WO2022224381A1 - ベアリングレスモータ - Google Patents
ベアリングレスモータ Download PDFInfo
- Publication number
- WO2022224381A1 WO2022224381A1 PCT/JP2021/016200 JP2021016200W WO2022224381A1 WO 2022224381 A1 WO2022224381 A1 WO 2022224381A1 JP 2021016200 W JP2021016200 W JP 2021016200W WO 2022224381 A1 WO2022224381 A1 WO 2022224381A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- displacement sensor
- bearingless motor
- tilt direction
- poles
- Prior art date
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 117
- 230000004907 flux Effects 0.000 claims abstract description 25
- 238000004804 winding Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 description 15
- 230000005484 gravity Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000003475 lamination Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
- H02K41/065—Nutating motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
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- 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
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
- F16C32/0453—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control for controlling two axes, i.e. combined control of x-axis and y-axis
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- 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
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
Definitions
- the present disclosure relates to a bearingless motor that rotates a rotor while supporting the rotor in a non-contact manner by magnetically levitating the rotor.
- a bearingless motor has, in one magnetic circuit, the function of an electric motor that generates torque and the function of a magnetic bearing that generates a supporting force to levitate the rotor without contact.
- In order to levitate the rotor it is necessary to actively control all five degrees of freedom except for the rotation axis, or to create a passive and stable structure without actively controlling some of the five degrees of freedom.
- a two-axis control type bearingless motor detects the position of the rotor only in the radial direction with a sensor, and adjusts the supporting force so that the detected position matches the target position.
- the two-axis control type bearingless motor performs active control only in the radial direction.
- Radial directions are two directions, the direction of the X-axis and the direction of the Y-axis.
- a two-axis control type bearingless motor generally has a passively stable structure without actively controlling the axial direction and tilting direction of the rotor.
- the axial direction is the direction of the Z-axis, and the tilt directions are ⁇ x and ⁇ y .
- the controlled direction will be referred to as the control direction.
- a direction that is passively stable without being controlled is called a passive stable direction.
- the attraction between the rotor permanent magnets and the stator core is used to passively stabilize the rotor.
- an attractive force acts between the permanent magnet of the rotor and the iron core of the stator so as to restore the tilt of the rotor.
- a restoring torque is generated in the direction opposite to the direction in which the rotor is tilted without any control being performed.
- a restoring force acts in the direction opposite to the direction in which the rotor moves.
- the attractive force acting between the permanent magnet and the iron core is proportional to the distance, so it can be considered as a spring force.
- the ratio of the restoring torque to the tilt angle is called the restoring torque coefficient k ⁇ .
- the tilt direction which is the passive stable direction
- only the restoring torque is used to ensure stability, so the stability is poor compared to the control direction.
- Restoring torque does not act to dampen vibration.
- a damping force that damps vibrations in proportion to velocity does not, in principle, occur in the passive stabilization direction. Therefore, the vibration in the passive stabilization direction continues or diverges, and the rotor may become unstable.
- Non-Patent Document 1 Since the line of action of the radial supporting force of the rotor does not pass through the center of gravity of the rotor, the radial supporting force also acts as a moment to tilt the rotor. Tilt motion can change the output of displacement sensors for radial position sensing. Ideally radial motion and control are independent of tilting motion, but in practice radial and tilting interfere and couple with each other.
- a method has been proposed to solve the above-mentioned problem of instability due to interference by changing the position of the displacement sensor and devising the structure (see, for example, Patent Document 1).
- At least 50% or more of the signal of the first displacement sensor occupies the control zone above or below the magnetic plane of the rotor among the measurement zones for the purpose of detecting the tilting position of the rotor.
- Tilt motion provides a damping force for tilt motion via the derivative term of the radial position controller. Consequently, the radial position controller not only stabilizes the radial direction, but at the same time dampens the oscillations of the tilting motion.
- the stability of the rotor in the direction of inclination depends only on the restoring torque proportional to the amount of inclination.
- the stability of the rotor in the tilt direction is vulnerable to disturbances.
- the rotor's radial levitation and tilting motion interfere with each other, making the rotor unstable and, in the worst case, causing the rotor to vibrate.
