙ方向は電磁コ
イル２２ｂ及び２２ｄにより行なわれる。That is, in FIG. 2, position control in the X-X direction is performed by second electromagnetic coils 22a and 22c, and position control in the Y-Y direction is performed by electromagnetic coils 22b and 22d.

更にロータ部２とステータ部３との連結部材４．５間に
は、電磁コイル及び永久磁石から成るモータ部３０が設
けられ、ステータ部３に対しロータ部２を駆動するため
の回転力を与えるようになっている。Further, a motor section 30 consisting of an electromagnetic coil and a permanent magnet is provided between the connecting member 4.5 between the rotor section 2 and the stator section 3, and provides rotational force to the stator section 3 for driving the rotor section 2. It looks like this.

伺、３１はロータ部２周囲に設けたフライホイールを示
している。31 indicates a flywheel provided around the rotor portion 2.

永久磁石１３からの実整で示す磁束φ１は、第２の電磁
ヨーク１２内を通過して第３の空隙磁斃２３及び第４の
空隙磁路２５を通ってヨーク６に流れ、外周部の端部７
，８で二岐に分岐され、方は第１の空隙磁路１８を通過
して第１の電磁ヨーク１１内を通り永久磁石１３に戻り
、他方は第２の空隙磁路１９を通過し、第１の電磁ヨー
ク１１内を通って永久磁石１３に戻ることになる。The magnetic flux φ1 shown in actual alignment from the permanent magnet 13 passes through the second electromagnetic yoke 12, passes through the third air gap magnetic path 23 and the fourth air gap magnetic path 25, flows to the yoke 6, and flows into the yoke 6 at the outer periphery. End 7
, 8, one side passes through the first air gap magnetic path 18 and returns to the permanent magnet 13 through the inside of the first electromagnetic yoke 11, and the other side passes through the second air gap magnetic path 19, It passes through the first electromagnetic yoke 11 and returns to the permanent magnet 13.

尚、永久磁石１３の極性を逆にすれば磁束〆１は逆の順
序に流れることは勿論である。Of course, if the polarity of the permanent magnet 13 is reversed, the magnetic flux 1 will flow in the reverse order.

今ここで、連結部材４の存在を無視し、第１の電磁コイ
ル１１に電流が供給されていない場合を考えてみると、
永久磁石１３から発生される磁束φ１により第１、第２
及び第４の空隙磁路１８，１９及び２５にはそれぞれ軸
方向に互に吸引する吸引力が作用することになる。Now, if we ignore the existence of the connecting member 4 and consider the case where no current is supplied to the first electromagnetic coil 11,
The magnetic flux φ1 generated from the permanent magnet 13 causes the first and second
Attraction forces that attract each other in the axial direction act on the fourth air-gap magnetic paths 18, 19, and 25, respectively.

然し第１及び第２の空隙磁路１８，１９に作用する吸引
力は互に逆方向であり、はぼ相殺されることになって、
第３の空隙磁路２５に作用する吸引力が全体としてロー
タ部２のヨーク６に作用し、ヨーク６は軸方向に変位し
第１及び第４の空隙磁路１８及び２５が閉じられること
になる。However, the attractive forces acting on the first and second air-gap magnetic paths 18 and 19 are in opposite directions and are almost canceled out.
The attractive force acting on the third air gap magnetic path 25 acts on the yoke 6 of the rotor section 2 as a whole, and the yoke 6 is displaced in the axial direction, thereby closing the first and fourth air gap magnetic paths 18 and 25. Become.

従って永久磁石１３からの磁束グ。は、第２の空隙磁路
１９の磁気抵抗が犬となるためここを通る磁束数が少な
くなり、殆ど第１の空隙磁路１８を通過することになる
。Therefore, the magnetic flux from the permanent magnet 13. Since the magnetic resistance of the second air-gap magnetic path 19 becomes a dog, the number of magnetic fluxes passing through this becomes small, and most of the magnetic flux passes through the first air-gap magnetic path 18.

そこで軸方向位置検出器２６でヨーク６の軸方向変位を
検出して軸方向制御回路２７に出力することにより、第
１の電磁コイル１４に電流が供給され、永久磁石１３か
らの主な磁束方向に対して第１の空隙磁路１８には逆の
方向に、第２の空隙磁路１９には同方向に第１の電磁コ
イル１４からの点線で示す磁束グ。Therefore, by detecting the axial displacement of the yoke 6 with the axial position detector 26 and outputting it to the axial direction control circuit 27, current is supplied to the first electromagnetic coil 14, and the main magnetic flux direction from the permanent magnet 13 is The magnetic flux from the first electromagnetic coil 14 is shown by dotted lines in the opposite direction to the first air-gap magnetic path 18 and in the same direction to the second air-gap magnetic path 19 .

