JP2835522B2 - Electromagnetic rotary machine with radial rotating body position control winding and radial rotating body position control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention uses a high-speed, ultra-high-speed motor or generator with a function of controlling the radial position of a rotor by electromagnetic force, and uses these motors and the like. The present invention relates to a radial position control device for controlling a radial position of a rotor. In particular, the present invention relates to an electric motor and the like and a radial rotator position control device capable of controlling a radial position of a rotor by flowing a small current through a radial rotator position control winding while using a rotating magnetic field.

[Conventional technology]

In recent years, there has been an increasing demand for high-speed motors for applications such as high-speed flywheels for spacecrafts, vacuum pumps, and high-speed machine tools. To increase the speed of an electric motor, a motor structure suitable for high-speed rotation is required, and at the same time, a bearing capable of supporting a high-speed rotating body is required.

The inventors have already proposed a motor suitable for ultra-high-speed rotation, and have reported experimental results of a prototype motor to the Institute of Electrical Engineers of Japan, the Institute of Electrical Engineers of America (IEEE), and the like. The literature reported so far is described as follows: (1) Fukao, Chiba, and Matsui, "One Method of Closed-Loop Control of Ultra-High-Speed Reluctance Motor", Transactions of the Institute of Electrical Engineers of Japan D, 107-D, No. 2,
pp.271-278,1987,2 / 20 (2) Chiba, Fukao, "High-speed torque control method for ultra-high-speed reluctance motor" Transactions of the Institute of Electrical Engineers of Japan, D, 107-D, No. 10, pp. 1229
-1235,1987,10 / 20 (3) T.Fukao, A.Chiba and M.Matsui, "TEST RESULTS O
NA SUPER HIGH SPEED AMORPHOUS IRON RELUCTANCE MOT
OR ", IEEE, IAS Annual Meeting, Atlanta, Conf.Rec.pp.86
−91,1987,10 / 18. (4) A. Chiba and T. Fukao, “A CLOSED LOOP CONTROL O
F RELUCTANCE MOTOR FOR QUICK TORQUE RESPONSE ", IEE
E, IAS Annual Meeting Atlanta, Conf. Rec., Pp. 289-294.
1987,10 / 18. (5) Fukao, Matsui, Chiba "Basic characteristics of ultra-high-speed reluctance motor using amorphous iron core" Transactions of the Institute of Electrical Engineers of Japan 10
8D, 4, pp. 403-408, 1988, 4/20.

He pointed out that there is a limit to increasing the speed of electric motors as an extension of the conventional technology, and to expand the current speed and output range requires a rotating machine structure and magnetic materials suitable for ultra-high-speed rotation. ing.

However, since the prototype motor uses a conventional ball bearing, the upper limit of the rotational speed is limited, so that only the basic characteristics of high-speed rotation are measured. That is,
When realizing an ultra-high-speed motor, one problem is the performance of the mechanical bearing.

Bearings composed of mechanical elements require lubrication, and the machines themselves are extremely precise, making assembly and maintenance management difficult. Therefore, recently, a magnetic bearing that controls the position of a rotating body using an electromagnetic force is being adopted for an ultrahigh-speed electromagnetic rotating machine.

The magnetic bearing levitates the rotating body without contact using electromagnetic force,
It controls the position of the rotating body. Magnetic bearings can be divided into passive and active types depending on the configuration of the position control system.

FIG. 1 shows the configuration of a typical magnetic circuit of an active magnetic bearing. In this type of magnetic bearing, the magnetic circuit is configured separately from the electric motor. For this reason, there is a feature that various types of electric motors or a rotating body other than the electric motors can be held.

[Problems to be solved by the invention]

However, when a magnetic bearing of this type is applied to an electric motor, it is necessary to (a) configure a magnetic circuit for the bearing separately from the electric motor, and the bearing itself becomes large. In addition, despite the fact that the shaft length of the entire rotating body is limited by the mechanical structure, the shaft length of the bearing portion becomes longer, so that the shaft length of the rotor of the electric motor must be shortened. Therefore, the output of the motor is limited.

(B) The electromagnetic force required to control the position of the rotating body depends only on the magnetic flux generated by the rotor position controlling electromagnet. For this reason, in order to improve the responsiveness of the rotating body position control, it is necessary to keep the exciting magnetic flux large at all times, which increases the size of the electromagnet and the capacity of the current control converter that drives the current of the electromagnet. large.

There are drawbacks such as. Further, the magnetic flux generated by the electromagnet is fixed to the stator, and the rotor cuts off the magnetic flux and rotates. Therefore, (c) an eddy current is generated in the rotor core, so that the rotor generates considerable heat.

There are inherent disadvantages such as.

On the other hand, a method of superposing a current for controlling the position of a rotating body on a motor winding has been proposed as a method for compensating for the disadvantage (a). Although this method has the advantage that the magnetic circuit can be shared by the motor and the magnetic bearing portion, the size can be reduced, but the electromagnet fixed to the conventional stator is equivalently superimposed on the motor. That is, the winding and the magnetic path are simply shared, and as the magnetic circuit, a rotating magnetic field for rotating as a motor and a stationary magnetic field for controlling the position of a rotating body are independently controlled. Therefore, in addition to the drawbacks described in (b) and (c), (d) the magnetic flux formed by the motor always acts as a disturbance to the magnetic flux for performing position control. Further, the frequency of the disturbance greatly varies depending on the rotation speed. Conversely, the magnetic flux for performing the position control acts as a disturbance to the rotating magnetic field of the electric motor.