- Patent Document 1 by shifting the position of the displacement sensor above or below the magnetic plane of the rotor, information including position information in the rotor's tilting direction in addition to position information in the radial direction of the rotor is transmitted to the displacement sensor. to control the rotor so that it is stable.
- the method of Patent Document 1 does not separate and detect the position information in the tilt direction and the position information in the radial direction as separate state variables.
- the radial position controller may contribute to the generation of the damping force in the tilt direction, but it is not possible to quickly and appropriately suppress the radial vibration and the tilt direction vibration.
- the present disclosure has been made in view of the above, and aims to obtain a bearingless motor that improves the stability of the rotor in the tilt direction.
- a bearingless motor is a two-axis control type bearingless motor that includes a rotor and a rotor for imparting supporting force and torque to the rotor.
- the stator, the first displacement sensor and the second displacement sensor that detect the radial position of the rotor, and the tilt direction of the rotor based on the detection results obtained by the first displacement sensor and the second displacement sensor and a calculation unit that receives the displacement in the tilt direction obtained by the calculation unit and outputs a current command except for at least a part of the band that does not include the natural angular frequency of the tilt of the rotor. and a controller.
- the stator has motor windings that generate magnetic flux with the number of poles p to generate torque, and support windings that generate magnetic flux with the number of poles p ⁇ 2 or 2 to generate supporting force. At least part of the magnetic circuit of the magnetic flux with the number of poles p for generating the torque and at least part of the magnetic circuit of the magnetic flux with the number of poles p ⁇ 2 or 2 for generating the supporting force are common.
- the supporting force is generated by superimposing the magnetic flux with the number of poles p ⁇ 2 or 2 on the magnetic flux with the number of poles p.
- p is a natural number.
- the first displacement sensor and the second displacement sensor are arranged at different positions in the axial direction.
- the bearingless motor according to the present disclosure has the effect of being able to improve the stability of the rotor in the tilt direction.
- Sectional view of the bearingless motor according to Embodiment 1 Sectional view of the bearingless motor according to Embodiment 1 when the position of the second displacement sensor is arranged at the same angular position as that of the first displacement sensor.
- 4 is a block diagram including components for performing rotor support control using the detected radial position and tilt direction in the first embodiment;
- FIG. FIG. 10 is a diagram showing a configuration of a tilt direction position controller that outputs a current command except for at least a part of a band that does not include the natural angular frequency of tilt according to the second embodiment;
- FIG. 11 is a diagram showing a state in which an accessory is added to the rotor of the bearingless motor according to Embodiment 2;
- FIG. 4 is a diagram showing a processor when the tilt direction position controller of the bearingless motor according to Embodiment 1 is realized by the processor;
- FIG. 4 is a diagram showing a processing circuit when the tilt direction position controller of the bearingless motor according to Embodiment 1 is realized by the processing circuit;
- FIG. 1 is a cross-sectional view of a bearingless motor 1 according to Embodiment 1.
- FIG. 1 Also shown in FIG. 1 are the X, Y and Z axes. The X-axis is orthogonal to the Y-axis and Z-axis, and the Y-axis is orthogonal to the Z-axis.
- FIG. 1 shows a cross section of the bearingless motor 1 on a plane parallel to the plane containing the X-axis and Z-axis.
- the bearingless motor 1 is a two-axis control type bearingless motor and has a rotor 2 and a stator 3 for giving the rotor 2 supporting force and torque.
- the stator 3 has a stator core 31 in which slots are formed.
- the stator 3 further comprises motor windings 32 and support windings 33 provided in slots formed in the stator core 31 .
- the motor windings 32 generate a magnetic flux with p poles to generate torque.
- p is a natural number. When a current is passed through the motor windings 32, a magnetic flux having a number of poles of p is generated to generate torque.
- the support winding 33 generates a magnetic flux with the number of poles p ⁇ 2 or 2 to generate a supporting force.
- a magnetic flux having a pole number of p ⁇ 2 or 2 is generated to generate a radial support force for the rotor 2 .
- the supporting force is generated by a magnetic field with the number of poles p ⁇ 2 due to the support windings, and in the case of a consequent pole type motor or homopolar type motor, the number of poles due to the support windings is The supporting force is generated by two magnetic fields.