を通過させ、第２の空隙磁路１９の吸引力を強め、第１
の空隙磁路１８の永久磁石１３による吸引力を弱めるよ
うに作用させる。passes through, strengthens the attractive force of the second air gap magnetic path 19, and
The attraction force of the permanent magnet 13 of the air gap magnetic path 18 is weakened.

するとヨーク６は第１及び第４の空隙磁路１８及び２５
の間隙を開くように軸方向に移動するようになる。Then, the yoke 6 connects the first and fourth air gap magnetic paths 18 and 25.
It begins to move in the axial direction to open the gap.

このようにしてヨーク６の軸方向位置を軸方向位置検出
器２６で検出しながら、軸方向制御回路２７で第１の電
磁コイル１４に供給する電流を調節することになり、ヨ
ーク６は軸方向の所定位置で安定することになる。In this way, while detecting the axial position of the yoke 6 with the axial position detector 26, the axial direction control circuit 27 adjusts the current supplied to the first electromagnetic coil 14. It becomes stable at a predetermined position.

この状態に於いてロータ部２とステータ部３は軸方向に
非接触状態となる。In this state, the rotor section 2 and the stator section 3 are in a non-contact state in the axial direction.

実際には２組の磁気軸受１，１′を上下対称に設け、こ
れらの間に連結部材４を介在しているので、それぞれの
第１の電磁コイル１４に電流を供給しなくともロータ部
２とステータ部３の間に作用する永久磁石１３による吸
引力は中央位置では殆ど相殺されほぼ吸引力は平衡する
。In reality, two sets of magnetic bearings 1 and 1' are vertically symmetrically provided, and the connecting member 4 is interposed between them, so that the rotor section 2 does not need to be supplied with current to each first electromagnetic coil 14. The attractive force by the permanent magnet 13 acting between the stator section 3 and the stator section 3 is almost canceled out at the center position, and the attractive force is almost balanced.

然しこの位置は不安定であり、しかも負荷の存在や設定
条件によシロータ部２の変位を回避することは不可能で
あって、この第１の電磁コイル１４に供給する制御電流
は不可欠であるが、然し極めて少ない電流で効果的に制
御し得るものである。However, this position is unstable, and it is impossible to avoid displacement of the shirring rotor section 2 due to the presence of a load or setting conditions, so the control current supplied to the first electromagnetic coil 14 is essential. However, it can be effectively controlled with very little current.

又、永久磁石１３による磁束φ１はその一部がフ 第３
の空隙磁路２３を通過することにより、第２の電磁ヨー
ク１２とロータ部２のヨーク６との間に吸引力が作用す
ることになるが、平衡が崩れるとヨーク６は一方的に第
２の電磁ヨーク１２に接触することになる。Also, part of the magnetic flux φ1 due to the permanent magnet 13 is
By passing through the air-gap magnetic path 23 of It comes into contact with the electromagnetic yoke 12 of.

このために第２の電磁ヨーク１２０半径方向の端部２０
に分割部分２１を３個以上設け、それぞれの方向に独立
してヨーク６の位置を側割することが必要となる。For this purpose, the second electromagnetic yoke 120 has a radial end 20
It is necessary to provide three or more divided portions 21 and separately divide the position of the yoke 6 in each direction.

実施例に於いては、４個の分割部分２１ａ〜２１ｄを設
け、それぞれに第２の電磁コイル２２ａ〜２２ｄが巻回
されているので、Ｘ−Ｘ方向及びＹ−Ｙ方向にそれぞれ
配置された半径方向位置検出器２８Ｘ。In the embodiment, four divided parts 21a to 21d are provided, and the second electromagnetic coils 22a to 22d are wound around each part, so that the second electromagnetic coils 22a to 22d are arranged in the X-X direction and the Y-Y direction, respectively. Radial position detector 28X.

２８′Ｘ及び２８ｙ、２８’ｙの信号によりＸ−Ｘ方向
及びＹ−Ｙ方向用にそれぞれ設けられた御制回路２９ｘ
、２９’ｘ及び２９ｙ、２９’ｙを介して第２の電磁コ
イル２２ａ〜２２ｄに流れる電流を調節する。Control circuits 29x are provided for the X-X direction and the Y-Y direction, respectively, using signals 28'X, 28y, and 28'y.
, 29'x and 29y, 29'y to adjust the current flowing to the second electromagnetic coils 22a to 22d.