(E) Since the rotating magnetic field and the static magnetic field are independent, it is not possible to reduce the size of the drive current necessary for position control and the converter for flowing this current while sharing the magnetic path. Further, since the magnetic flux generated in the magnetic path increases, the size of the magnetic circuit increases.

(F) Since a drive current of a motor, a current for position control, and the like are simultaneously passed through one winding, a power converter that drives the current of this winding needs an extremely high frequency response.
At the same time, a large capacity is required to supply the input power of the motor. Therefore, the power converter needs to have a very high performance and a high output, which is expensive.

There are drawbacks such as.

Similarly, as one of the methods for compensating for the drawback described in (a), as a method of reducing the load on the mechanical bearing, a method of applying a winding for the purpose of reducing the weight of the rotor together with the stator winding is proposed. Have been. Although this method has the advantage of being able to compensate for the disadvantages listed in (b) and (f),
There is a problem with the drawbacks (d) and (e). Further, originally, the purpose is not to control the rotor position by the magnetic force, but only to reduce the load on the mechanical bearing.

As a method for removing the defects listed in (a) to (d),
A method has been proposed in which a permanent magnet is used as pre-excitation for a rotor position control electromagnetic machine and a stator of a normal three-phase motor is used. This method eliminates the drawbacks of (c) and (d) in order to form a rotating magnetic field, and uses the magnetic flux for generating an electromagnetic force in the axial direction as the exciting magnetic flux for controlling the position in the radial direction. None of the disadvantages listed above. Further, it is possible to generate torque by forming the support shaft in the radial direction like a hysteresis ring or a rotor of an induction machine.

However, (g) Since the magnetic flux for controlling the position in the axial direction is used as the pre-excitation magnetic flux, there is an advantage that the current and the magnetic flux of the rotating body position control winding in the rotating body radial direction can be small, but this is There is a disadvantage that the magnetic flux that forms the rotating magnetic field required to operate as an electric motor is reduced.

Therefore, if the magnetic flux forming the rotating magnetic field is to be increased, (h) the radial direction rotating body position control current is also increased, and the problem already described in (f) occurs. In addition, as already described in (e), the electric power converter of the electric motor also serves as current control for controlling the position of the rotating body in the radial direction, so that the current control device and the magnetic circuit become large.

(I) Similarly, in order to increase the magnetic flux of the rotating magnetic field, the current capacity of the winding forming the magnetic field must be increased.

(J) Therefore, the coil end of the winding for forming the rotating magnetic field becomes large, and the problem described in (a) occurs.

The present invention has realized a new electromagnetic machine utilizing the exciting magnetic flux of an electromagnetic rotating machine in order to eliminate the above-mentioned drawbacks.

[Means for solving the problem]

For this reason, the present invention (claim 1) requires a stator winding and / or a rotor winding for supporting and rotating the rotor in a non-contact manner, and a radial position control for the rotor. A radial rotator position control device comprising a radial rotator position control winding for balancing and generating a force acting in a radial direction from the rotor center, wherein the stator winding and / or Four-pole equivalent winding evenly arranged in the circumferential direction of the stator by performing coordinate conversion of three-phase two-phase conversion and dq conversion or γδ conversion on the rotor winding
Nd and the equivalent winding Nd have a phase difference of electrical angle π / 2, and are equally arranged in the circumferential direction of the stator at a mechanical angle of π / 4.
Pole equivalent winding Nq, the equivalent winding Nd and the equivalent winding Nq
And the equivalent windings are separated and independent, and are arranged so as to be parallel to the equivalent winding Nd and orthogonal to each other at the center of the rotor by performing the coordinate transformation on the radial rotating body position control winding. An electromagnetic rotating machine with a radial rotating body position control winding which can be equivalently converted into a DC machine model having a rotor position control equivalent winding Nx and a rotor position control equivalent winding Ny of two pole equivalent windings; A radial position detector for detecting the radial position of the rotor in a non-contact manner with the rotor; a radius for detecting the radial position detected by the radial position detector and a radial position of the rotor in advance; A rotor position comparator for comparing the direction position command values and outputting an error value; and calculating and outputting a radial force command value to be applied to the rotor based on the error value output from the rotor position comparator. A radial force control unit, Non-interference for calculating a current command value for decoupling with the rotating magnetic field by performing an inverse matrix operation so that the radial force command value output from the radial force control unit and the radial force acting on the rotor match each other. And a control winding current converter that supplies a current to the radial rotator position control winding based on the current command value calculated by the decoupling unit.

Further, according to the present invention (claim 2), the electromagnetic rotating machine with the radial direction rotating body position control winding is a salient pole synchronous machine having a salient pole type rotor. The change in permeance distribution is approximated by a fundamental wave component, and a coefficient p representing saliency is defined.Based on the radial force command value, a d-axis current id flowing through the equivalent winding Nd and the equivalent winding The torque current iq flowing through Nq is (1+
p) and (1-p) are multiplied, and the d-axis current multiplied by the coefficients is used as a diagonal element, and the inverse matrix operation of a matrix using the torque current as a non-diagonal element is performed to calculate the current command value. It was configured to do so.

Further, according to the present invention (claim 3), the electromagnetic rotating machine with the radial direction rotating body position control winding is a rotating machine that generates an armature reaction, and the decoupling unit performs the above-described processing based on the radial force command value. The d-axis current id flowing through the equivalent winding Nd is set as a diagonal element, and the current command value is calculated by performing an inverse matrix operation of a matrix having the torque current iq flowing through the equivalent winding Nq as a non-diagonal element. .