- At least part of the magnetic circuit of the magnetic flux with the number of poles p for generating torque and at least part of the magnetic circuit of the magnetic flux with the number of poles p ⁇ 2 or 2 for generating the supporting force are common.
- the supporting force is generated by superimposing the magnetic flux with the number of poles p ⁇ 2 or 2 on the magnetic flux with the number of poles p.
- at least a part of the two magnetic circuits is common, and the magnetic flux with the number of poles of p ⁇ 2 or 2 is superimposed on the magnetic flux with the number of poles of p, resulting in unevenness in the magnetic flux density. Therefore, by adjusting the magnitude and phase of the supporting current, the magnitude and direction of the supporting force in the radial direction of the rotor 2 can be controlled.
- a displacement sensor is used to detect the position x of the rotor 2 in the X-axis direction.
- the displacement sensor may be an eddy current sensor or an optical sensor.
- At least one displacement sensor is required to detect the position of the rotor 2 in the direction of the X axis. have a sensor.
- a first displacement sensor 4 and a second displacement sensor 5 detect the radial position of the rotor 2 .
- the first displacement sensor 4 and the second displacement sensor 5 are arranged at different positions in the axial direction of the rotor 2 .
- the second displacement sensor 5 is arranged at a position shifted by 0 mechanical angle in the circumferential direction with respect to the first displacement sensor 4 .
- the second displacement sensor 5 may be arranged at a position shifted by 180 mechanical angles in the circumferential direction with respect to the first displacement sensor 4 .
- FIG. 2 is a cross-sectional view of the bearingless motor 1 according to Embodiment 1 when the position of the second displacement sensor 5 is arranged at the same angular position as the first displacement sensor 4.
- FIG. 2 shows a cross section of the bearingless motor 1 on a plane parallel to the plane containing the X-axis and Z-axis.
- the second displacement sensor 5 is arranged at a position shifted by 180 mechanical angles in the circumferential direction with respect to the first displacement sensor 4 .
- signals from the displacement sensor when the second displacement sensor 5 is arranged at a position shifted by 180 mechanical angles in the circumferential direction with respect to the first displacement sensor 4 will be described.
- the sign of the signal of the second displacement sensor 5 in the formula of FIG. 2 should be reversed.
- the axial position of the first displacement sensor 4 is L1
- the axial position of the second displacement sensor 5 is L2.
- “L” in FIG. 1 indicates the length of the rotor 2 stacked.
- the surface of rotor 2 serves as the sensor target. As the rotor 2 moves in the direction of the X-axis, the distance between the surface of the rotor 2 and the displacement sensor changes. The distance between the surface of the rotor 2 and the displacement sensor also changes depending on the inclination ⁇ y of the rotor 2 about the Y -axis.
- the signal x1 from the first displacement sensor 4 is expressed by the following equation ( 1 )
- the signal x2 from the second displacement sensor 5 is expressed by the following equation (2).
- FIG. 2 shows the case where the center of gravity B of the rotor 2 is between the first displacement sensor 4 and the second displacement sensor 5, but when the center of gravity B is below the second displacement sensor 5,
- the sign of the axial position L2 of the two -displacement sensor 5 may be reversed.
- L2 is the distance between the center of gravity B and the position of the second displacement sensor 5 in the axial direction.
- the bearingless motor 1 By utilizing both the signal x1 from the first displacement sensor 4 and the signal x2 from the second displacement sensor 5, the bearingless motor 1 obtains information on the position x of the rotor 2 in the X-axis direction and the Y-axis It is possible to obtain the information of the inclination ⁇ and y of the circumference.
- the position x of the rotor 2 in the X-axis direction is expressed by the following equation (3)
- the inclination ⁇ y about the Y -axis is expressed by the following equation (4).
- the lamination thickness length L of the rotor 2 is less than the radius of the rotor 2. That is, the rotor 2 has a flat structure.
- the inclination ⁇ y of the rotor 2 about the Y-axis is obtained by calculating the difference x 1 ⁇ x 2 between the signal x 1 of the first displacement sensor 4 and the signal x 2 of the second displacement sensor 5 as It is calculated by dividing by the axial distance L 1 +L 2 from the displacement sensor 5 .