即ち、磁気軸受１のロータ部２のヨーク６がＸ−Ｘ方向
の右側に片寄った場合を想定してみると、永久磁石１３
からの磁束φ１は第３の空隙磁路２３を通過する際に分
割部分２１ａに多く流れ、分割部分２１ｃＫ流れる磁束
は少なくなり、分割部分２１ａでの吸引力は犬に、分割
部分２１ｃでの吸引力は小となる。That is, assuming that the yoke 6 of the rotor portion 2 of the magnetic bearing 1 is biased to the right side in the X-X direction, the permanent magnet 13
When passing through the third air gap magnetic path 23, much of the magnetic flux φ1 flows into the divided portion 21a, and less magnetic flux flows through the divided portion 21cK. The force becomes small.

そこで同方向に巻回した第２の電磁コイル２２ａ、２２
ｃを用いて、これらの電磁コイル２２ａ、２２ｃにより
発生する磁束φ３が前記永久磁石１３の磁束φ、による
一方的な吸引力を打消すような方向に制御電流を供給す
る。Therefore, the second electromagnetic coils 22a, 22 wound in the same direction
Using c, a control current is supplied in a direction such that the magnetic flux φ3 generated by these electromagnetic coils 22a and 22c cancels the unilateral attractive force due to the magnetic flux φ of the permanent magnet 13.

磁束φ３は点線で示すように、分割部分２１ｃから第３
の空隙磁路２３を通ってヨーク６に流入し、一部は第４
の空隙磁路２５を通過して第２の電磁ヨーク１２に戻る
ことになるが、多くはヨーク６内で対称的に円周方向に
別れ、再び第３の空隙磁路２３を通過して分割部分２１
ａに至り、第２の電磁ヨーク１２の十字状の中心部を経
て分割部分２１ｃに戻ることになる。As shown by the dotted line, the magnetic flux φ3 flows from the divided portion 21c to the third
flows into the yoke 6 through the air gap magnetic path 23, and a portion flows into the fourth
It passes through the air gap magnetic path 25 and returns to the second electromagnetic yoke 12, but in most cases it splits symmetrically in the circumferential direction within the yoke 6, and then passes through the third air gap magnetic path 23 again and is divided. Part 21
a, passes through the cross-shaped center of the second electromagnetic yoke 12, and returns to the divided portion 21c.

その過程に於いて分割部分２１ｃが面する第３の空隙磁
路２３では電磁コイル２２ａ、２２ｃによる磁束φよは
永久磁石１３からの磁束φ１ と同方向となり、その吸
引力を強め、分割部分２１ａが面する空隙磁路２３では
永久磁石１３からの磁束φ１と逆方向となってその吸引
力を弱める結果、ヨーク６を元の位置に押し戻すことに
なる。In the process, in the third air-gap magnetic path 23 facing the divided portion 21c, the magnetic flux φ from the electromagnetic coils 22a and 22c becomes in the same direction as the magnetic flux φ1 from the permanent magnet 13, increasing the attractive force and increasing the magnetic flux φ1 from the permanent magnet 13. In the air gap magnetic path 23 facing the magnetic flux φ1 from the permanent magnet 13, the direction is opposite to that of the magnetic flux φ1, weakening its attractive force and pushing the yoke 6 back to its original position.

Ｙ−Ｙ方向の制御についても、第２の電磁コイル２２ｂ
、２２ｄを用いて同様に実施することになる。Regarding control in the Y-Y direction, the second electromagnetic coil 22b
, 22d.

この制御は単にヨーク６を中立位置に調整するだけでな
く、意識的に一方に片寄らせることも可能である。This control not only simply adjusts the yoke 6 to the neutral position, but also makes it possible to intentionally shift it to one side.

従って上下の磁気軸受１，１′をそれぞれ独立的に片寄
らせることにより、ロータ部２をステータ部３に対して
傾斜させることができることになる。Therefore, by independently biasing the upper and lower magnetic bearings 1 and 1', the rotor section 2 can be tilted relative to the stator section 3.

この傾斜は人工衛星などの姿勢の制御に極めて有力であ
る。This tilt is extremely effective in controlling the attitude of artificial satellites.

実施例に於いては磁束φ１を発生する永久磁石１３をス
テータ部３に介在させたが、ステータ部３ではなくロー
タ部２に挿入しても同様の作用効果を有するものであり
、更には永久磁石をロータ部２、ステータ部３の双方に
配置しても支障はない。In the embodiment, the permanent magnet 13 that generates the magnetic flux φ1 is interposed in the stator section 3, but the same effect can be obtained even if the permanent magnet 13 is inserted in the rotor section 2 instead of the stator section 3. There is no problem even if the magnets are arranged in both the rotor part 2 and the stator part 3.