The present invention (claim 4) further comprises a stator winding and / or a rotor winding for supporting and rotating the rotor in a non-contact manner,
DC machine, AC machine having a radial rotor position control winding for performing radial position control on the rotor by unbalanced rotating magnetic field and generating a force acting in a radial direction from the center of the rotor An electromagnetic rotating machine comprising:
The electromagnetic rotating machine performs three-phase two-phase conversion and dq conversion, or coordinate conversion of γδ conversion on the stator winding and / or the rotor winding, so that the stator winding and / or the rotor winding are uniformly arranged in the circumferential direction of the stator. Pole equivalent winding Nd, and a four-pole equivalent winding having a phase difference of electrical angle π / 2 from the equivalent winding Nd and being equally arranged in the circumferential direction of the stator at a mechanical angle π / 4. Nq, the equivalent winding Nd and the equivalent winding Nq and the equivalent winding are separated and independent, and the coordinate transformation is performed on the radial rotating body position control winding to be parallel to the equivalent winding Nd. It can be equivalently converted to a DC machine model having a rotor position control equivalent winding Nx and a rotor position control equivalent winding Ny of two-pole equivalent windings arranged orthogonal to each other at the rotor center. And a plurality of rotations fixed in series along a main axis located at the center of the rotor A plurality of stator cores that face the rotor with a predetermined gap length in the radial direction, and a torque that penetrates and winds in the main shaft direction in a slot provided in the stator core. And a radially rotating body position control winding wound simultaneously in the slot for each of the stator cores so as to have a different number of poles from the winding.

Further, according to the present invention (claim 5), the plurality of rotors and the plurality of stator cores are connected to each other in the main axis direction without gaps or are integrally formed by at least one core.

Further, in the present invention (claim 6), the radial direction rotating body position control winding is configured to be wound around only two stator cores among the plurality of stator cores.

Furthermore, the present invention (claim 7) provides an electromagnetic rotating machine with a radial rotating body position control winding of the radial rotating body position control device, wherein the stator winding for supporting and rotating the rotor in a non-contact manner; And / or a rotor winding and a radial rotor position control winding for performing radial position control on the rotor by generating a force acting radially from the center of the rotor by unbalancing the rotating magnetic field. An electromagnetic rotating machine including a DC machine and an AC machine provided with wires, wherein the electromagnetic rotating machine performs three-phase two-phase conversion and dq conversion or γδ conversion coordinates on the stator winding and / or the rotor winding. By performing the conversion, the equivalent winding Nd of four poles equally arranged in the circumferential direction of the stator, the equivalent winding Nd has a phase difference of electrical angle π / 2, and the mechanical angle π / 4 A four-pole equivalent winding Nq equally spaced in the circumferential direction of the stator, Ataimakisen Nd and the equivalent winding
Nq and the equivalent winding are separated and independent, and are arranged so as to be parallel to the equivalent winding Nd and orthogonal to each other at the center of the rotor by performing the coordinate transformation for the radial rotating body position control winding. It can be equivalently converted to a DC machine model having a rotor position control equivalent winding Nx and a rotor position control equivalent winding Ny of a two-pole equivalent winding, and a main shaft located at the center of the rotor. A plurality of rotors fixed in series along the rotor, a plurality of stator cores facing the rotors at a predetermined gap length in the radial direction, and a spindle disposed in a slot provided in the stator core. And a winding for generating a torque to be wound in the direction, and a position of the radial rotating body wound simultaneously in the slot for each of the stator cores so as to have a different number of poles from the winding. It was configured with a control winding.

Further, according to the present invention (claim 8), the plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine with the radial direction rotating body position control winding are connected to each other in the main axis direction without a gap or at least respectively. It was constructed integrally with one iron core.

Further, according to the present invention (claim 9), the radial rotating body position control winding of the electromagnetic rotating machine having the radial rotating body position control winding is provided only in two of the plurality of stator cores. It was wound up.

[Action]