- the above difference x 1 ⁇ x 2 is proportional to the magnitude of the above distance L 1 +L 2 .
- the distance L 1 +L 2 cannot be longer than the lamination thickness length L of the flat rotor 2 .
- the detection value of the displacement sensor contains an error.
- the positions of the upper end and the lower end of the rotor 2 also change due to the vibration of the rotor 2 in the axial direction or the tilt direction, or the stationary sinking of the rotor 2 due to its own weight A.
- the distance L 1 +L 2 should be shorter than the lamination thickness length L of the rotor 2 .
- ⁇ z be the amplitude of axial variation of the upper end and the lower end of the rotor 2 due to vibration or sinking of the rotor 2
- D be the outer diameter of the displacement sensor.
- a displacement sensor needs to be arranged between the upper end and the lower end of the rotor 2, which is the object to be measured by the displacement sensor.
- the detection range targeted by the sensor is assumed to be a circle with an outer diameter three times the sensor outer diameter D, that is, a circle with a radius 3/2 times D.
- both the distance between the upper end of the rotor and the center of the displacement sensor and the distance between the lower end of the rotor and the center of the displacement sensor are preferably 3/2 times or more of D, and considering that the object to be measured vibrates. Then, the axial distance L 1 +L 2 between the first displacement sensor 4 and the second displacement sensor 5 needs to satisfy the following formula (5).
- the signal of the difference x1 - x2 between the signal x1 of the first displacement sensor 4 and the signal x2 of the second displacement sensor 5 becomes small, and the tilt ⁇ y of the rotor 2 around the Y axis is calculated.
- FIG. 3 is a block diagram including components for performing support control of the rotor 2 using the detected radial position and tilt direction in the first embodiment.
- the deviation is calculated from the difference between the radial command value x * and the detected value x.
- the detected value x is the position x of the rotor 2 in the X-axis direction.
- the bearingless motor 1 has a radial position controller 6 that outputs a support current command value i x0 * for supporting the rotor 2 in the radial direction based on the deviation.
- the radial position controller 6 inputs the command value i x0 * to the current controller 7 .
- the current controller 7 outputs a voltage command value, and the inverter 8 applies a voltage to the motor section 9 based on the signal, so that current flows through the motor section 9 .
- the motor section 9 has a rotor 2 and a stator 3 .
- the bearingless motor 1 provides radial support control and at the same time utilizes tilt displacement.
- the bearingless motor 1 includes a computing unit 10 that computes the inclination ⁇ y of the rotor 2 about the Y -axis based on the detection results obtained by the first displacement sensor 4 and the second displacement sensor 5, and the computing unit 10:
- the obtained tilt ⁇ y of the rotor 2 about the Y-axis is received, and based on the tilt ⁇ y , current command i ⁇ y and a tilt direction position controller 11 that outputs * .
- the inclination ⁇ y of the rotor 2 about the Y -axis is the displacement of the rotor 2 in the inclination direction.
- the bearingless motor 1 can detect the position information of the rotor 2 in the tilt direction after removing unnecessary signals or noise.
- the bearingless motor 1 eliminates disturbance and noise components by removing at least part of the band that does not include the natural angular frequency of the tilt, and extracts the necessary tilt ⁇ y of the rotor 2 about the Y axis. be able to.
- the main component of the tilt is the vibration at the natural angular frequency in the tilt direction, and it is necessary to attenuate the vibration due to this natural angular frequency.
- the natural angular frequency ⁇ n in the tilt direction is expressed by the following equation (6).
- I is the moment of inertia of the rotor 2 in the tilting direction.
- the tilt direction is a tilt direction around the X-axis and the Y-axis.
- Iz is the moment of inertia of the rotor 2 about the Z -axis.
- ⁇ is the rotational angular velocity of the rotor 2
- k ⁇ is the restoring torque coefficient.