又、第４の空隙磁路２５を軸方向に向けここを通る磁束
が軸方向に通過するようにしたが、これは横方向の剛性
をかせぐためであり、これを半径方向に通過するように
して空隙磁路２３とは逆方向の半径方向に吸引力が作用
するようにすれば横方向の制御力は強くなる。In addition, the fourth air gap magnetic path 25 is oriented in the axial direction so that the magnetic flux passing through it passes in the axial direction, but this is to obtain rigidity in the lateral direction, and the magnetic flux is made to pass in the radial direction. By making the attraction force act in the radial direction opposite to the air gap magnetic path 23, the lateral control force becomes stronger.

更に第２の電磁コイル２１ａ〜２１ｄによる磁束φ３が
第４の空隙磁路２５を通ることで軸方向の制御に干渉す
ることを防止するために、ロータ部２のヨーク６の端部
１０付近に永久磁石を介在して、磁束φ３が空隙磁路２
５を通過し難くすることもできる。Furthermore, in order to prevent the magnetic flux φ3 generated by the second electromagnetic coils 21a to 21d from passing through the fourth air gap magnetic path 25 and interfering with the axial control, a magnetic flux is provided near the end 10 of the yoke 6 of the rotor section 2. The magnetic flux φ3 flows through the air gap magnetic path 2 through a permanent magnet.
5 can be made difficult to pass.

尚、第４の空隙磁路２５は必ずしも必要不可欠なもので
はなく、場合によっては省略してもよい。Note that the fourth air gap magnetic path 25 is not necessarily essential, and may be omitted depending on the case.

磁気軸受１と１′とは対称的ではなく若干具なる機構の
ものであってもよいし、更には一方の磁気軸受１又は１
′では第１の電磁コイル１４を省略してもよい。The magnetic bearings 1 and 1' may not be symmetrical and may have a slightly different mechanism, or even one of the magnetic bearings 1 or 1 may have a slightly different mechanism.
', the first electromagnetic coil 14 may be omitted.

ロータ部２を半径方向の全方向に制御するには、第２の
電磁ヨーク１２０半径方向を向く端部２０を３個以上に
分割することが必要であるが、第２の電磁コイル２２は
その全てに巻回するのではなく２個以上に巻回すれば理
論的に制御が可能である。In order to control the rotor section 2 in all radial directions, it is necessary to divide the radially facing end 20 of the second electromagnetic yoke 120 into three or more parts. Theoretically, control is possible by winding two or more parts instead of all the parts.

実施例の分割部分２１ａ〜２１ｄは端部２０に設けたが
、第２の電磁ヨーク１２全体を３個以上に分割し、その
間を非磁性体により接続しても半径方向の制御は可能で
ある。Although the divided parts 21a to 21d in the embodiment are provided at the end 20, radial control is also possible by dividing the entire second electromagnetic yoke 12 into three or more parts and connecting them with a non-magnetic material. .

以上説明したように本発明に係る磁気軸受装置は、２個
の磁気軸受を用いて、ステータ部に対するロータ部の軸
方向位置を制御すると共に、それぞれの磁気軸受に於い
て半径方向の位置を制御できるようにしたので、姿勢の
安定した装置として使用できる。As explained above, the magnetic bearing device according to the present invention uses two magnetic bearings to control the axial position of the rotor part with respect to the stator part, and also controls the radial position of each magnetic bearing. This allows it to be used as a device with a stable posture.

又、ロータ部は僅かな角度ながら低エネルギーで傾斜で
きるので、人工衛星等に於ける姿勢制御には極めて効果
的である。Furthermore, since the rotor section can be tilted at a small angle with low energy, it is extremely effective for attitude control in artificial satellites and the like.

【図面の簡単な説明】[Brief explanation of the drawing]