According to the configuration of the first aspect, the electromagnetic rotating machine with the radial rotating body position control winding has three-phase two-phase conversion and dq conversion or γδ conversion for the stator winding and / or the rotor winding of the motor and the generator. by performing coordinate conversion has an equivalent winding N _d quadrupole was uniformly placed in the stator circumferential direction, the phase difference of the equivalent winding N _d and the electrical angle [pi / 2, and the mechanical angle [pi / 4 the dc machine model having the stator circumferentially spaced equivalent windings N _q quadrupole were arranged uniformly be equivalent transformation. Similarly, the rotor position control equivalent winding N _{x of the} two-pole equivalent winding obtained by performing the coordinate transformation on the radial rotating body position control winding.
And rotor position control equivalent winding N _y is parallel to the equivalent winding N _d, and wound so as to orthogonal to each other at the rotor center. The radial position detector detects the radial position of the rotor in a non-contact manner with the rotor. Then, the detected position in the radial direction is compared with a radial position command value for commanding the radial position of the rotor in advance by the rotor position comparing unit, and an error value is output. Thereafter, a radial force command value to be applied to the rotor is calculated and output by the radial force control unit based on the error value. An inverse matrix operation is performed by the decoupling unit so that the radial force command value obtained here matches the radial force acting directly on the rotor. Then, a current command value that makes the rotating magnetic field non-interfering is calculated and output. The control winding current converter supplies a current to the radial rotation body position control winding based on the current command value. That is, the rotating magnetic field by the equivalent winding N _d When a current in synchronization with the rotating magnetic field and the frequency of the equivalent winding N _d the rotor position control equivalent winding N _x and rotor position control equivalent winding N _y Becomes unbalanced in a state where the total magnetic flux does not change. At this time, an unbalanced rotating magnetic field generates a force acting radially from the center of the rotor. With this force, the center position of the rotor can be controlled. For flowing a current in synchronization with the rotating magnetic field and the frequency of the equivalent winding N _d in the radial direction rotator position control windings, reducing the heat generated in the heat dissipation difficult rotor can still flux against rotor Can be done. Due to the use of a rotating magnetic field in this manner to the central position control of the rotor, only the rotor position control equivalent winding N _x and rotor position control equivalent winding N _y to the rotating magnetic field to unbalance A small amount of current may be applied. The rotor position control equivalent winding N _x and rotor position control equivalent winding N _y, only the counter electromotive force corresponding to the unbalanced content of such rotating magnetic field is generated. Also, when not required radial force, it is not necessary to flow a current in the rotor position control equivalent winding N _x and rotor position control equivalent winding N _y. Furthermore,
Since the rotor position control equivalent winding N _x and rotor position control equivalent winding N _y are wound so as to orthogonal to each other rotor center magnetic flux other winding generated in one winding The radially rotating body position control windings do not interfere with each other. For this reason, the number of turns, the power supply capacity, and the current of the radial direction rotating body position control winding can be reduced, and the center position of the rotor can be efficiently controlled with high responsiveness. Note that the present invention provides a four-pole equivalent winding _Nd and an equivalent winding _Nq.
It can be applied to all motors and generators that can be equivalently converted to a DC machine model having

According to the configuration of the second aspect, the electromagnetic rotating machine with the radial direction rotating body position control winding is a salient pole synchronous machine having a salient pole type rotor. When the salient-pole synchronous machine is used to constitute the radial rotator position control device, the radial force acting on the rotor in the decoupling section in the xy direction in the rotational coordinate system and the radial rotator position control winding are controlled. The ratio between the current values in the corresponding direction of the line can be increased ((1 + shape p of salient pole machine) times). on the other hand,
The influence of the interference term according to the magnitude of the current and the phase angle of the current of the electromagnetic rotating machine having the radial direction rotating body position control winding is small ((1−shape p of salient pole machine) times). By constructing the inverse matrix in consideration of the gain difference in the control system, the interference term caused by the salient pole is decoupled in advance, and the controllability of the radial direction rotating body position control device can be improved.

According to the configuration of the third aspect, the electromagnetic rotating machine device with the radial direction rotating body position control is a rotating machine that generates an armature reaction. In the rotating coordinate system xy, the radial force in the x and y coordinate system directions, the d-axis current id and the torque current iq are obtained from the motor control, the d-axis current is set as a diagonal element, and the torque current is set as a non-diagonal element. Construct the determinant. Then, by calculating the inverse matrix in advance, a current command value for the radial direction rotating body position control winding is calculated, the torque command is decoupling in advance, and the controllability of the radial direction rotating body position control device is improved. I can do it.

According to the configuration of the fourth aspect, a winding for generating torque (hereinafter referred to as an electric motor winding) passes through slots provided in the plurality of stator cores in the main shaft direction and is wound at the ends. . As a result, the coil end of the motor winding is present only at the end, and the coil end can be omitted between the stator cores, and the shaft length of the electromagnetic rotating machine can be shortened. Combinations of rotors and stators (electromagnetic machines) that face each other can be connected in any number of stages, so that the output range can be easily expanded. In addition, the radial direction rotating body position control winding is wound separately in the same slot for each stator core so that the motor winding and the winding are separated and independent, and have a number of poles different from the number of poles of the motor winding. I do. Since the windings are separated in this manner, a quick response is not required for a current driver of the motor winding that forms the rotating magnetic field while using the rotating magnetic field generated by the motor winding for controlling the center position of the rotor. Further, by setting the number of poles different from that of the motor winding, the rotating magnetic field is unbalanced, and a force acting in the radial direction from the center of the rotor can be generated. In addition, since the radial rotating body position control winding is arranged together with the motor winding in the same slot, the effective shaft length of the electromagnetic rotating machine is used as the effective shaft length of the bearing as it is, and the load bearing capacity of the magnetic bearing is compared with the shaft length. The height can be increased, and the size and weight can be further reduced. The present invention is by performing a coordinate transformation on the stator windings and / or the rotor winding, equivalent windings N _d of 4-pole, capable equivalent converted to DC machine model with an equivalent winding N _q quadrupole It is applicable to all DC motors, AC motors, DC generators and AC generators.

According to the configuration of claim 5, the plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine with the radial direction rotating body position control winding are each connected in the main shaft direction without a gap, or at least one each. Integrate. As a result, the shaft length can be minimized and the output range can be widened as if it were constituted by a single electromagnetic mechanical section despite the fact that a plurality of electromagnetic mechanical sections were connected or integrated.

According to the configuration of claim 6, the radial rotating body position control winding of the electromagnetic rotating machine with the radial rotating body position control winding is:
Wind around only two stator cores of the plurality of stator cores. This is because if the radial direction rotating body position control winding is wound only at two positions in the main shaft direction, the main shaft will be controlled at two points, so that it is often sufficient to consider stabilization of the main shaft.