- the force generated by the support windings 33 acts mainly as a support force for moving the rotor 2 in the X-axis direction, but the line of action of this force does not pass through the center of gravity B. , also act as a torque to tilt the rotor 2 about the Y axis. Therefore, the bearingless motor 1 superimposes the current command i ⁇ y * generated by the tilt direction position controller 11 on the support current command value i x0 * for supporting the radial direction, and the support current command value i By setting x * to be the sum of i x0 * and i ⁇ y * , vibrations in the radial direction and the tilt direction can be suppressed early and appropriately.
- the bearingless motor 1 also has two displacement sensors, a first displacement sensor 4 and a second displacement sensor 5, in order to detect the position in the direction of the Y-axis and in the direction of inclination around the X-axis. Vibration damping control is performed in the direction of the Y-axis and in the tilt direction about the X-axis using the shown components.
- the bearingless motor 1 acquires the inclination ⁇ y about the Y axis of the rotor 2 and the radial position as separate state variables, and the radial position controller 6 and The tilt direction position controller 11 can quickly and appropriately suppress vibrations of the rotor 2 in the tilt direction and the radial direction.
- the bearingless motor 1 suppresses the vibration of the rotor 2 and levitates the rotor 2 more stably even when disturbance is applied to the rotor 2 or the rotor 2 is rotating at a critical speed. can be rotated. That is, the bearingless motor 1 can improve the stability of the rotor 2 in the tilt direction.
- FIG. 4 is a diagram showing the configuration of the tilt direction position controller 40 that outputs the current command i ⁇ y * except for at least a part of the band that does not include the natural angular frequency of tilt in the second embodiment.
- the tilt direction position controller 11 of Embodiment 1 may be replaced with the tilt direction position controller 40 .
- the tilt direction position controller 40 has a natural angular frequency calculator 41 that calculates the natural angular frequency using the rotational angular velocity and the moment of inertia.
- the calculation section 10 of Embodiment 1 is replaced with a natural angular frequency calculation section 41 .
- the natural angular frequency calculator 41 has a function of inputting at least one of the rotational speed and the moment of inertia of the rotor 2 and calculating the natural angular frequency of the rotor 2 in the tilt direction.
- the tilt direction position controller 40 further includes a changing section 42 that changes the magnitude and phase of the gain of the signal inside the tilt direction position controller 40 .
- the tilt direction position controller 40 further has an inverse notch filter 43 that removes frequency components other than the natural angular frequency.
- the tilt direction position controller 40 performs a filtering process that allows the components of the band of the natural angular frequency in the tilt direction of the rotor 2 to pass through and removes at least a part of the components of the band other than the natural angular frequency of the tilt direction. conduct.
- a transfer function G S (S) of the inverse notch filter 43 is represented by the following equation (7).
- Equation (7) a is a coefficient that determines the gain of the reverse notch filter 43, and Q is a coefficient that determines the band of the reverse notch.
- the tilt direction position controller 40 can change the internal parameters to update the natural angular frequency as needed. Therefore, there is no need to change the placement location of the displacement sensor.
- a general band-pass filter or DFT Discrete Fourier Transform
- the tilt direction position controller 40 further has a gain phase adjuster 44 that receives the output of the inverse notch filter 43 as an input and adjusts the gain and phase of the input.
- the configuration of the rotor 2 and the environment around the rotor 2 change, and the floating position, the center of gravity, the moment of inertia, the number of revolutions, and a part of the angle at which the entire device is arranged are changed.
- the current command i ⁇ y * for suppressing vibration in the tilting direction of the rotor 2 can be adjusted.
- the position of the displacement sensor when the position of the displacement sensor is shifted above or below the magnetic plane of the rotor to stabilize the rotor, when the configuration of the rotor changes, the position of the displacement sensor intended to stabilize the rotor will instead rotate. It can be a factor that destabilizes the child. In that case, the position of the displacement sensor must be changed.
- the changing unit 42 since the changing unit 42 changes the magnitude and phase of the gain of the signal obtained by the gain phase adjuster 44, which is the signal inside the tilt direction position controller 40, the position of the displacement sensor is changed. No need to change.
- the tilt direction position controller 40 of the second embodiment also has a function of correcting the phase shift caused by the inverse notch filter 43 .
- the inverse notch filter 43 shifts the phase as the frequency moves away from the center frequency.