図面は本発明に係る磁気軸受装置の一実施例を示すもの
であり、第１図はその縦断面図、第２図は第１図に於け
る■−■線に沿った断面図である。 符号１，１′は磁気軸受、２はロータ部、３はステータ
部、４，５は連結部材、６はヨーク、７゜８．９．１０
は端部、１１は第１の電磁ヨーク、１２は第２の電磁ヨ
ーク、１３は永久磁石、１４は第１の電磁コイル、１５
は開口部、１６．１７は端部、１８は第１の空隙磁路、
１９は第２の空隙磁路、２０は端部、２１ａ〜２１ｄは
分割部分、２２ａ〜２２ｄは第２の電磁コイル、２３／
／ｉ第３の空隙磁路、２４は端部、２５は第４の空隙磁
路、２６は軸方向位置検出器、２７は軸方向制御回路、
２８ｘ、２８’ｘは半径方向位置検出器、２９Ｘ。 ２９′Ｘは半径方向制御回路。The drawings show an embodiment of the magnetic bearing device according to the present invention, and FIG. 1 is a longitudinal cross-sectional view thereof, and FIG. 2 is a cross-sectional view taken along the line ■-■ in FIG. 1. 1 and 1' are magnetic bearings, 2 is a rotor part, 3 is a stator part, 4 and 5 are connecting members, 6 is a yoke, 7°8.9.10
is an end, 11 is a first electromagnetic yoke, 12 is a second electromagnetic yoke, 13 is a permanent magnet, 14 is a first electromagnetic coil, 15
is an opening, 16.17 is an end, 18 is a first air gap magnetic path,
19 is a second air gap magnetic path, 20 is an end, 21a to 21d are divided parts, 22a to 22d are second electromagnetic coils, 23/
/i third air gap magnetic path, 24 is an end, 25 is a fourth air gap magnetic path, 26 is an axial position detector, 27 is an axial control circuit,
28x, 28'x are radial position detectors, 29X. 29'X is a radial direction control circuit.

Claims (1)

【特許請求の範囲】[Claims] １ 非接触で相対的に回転し得るロータ部とステータ部
とを有する２組の磁気軸受から成り、各々のロータ部同
志及びステータ部同志を非磁性体から戒る連結部材によ
り接続した装置であって、少なくとも一方の磁気軸受に
於いて、ロータ部或いはステータ部又はこれら双方に永
久磁石を介在しロータ部は円環状のヨークから成り、そ
の外周部は回転軸方向を向く２個の端部を有し、内周部
は回転軸の半径方向を向く端部を有し、ステータ部は回
転軸の半径方向の外側に配置する磁性体から戒る円環状
の第１の電磁ヨークと、内側に配置する磁性体から戒る
円状の第２の電磁ヨークを有し第１の電磁ヨークは、第
１の電磁コイルを巻回すると共に、円周方向に沿った開
口部を設け、該開口部内に挿入したロータ部ヨークの前
記外周部の端部との間に、永久磁石及び第１の電磁コイ
ルによる磁束を軸方向に通過させる第１及び第２の空隙
磁路を形成し、第２の電磁ヨークは、ロータ部ヨークの
内周部の前記回転軸の半径方向を向く端部と対向して第
３の空隙磁路を形成する半径方向を向く端部を有すると
共に、前記第３の空隙磁路を形成する第２の電磁ヨーク
の端部を軸対称に３個以上に分割し、分割された第２の
電磁ヨーク部分の少なくとも２個に第２の電磁コイルを
巻回し永久磁石及び第２の電磁コイルによる磁束を第３
の空隙磁路では半径方向に通過させるようにしたことを
特徴とする磁気軸受装置。1 A device consisting of two sets of magnetic bearings having a rotor part and a stator part that can rotate relative to each other without contact, and each rotor part and stator part are connected by a connecting member made of non-magnetic material. In at least one of the magnetic bearings, a permanent magnet is interposed in the rotor part, the stator part, or both, and the rotor part consists of an annular yoke, the outer periphery of which has two ends facing in the direction of the rotation axis. The inner peripheral part has an end facing in the radial direction of the rotating shaft, and the stator part has a first annular electromagnetic yoke disposed on the outer side in the radial direction of the rotating shaft, and a first annular electromagnetic yoke disposed on the inner side in the radial direction of the rotating shaft. The first electromagnetic yoke has a circular second electromagnetic yoke which is separated from the magnetic material to be arranged, and the first electromagnetic yoke is provided with an opening along the circumferential direction, and the first electromagnetic yoke is provided with an opening along the circumferential direction. First and second air-gap magnetic paths are formed between the rotor section yoke inserted in the rotor section yoke and the end of the outer peripheral section thereof, through which the magnetic flux from the permanent magnet and the first electromagnetic coil passes in the axial direction. The electromagnetic yoke has an end portion facing in the radial direction of the inner peripheral portion of the rotor portion yoke and forming a third air gap magnetic path opposite to the end portion facing the radial direction of the rotating shaft, and The end of the second electromagnetic yoke that forms the magnetic path is divided into three or more parts axially symmetrically, and a second electromagnetic coil is wound around at least two of the divided second electromagnetic yoke parts to form a permanent magnet and a second electromagnetic coil. The magnetic flux from the second electromagnetic coil is
A magnetic bearing device characterized in that the air gap magnetic path is configured to pass in a radial direction.