According to the configuration of the seventh aspect, the electromagnetic rotating machine with the radial direction rotating body position control winding has a plurality of electromagnetic machine sections connected in the main axis direction. Each stator core is wound with a radial direction rotating body position control winding, and the same control as in claim 1 is performed on each radial direction rotating body position control winding. This allows
In addition to the effects of the first aspect, since the radial position control is performed at a plurality of positions in the main shaft direction, the radial position of the main shaft can be further stabilized, and the output range can be widened.

According to the configuration of claim 8, the plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine with the radial direction rotating body position control winding are respectively connected in the main shaft direction without a gap or at least one each. Integrate. The same radial position control as in claim 7 is performed by using such an electromagnetic rotating machine with a radial direction rotating body position control winding. This allows
The same effect as the seventh aspect is obtained.

According to the configuration of claim 9, the radial rotating body position control winding of the electromagnetic rotating machine with the radial rotating body position control winding is:
Wind around only two stator cores of the plurality of stator cores. The same radial position control as in claim 7 is performed by using such an electromagnetic rotating machine with a radial direction rotating body position control winding.
As a result, the rotor position control is performed at two points in the main shaft direction, so that the control can be performed stably.

〔Example〕

The operation principle of the present invention will be described below with reference to the operation principle diagram shown in FIG.

FIG. 3 shows a 4-pole motor model. This model is equivalent to a DC motor, and many AC motors can be equivalently converted to this model by performing coordinate conversion (three-phase two-phase conversion and dq conversion or γδ conversion). It is. The third figure, equivalent windings of the magnetic flux or field magnetomotive force direction of the motor N _d and it to an electrical angle of [pi / 2
Equivalent windings _Nq are provided at _right angles to each other. In addition two-pole rotor position control equivalent winding N _x, N _y is are subjected. Coordinate axes
d and q are coordinate axes in the magnetomotive force direction of the equivalent windings N _d and N _q , respectively. Further, coordinate axes x, y are the coordinate axes of the magnetomotive force direction of the respective rotor position control equivalent winding N _x, N _y.

Now, considering the case where the motor is operating at no load, a winding current i _q = 0 of the equivalent winding N _q, only the current i _d of the equivalent winding N _d flows. Rotor position control equivalent winding N _x, N _y
If the direction of the current shown in diagram each i _x, and i _y, i _x
= I magnetomotive force generated in the case if the motor is ^{_{y = 0 F x +, F}} x -, F y
^+, F _y ^- size are equal. Therefore, the rotor 1 (not shown)
If There is in the center, the magnetic flux generated is because it is symmetrical, the rotor position control equivalent winding N _x, the sum of the magnetic flux interlinked with the N _y is 0. Therefore, the rotor position control equivalent winding N _x, the N _y no speed electromotive force. Further, since four equal-sized balanced magnetic fluxes are generated, no electromagnetic force is generated in the rotor 1.

However, when i _x and i _y are not 0, the magnetomotive force due to i _x and i _y is superimposed. Now, F _x ⁺ increases the flow direction i _x in FIG, F _x ^- is reduced. For this reason, the magnetic flux passing through the rotor 1 becomes unbalanced in the x direction, and the electromagnetic force in the positive direction of x
Act on. Similarly, when i _y flows in the direction shown in the drawing, the magnetic flux in the y direction becomes unbalanced, and the rotor 1 generates an electromagnetic force in the positive y direction. At this time generated electromagnetic force of magnitude flux and rotor position control equivalent winding N _x forming a rotating magnetic field of the motor so as to later revealed, N _y of the current i _x, proportional to i _y. Therefore, the electromagnetic rotating machine having the magnetic bearing function according to the present invention does not need to form an exciting magnetic flux for position control unlike a conventional magnetic bearing, and utilizes a magnetic flux generated by an electric motor as the exciting magnetic flux. .

In this manner, an equivalent winding for position control is constituted by a coordinate system fixed to the magnetic flux of the rotor 1, and by controlling this current, the exciting magnetic flux of the rotating machine is unbalanced positively.
Can be controlled. As will be described later, such an equivalent winding and current are applied to an AC machine, for example, in a four-pole rotating machine (the principle of the present invention applies to all four-pole or more electromagnetic rotating machines that can be equivalently exchanged for a DC machine). This can be easily realized by applying a two-pole winding to the armature and passing a current whose frequency is synchronized with the rotating magnetic field.
Further, the winding method of the rotating body position control winding may be devised so that the exciting magnetic flux is effectively unbalanced in accordance with the number of poles of the motor. What is necessary is just to apply the pole radial rotation body position control winding. Conversely, if the motor is a two-pole motor, a four-pole or eight-pole radial rotating body position control winding may be provided.

Therefore, the electric motor may be any electric motor that can be exchanged equivalently as shown in FIG. Therefore, the present invention can be widely applied to synchronous machines such as cylindrical synchronous motors, salient pole synchronous motors, reluctance motors, comb motors, permanent magnet rotating machines, and induction motors.

On the other hand, if the excitation magnetic flux becomes unbalanced in this way, may the characteristics of the motor be adversely affected? In addition, since the exciting magnetic flux for controlling the rotating body is a rotating magnetic field, the back electromotive force increases, and a question arises as to whether an extremely large current exchanger for controlling the rotating body position is required. .