- the phase can be corrected by connecting, for example, a lagging phase compensator in series within the gain phase adjuster 44 .
- a memory may be used to temporarily store the input and delay the output with respect to the input to adjust the phase.
- FIG. 5 is a diagram showing a state in which an accessory 51 is added to the rotor 2 of the bearingless motor 1A according to Embodiment 2.
- accessory 51 is a fan or support.
- the overall center of gravity of the rotor 2 and the accessory 51 changes from the center of gravity B to the center of gravity C.
- the accessory 51 is a fan, the reaction of the fan changes the thrust force and the floating position of the rotor 2 changes.
- the position of the center of gravity of the entire rotor 2 and the attachment 51 changes to the position of the center of gravity C due to the mass and reaction of the attachment 51, if there is only one displacement sensor, the radial direction and the tilt direction Interference effects may change and the rotor 2 may become unstable.
- the bearingless motor 1A according to the second embodiment can stabilize the rotor 2 without changing the position of the displacement sensor by adjusting the gain phase adjuster 44 even when the accessory 51 has an influence. can keep
- FIG. 6 is a cross-sectional view of the bearingless motor 1B in which a non-magnetic sensor target 60 that does not contribute to the generation of supporting force and torque is attached to the lower portion of the rotor 2.
- FIG. 7 is a cross-sectional view of the bearingless motor 1C in which a non-magnetic sensor target 60 that does not contribute to the generation of supporting force and torque is attached to the lower portion of the rotor 2.
- FIG. 8 is a cross-sectional view of the bearingless motor 1D in which a non-magnetic sensor target 60 that does not contribute to the generation of supporting force and torque is attached to the upper portion of the rotor 2.
- FIG. 9 is a cross-sectional view of the bearingless motor 1E in which a nonmagnetic sensor target 60 that does not contribute to the generation of supporting force and torque is attached to the upper portion of the rotor 2. As shown in FIG. Each of FIGS. 6-9 shows the X, Y and Z axes. Each of FIGS. 6 to 9 shows a cross section of bearingless motors 1B, 1C, 1D and 1E on a plane parallel to the plane containing the X-axis and Z-axis.
- the sensor target 60 must be metal. If the displacement sensor is an optical sensor, the sensor target 60 should be made of a material that reflects light. In the case of FIGS. 6 and 8, both the first displacement sensor 4 and the second displacement sensor 5 are arranged at positions different from between the upper end and the lower end of the stator 3. In the case of FIGS. One or both of the first displacement sensor 4 and the second displacement sensor 5 detect the position of the rotor 2 from the sensor target 60 .
- one of the first displacement sensor 4 and the second displacement sensor 5 is arranged at a position different from the position between the upper end and the lower end of the stator 3, and the first displacement The other of sensor 4 and second displacement sensor 5 is arranged between the upper end and the lower end of stator 3 .
- Said one of the first displacement sensor 4 and the second displacement sensor 5 detects the position of the rotor 2 from the sensor target 60 .
- the other of the first displacement sensor 4 and the second displacement sensor 5 detects the position of the rotor 2 from the rotor 2 .
- the bearingless motors 1B and 1D of FIGS. 6 and 8 can detect the position of the rotor 2 from the sensor target 60 even if it is difficult to place the displacement sensor in the same axial position as the stator 3, for example inside a slot. can be detected.
- the distance L 1 +L 2 between the first displacement sensor 4 and the second displacement sensor 5 can be made larger than the lamination length L of the rotor 2 .
- the bearingless motors 1C and 1E increase the difference x 1 -x 2 between the signal x 1 of the first displacement sensor 4 and the signal x 2 of the second displacement sensor 5 compared to disturbance or noise. can be done.
- FIG. 10 is a diagram showing the processor 91 when the inclination direction position controller 11 of the bearingless motor 1 according to Embodiment 1 is realized by the processor 91.
- the processor 91 is a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, or DSP (Digital Signal Processor).
- Memory 92 is also shown in FIG.
- the function of the tilt direction position controller 11 When the function of the tilt direction position controller 11 is implemented by the processor 91, the function is implemented by the processor 91 and software, firmware, or a combination of software and firmware. Software or firmware is written as a program and stored in memory 92 . The processor 91 implements the functions of the tilt direction position controller 11 by reading and executing the programs stored in the memory 92 .