However, even if unbalanced magnetic flux is generated in the x direction due to the current i _x of the rotor position control equivalent winding N _x , the total magnetic flux linked to the motor winding is not changed by the magnetic flux in the x direction. Therefore, the unbalance of the magnetic flux generated for the position control has no effect on the output terminal of the motor winding.

Further, the rotor position control equivalent winding N _x, N _y is the chain rotor position control equivalent winding N _x if symmetrical interlinking magnetic flux by a magnetic flux generated by the rotor position control equivalent winding N _y Since it does not increase or decrease, the control windings do not interfere with each other. Furthermore, if the rotor position control equivalent winding N _x magnetic flux is balanced, the total flux linkage so becomes 0 each rotor position control equivalent winding N _x of N _y, the N _y No back magnetomotive force is generated by the exciting magnetic flux. Therefore, the rotor position control equivalent winding N _x, N _y only counter electromotive force is caused by the imbalance component of the magnetic flux. For this reason, it is possible to avoid an increase in the voltage capacity of the position control device due to the rotating magnetic field while using the exciting magnetic flux of the electric motor as the exciting magnetic flux for controlling the position of the rotating body.

The features of this method are summarized as follows: (a) Since the main magnetic flux is stationary with respect to the rotor, heat generation by the rotor that is difficult to dissipate heat is extremely small.

(B) Since the main winding and the control winding of the motor are separated from each other, the power converter for driving the motor does not require quick response. Therefore, for example, a simple and inexpensive square wave inverter may be used.

(C) By applying the control winding symmetrically, the speed electromotive force generated by the rotor excitation magnetic flux can be canceled, the rating of the control winding drive power supply can be greatly reduced, and the cost is low.

(D) Since the exciting magnetic flux for ensuring the quick response of the bearing is substituted by the exciting magnetic flux of the electric motor, the exciting current which is a problem in the conventional magnetic bearing is unnecessary.

There are features in the magnetic circuit configuration such as Further, (e) the present invention can be applied to all electric motors that can be equivalently converted to DC motors by coordinate conversion.

(F) It is possible to easily increase the output by directly connecting two or more electromagnetic mechanical units on the same axis.

(G) Since the shaft length of the motor becomes the shaft length of the bearing as it is,
The rigidity of the magnetic bearing can be increased and the load bearing capacity can be increased. Further, the size and weight can be reduced.

(H) The coil end of the electric motor is reduced, and the shaft length can be shortened.

Next, the equivalence with a three-phase winding will be described with reference to FIG. 2 and FIGS.

Many electromagnetic rotating machines that require magnetic bearings have extremely high rotational speeds. Therefore, the type of rotating machine is often an AC machine rather than a DC machine. Therefore, although the present invention can be applied to both,
The equivalence with the winding shown in FIG. 3 will be clarified. At this time, a three-phase four-pole machine will be discussed in order to simplify the theory, but the present invention can be applied if the number of phases is two or more and the number of poles is two or more. That is, it can be applied to a single-phase electric motor and the like. If the direction of the current flowing through the windings is considered to be different, the principle of the present invention can be applied not only to the electric motor but also to various generators.

FIG. 2 is a schematic sectional view of an electromagnetic rotating machine having a radial rotating body position control winding to which the principle of the present invention is applied (the frame 10 is omitted). FIG. 4 is a cross-sectional view taken along line II of FIG. 2, and shows an example of a winding distribution of an AC machine for realizing the present invention (the rotor 1 is omitted). Frame 10
The main shaft 2 is loosely fitted therein. The rotors 1A and 1B are fixed to the main shaft 2 and rotate with the main shaft 2 by a rotating magnetic field. The rotors 1A and 1B are arranged in two stages in the direction of the main shaft 2. Rotor 1
In the circumferential direction of A and 1B, two-stage stator cores 3A and 3B facing each other with a predetermined gap length therebetween are provided. Motor winding 5
Generates a rotating magnetic field. Motor winding 5
Are formed so as to penetrate through slots 7A and 7B provided in the stator cores 3A and 3B, respectively, in parallel with the main shaft 2. Each phase N _u of the motor windings 5, N _v, the winding direction of the N _w is as current direction shown in FIG. 4, in the present embodiment is constituted by four poles. The fixed angle in the stator originating direction of the magnetomotive force of the motor windings N _u and phi _s.

Each phase N _ub , N _vb , N of the radial direction rotating body position control windings 4A, 4B
_wb unbalances the rotating magnetic field generated by the motor winding 5 and is wound independently for each of the stator cores 3A and 3B (wound independently of the motor winding 5). The radial rotating body position control winding 4 is wound in the same slots 7A and 7B as the motor winding 5 as shown in FIG. In this embodiment, it is composed of two poles. The motor windings 5A and 5B indicate the coil ends of the motor winding 5, and the motor winding 5C indicates the portion of the motor winding 5 that passes through between the inner stator cores 3A and 3B. The radial direction rotating body position control windings 4A and 4B indicate the coil ends of the radial direction rotating body position control winding 4.

As described above, the present embodiment is composed of two parts, one electromagnetic machine unit including the rotor 1A and the stator core 3A, and another electromagnetic machine unit including the equivalent rotor 1B and the stator core 3B. ing.

 Next, the operation will be described.

In FIG. 2, a rotating magnetic field is generated in the circumferential direction of the rotors 1A and 1B by flowing a three-phase current through the motor winding 5. No current for controlling the position of the rotating body is passed through the motor winding 5, and a new radially rotating body position control winding having a different number of poles from the motor winding 5 is simultaneously provided in the same slot 7 </ b> A, 7 </ b> B as the motor winding 5. The line 4 is applied, and the position of the rotating body is controlled using the new radial rotating body position control winding 4 while utilizing the rotating magnetic field generated by the electric motor. That is, by adjusting the current of the radial direction rotating body position control winding 4 in synchronization with the frequency of the rotating magnetic field of the motor, the rotating magnetic field of the motor is positively unbalanced, and the electromagnetic force generated by the unbalance is reduced. This is used to control the position of the rotating body in the radial direction.

Since a current sufficient to unbalance the rotating magnetic field only needs to flow through the radial direction rotating body position control winding 4, the number of conductors is smaller than that of the motor winding 5. Therefore, the coil ends 4A, 4B of the radial direction rotating body position control winding 4 can be made much smaller than the conventional method of generating a rotating magnetic field to control the radial position.

On the other hand, the motor winding 5 having a large number of conductors has coil ends 5A and 5B only at both ends of the device, and the motor winding 5C does not have the windings as the coil ends and the stator cores 3A and 3B.
It runs through. Therefore, the coil end of the motor winding 5 occupying most of the axial length of the electromagnetic machine is the motor winding 5C.
Since the coil end does not exist in the portion, it can be omitted, and the electromagnetic machine as a whole can be omitted in about half of the conventional case. That is, (a) and (j) already pointed out in comparison with the conventional method.
There are no drawbacks. In order to make the excitation magnetic flux unbalanced as described above, besides the method of newly providing a control winding, the motor winding 5
May be divided to control the magnetic flux independently.

Further, although FIG. 2 is composed of two electromagnetic machine parts, if it is composed of three or more parts, the ratio of the coil end to the axial length can be further reduced. In that case, the radial direction rotating body position control winding 4 may be applied only to the end portion, and only the motor winding 5 may be provided between the end portions. By doing so, the configuration of the electromagnetic mechanical unit and the configuration of the current drive source can be simplified.

Further, the stator core 3 and the rotor 1 can be constituted by one iron core without being divided into two electromagnetic mechanical parts as shown in FIG. In this way, the configuration of the electromagnetic machine can be further simplified.

As shown in FIG. 4, a current for controlling the position of the rotary body in the radial direction is not supplied to the motor winding 5, and the radial direction rotary body position control winding 4 is simultaneously provided in the same slot as the motor winding 5. . Therefore, the position of the rotating body can be controlled using the new radial direction rotating body position control winding 4 while utilizing the rotating magnetic field generated by the electric motor. The radial rotating body position control winding 4 is wound so as to have a different number of poles from the number of poles of the motor winding 5. Accordingly, the position of the rotor 1 is controlled based on the principle of the present invention in which the rotating magnetic field generated by the electromagnetic rotating machine is positively unbalanced and a force acting in the radial direction of the rotating body is generated.

FIG. 5 shows the magnetomotive force distribution when a unit current is applied to the motor winding 5 and the radial rotating body position control winding 4. Assuming that the rotation direction of the rotor 1 as viewed from the stator core 3 is clockwise, the fundamental wave component of each magnetomotive force starts from the direction of the magnetic flux of the rotor 1 and the angle in the direction opposite to the clock is φ _r , and the stator core 3 and starting from the u Aioko force direction, as the angle of clockwise to the magnetic flux direction of the rotor _{1 φ, N u = Ncos (} 2φ r -2φ) (1) N v = Ncos (2φ r -2φ + 2π / 3 _{) (2) N w = Ncos} (2φ r -2φ + 4π / 3) (3) N ub = Nbcos (φ r -φ) (4) N vb = Nbcos (φ r -φ + 2π / 3) (5) N wb = _{Nbcos (φ r -φ + 4π /} 3) and made (6). Now, each of the i _u , i _v , i _w currents of the motor winding 5 and each i _ub , i _vb , i _wb current of the radial direction rotating body position control winding 4 are represented by i _u = Icos (2φ + θ) (7) i _v = Icos (2φ + θ−2π / 3) (8) i _w = Icos (2φ + θ−4π / 3) (9) i _ub = I _b cos (φ−θ _b ) (10) i _vb = I _b cos (φ −θ _b −2π / 3) (11) _Let i _wb = I _b cos (φ−θ _b −4π / 3) (12) FIG. 6 shows the relationship of (7) to (12).

Three-phase synthesis magnetomotive force F ₃ and the motor winding 5 by the current _{F 3 = N u i u +} N v i v + N w i w = (3/2) NIcos (2φ r + θ) (13) and the control winding three-phase synthesis magnetomotive force F _b due to the current _{F b = N ub i ub +} N vb i vb + N wb i wb = (3/2) N b I b cos (φ r -θ b) (14) motor windings the sum of the magnetomotive force by 5 by magnetomotive force and radial rolling member position control winding 4 F is F = (3/2) [NIcos ( 2φ r + θ) + N b Ibcos (φ r -
θ _b )] (15) Now, F _d = (3/2) NIcosθ F _q = (3/2) NIsin θ F _y = (3/2) N _b I _b cosθ _b F _x = (3/2) N Assuming that _b I _b sin θ _b , F = F _d cos2φ _r −F _q sin2φ _r + F _y cosφ _r + F _x sinφ _r (16) In this equation, the resultant magnetomotive force is the sum of the functions of φ _r and 2φ _r sine wave. And therefore F is F _d , F _q ,
It is shown that it can be represented using four components of F _y and F _x . Among them, F _d and F _q are the d-axis magnetomotive force and the q-axis magnetomotive force of the motor. However, F _y is the magnetomotive force in the y-axis direction,
F _x is the magnetomotive force in the X-axis direction. That is, the magnetomotive force due to the equivalent winding N _d of FIG. 3 is equivalent to the magnetomotive force by F _d, the magnetomotive force due to the equivalent winding N _q is equivalent to F _q. In addition, the third
Magnetomotive force by the rotor position control equivalent winding N _x in the figure is equivalent to F _x, magnetomotive force by the rotor position control equivalent winding N _y is
It is equivalent to F _y . Therefore, the magnetomotive force shown in FIG. 3 can be generated by the winding shown in FIG.