- the bearingless motor 1 When the function of the tilt direction position controller 11 is realized by the processor 91, the bearingless motor 1 is provided with a program for storing a program that results in the execution of the steps performed by the tilt direction position controller 11. It has a memory 92 . It can be said that the program stored in the memory 92 causes the computer to execute the tilt direction position controller 11 .
- the memory 92 is non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory). Or a volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disk), or the like.
- FIG. 11 is a diagram showing the processing circuit 93 when the tilt direction position controller 11 of the bearingless motor 1 according to Embodiment 1 is realized by the processing circuit 93.
- the tilt direction position controller 11 may be realized by the processing circuit 93 .
- the processing circuit 93 is dedicated hardware.
- the processing circuit 93 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. is.
- a part of the tilt direction position controller 11 may be realized by dedicated hardware separate from the rest.
- some of the multiple functions may be implemented by software or firmware, and the rest of the multiple functions may be implemented by dedicated hardware.
- multiple functions of the tilt direction position controller 11 can be realized by hardware, software, firmware, or a combination thereof.
- a part or all of the radial position controller 6 of the bearingless motor 1 according to Embodiment 1 may be realized by a processor or by a processing circuit.
- a part or all of the calculation unit 10 included in the bearingless motor 1 according to Embodiment 1 may be implemented by a processor or may be implemented by a processing circuit.
- the processor is similar to the processor 91 described above.
- the processing circuit is similar to the processing circuit 93 described above.
- a part or all of the tilt direction position controller 40 of the bearingless motor according to the second embodiment may be implemented by a processor or by a processing circuit.
- the processor is similar to the processor 91 described above.
- the processing circuit is similar to the processing circuit 93 described above.
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Abstract
Description
図1は、実施の形態1に係るベアリングレスモータ1の断面図である。図1には、X軸、Y軸及びZ軸も示されている。X軸はY軸及びZ軸と直交しており、Y軸はZ軸と直交している。図1は、X軸及びZ軸を含む平面と平行な平面におけるベアリングレスモータ1の断面を示している。
図4は、実施の形態2において、傾きの固有角振動数を含まない帯域の少なくとも一部を除き、電流指令iθy *を出力する傾き方向位置制御器40の構成を示す図である。具体的には、実施の形態1の傾き方向位置制御器11が傾き方向位置制御器40に置き換えられるという構成にしてもよい。傾き方向位置制御器40は、回転角速度及び慣性モーメントを用いて、固有角振動数を演算する固有角振動数演算部41を有する。実施の形態2では、実施の形態1の演算部10が固有角振動数演算部41に置き換えられる。固有角振動数演算部41は、回転子2の回転数と慣性モーメントとの少なくとも一方を入力として回転子2の傾き方向の固有角振動数を演算する機能を有する。
図6は、支持力及びトルクの発生には寄与しない非磁性体のセンサターゲット60が回転子2の下部に取り付けられた状態のベアリングレスモータ1Bの断面図である。図7は、支持力及びトルクの発生には寄与しない非磁性体のセンサターゲット60が回転子2の下部に取り付けられた状態のベアリングレスモータ1Cの断面図である。図8は、支持力及びトルクの発生には寄与しない非磁性体のセンサターゲット60が回転子2の上部に取り付けられた状態のベアリングレスモータ1Dの断面図である。図9は、支持力及びトルクの発生には寄与しない非磁性体のセンサターゲット60が回転子2の上部に取り付けられた状態のベアリングレスモータ1Eの断面図である。図6から図9の各々には、X軸、Y軸及びZ軸が示されている。図6から図9の各々は、X軸及びZ軸を含む平面と平行な平面におけるベアリングレスモータ1B,1C,1D,1Eの断面を示している。
Claims (7)
- 2軸制御型のベアリングレスモータであって、
回転子と、
前記回転子に支持力とトルクとを与えるための固定子と、
前記回転子の半径方向の位置を検出する第一変位センサ及び第二変位センサと、
前記第一変位センサ及び前記第二変位センサによって得られた検出結果をもとに前記回転子の傾き方向の変位を演算する演算部と、
前記演算部によって得られた前記傾き方向の変位を受け取り、前記回転子の傾きの固有角振動数を含まない帯域の少なくとも一部を除き、電流指令を出力する傾き方向位置制御器とを備え、
前記固定子は、
極数pの磁束を生成して前記トルクを発生する電動機巻線と、
極数p±2又は2の磁束を生成して前記支持力を発生する支持巻線とを有し、
前記トルクを発生するための前記極数pの磁束の磁気回路の少なくとも一部と、前記支持力を発生するための前記極数p±2又は2の磁束の磁気回路の少なくとも一部とが共通しており、
前記支持力は、前記極数pの磁束に、前記極数p±2又は2の磁束が重畳することによって発生し、
前記pは、自然数であり、
前記第一変位センサと前記第二変位センサとは、軸方向の異なる位置に配置される
ことを特徴とするベアリングレスモータ。 - 前記傾き方向位置制御器は、前記傾き方向位置制御器の内部の信号のゲインの大きさと位相とを変更させる変更部を有する
ことを特徴とする請求項1に記載のベアリングレスモータ。 - 前記演算部は、前記回転子の回転数と慣性モーメントとの少なくとも一方を入力として前記回転子の傾き方向の固有角振動数を演算する
ことを特徴とする請求項1に記載のベアリングレスモータ。 - 前記回転子の積厚長さは、前記回転子の半径以下である
ことを特徴とする請求項1に記載のベアリングレスモータ。 - 前記第二変位センサは、前記第一変位センサに対して周方向に機械角0°又は機械角180°ずれた位置に配置される
ことを特徴とする請求項1に記載のベアリングレスモータ。 - 前記トルク及び前記支持力の発生には寄与しない非磁性体のセンサターゲットが前記回転子の上部又は下部に取り付けられた場合、
前記第一変位センサ及び前記第二変位センサの両方又は片方は、前記センサターゲットから前記回転子の位置を検出するように配置される
ことを特徴とする請求項1に記載のベアリングレスモータ。 - 前記傾き方向位置制御器は、前記回転子の傾き方向の固有角振動数の帯域の成分を通過させ、前記傾き方向の固有角振動数以外の帯域の成分の少なくとも一部を除くフィルタ処理を行う
ことを特徴とする請求項1に記載のベアリングレスモータ。
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DE112021007559.4T DE112021007559T5 (de) | 2021-04-21 | 2021-04-21 | Lagerloser motor |
US18/278,004 US20240235357A9 (en) | 2021-04-21 | 2021-04-21 | Bearingless motor |
CN202180094461.8A CN117157858A (zh) | 2021-04-21 | 2021-04-21 | 无轴承电动机 |
JP2022519811A JP7109706B1 (ja) | 2021-04-21 | 2021-04-21 | ベアリングレスモータ |
PCT/JP2021/016200 WO2022224381A1 (ja) | 2021-04-21 | 2021-04-21 | ベアリングレスモータ |
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JP2008048560A (ja) * | 2006-08-20 | 2008-02-28 | Tokyo Univ Of Science | ベアリングレス回転機 |
JP2017150599A (ja) * | 2016-02-25 | 2017-08-31 | 株式会社Soken | 電動モータ、およびモータ制御システム |
WO2018066288A1 (ja) * | 2016-10-06 | 2018-04-12 | 株式会社デンソー | 回転電機 |
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WO2009132707A1 (de) | 2008-04-30 | 2009-11-05 | Levitronix Gmbh | Rotationsmaschine, verfahren zur bestimmung einer verkippung eines rotors einer rotationsmaschine, sowie bearbeitungsanlage |
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JP2008048560A (ja) * | 2006-08-20 | 2008-02-28 | Tokyo Univ Of Science | ベアリングレス回転機 |
JP2017150599A (ja) * | 2016-02-25 | 2017-08-31 | 株式会社Soken | 電動モータ、およびモータ制御システム |
WO2018066288A1 (ja) * | 2016-10-06 | 2018-04-12 | 株式会社デンソー | 回転電機 |
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