Therefore, _{now, i d = (3/2) Icosθ} (17) i q = (3/2) Isinθ (18) i y = (3/2) I b cosθ b (19) i x = (3/2 ) I _b sin θ _b (20) defines the current of the equivalent winding in FIG. In this way _{F = N (i d cos2φ r} + i q sin2φ r) + N b (i y cosφ r + i x si
nφ _r ) (21).

FIG. 7, the case of FIG. 8 is theta = 0, i.e., FIG. 7 for the case the motor output torque is _{0 i y> 0 i x =} 0 (θ b = 0) FIG. 8 is i _y = 0 i _It shows the combined magnetomotive force when _x > 0 (θ _b = 90). i _{y in the} y-axis direction,
The amplitude of the magnetomotive force in the X-axis direction is increased by i _x . Therefore, if i _y is positive, a force is generated in the rotor 1 in the y-axis direction, and if i _y is negative, a force is generated in the y-axis negative direction.

Next, a change in the gap length at the time of eccentricity will be described based on the diagram shown in FIG.

In the following, the relationship between the gap length and the amount of eccentricity will be clarified in order to clarify how the permeance distribution changes due to eccentricity. Further, the relationship between the gap length on the rotating coordinate axis and the gap length of the coordinate system fixed to the stator core 3 will be clarified.

The coordinate axes a and b orthogonal to the center of the stator core 3 are set as shown in FIG. a axis φ _s = 0, that is, the magnetomotive force direction N _u. A vector R _s representing the trajectory of the inner diameter of the stator core 3, display by b-axis component, if the stator inner diameter _{R s R s = R s (} cosφ s, sinφ s) (22) On the other hand, a cylindrical vector locus R _r on the outer periphery shaped for the rotor, using a gap length g ₀ and circular rotor outer diameter R _r in the absence of eccentricity, g ₀ a shift in the a-axis direction of the rotor Δa if the shift in the b-axis direction and _{g 0 Δb, R r = (} R r cosφ s + g 0 Δa, R r sinφ s -g 0 Δb) (23) gap length vector R _s -R _r is, R _{s -R r = g 0 (cosφ} s -Δa, sinφ s + Δb) (24) Thus, the gap length g is _{g = g 0 ((cosφ s} -Δa) 2 + (sinφ s + Δb) 2) 1/2 ( 25) Δa, Δb can be approximated to think about the condition that sufficiently smaller than 1 when _{g = g 0 (1-Δa} cosφ s + Δb sinφ s) (26). Even with this approximation, φ in equation (26)
The changes in the gap length when _s = 0,90 are Δa, Δb. Therefore, .DELTA.a, by detecting the [Delta] b, it is possible to calculate the gap length for any phi _s from (26).

Substituting φ _s = φ _r −φ into φ _s and φ _r , φ into the equation (26) gives g = g ₀ [1−Δa cos (φ _r −φ) + Δb sin (φ _r −
φ)] (27) From this equation, Δa and Δb are detected, and if φ is detected, any φ
The gap length at _r can be determined. Also, changes to phi _r a gap length of time that is a sinusoidal function of phi _r. Thus, a rotation coordinate system xy fixed to the rotor 1 with the center of the rotor 1 as the origin is defined, and the gap lengths in the X-axis and y-axis directions are g _x and g _y . Next, the force acting on the rotor will be described below. That is, the relationship between the rotor position control winding current and the electromagnetic force acting on the rotor is clarified for the cylindrical synchronous motor. In addition, we take up motors such as salient-pole synchronous motors and induction motors, and show that these motors also satisfy the relational expression of electromagnetic force derived from cylindrical synchronous motors.

[1] Cylindrical Synchronous Motor In a cylindrical synchronous motor, the rotating magnetic field is fixed to the rotor, and is synchronized with the magnetomotive force generated by the stator and represented by the expression (21). Therefore, the d-axis in FIG. 3 is the direction of the field magnetomotive force of the cylindrical synchronous machine.

The magnetomotive force generated by the rotor is a magnetomotive force generated by a motor winding or a permanent magnet of the rotor. Since this magnetomotive force is the same direction as i _d of equation (21), considered to be a current containing also a current component obtained by converting the i _d is field magnetomotive force of (21) to the d-axis winding be able to.

On the other hand, the permeance distribution is determined by the above-described gap length because the machine is a cylindrical machine. permeability of the mu ₀ air, and effective area of S, .DELTA.a, [Delta] b is permeance P per unit radians since (26) using the conditions of sufficiently smaller than 1 _{P = P 0 [1 + Δa} cos (φ r - φ) −Δb sin (φ _r −
φ)] (29) where P ₀ = (μ ₀ S) / (2πg ₀ ) The stored energy W _{m of the} magnetic field is Now, the forces acting on the rotor in the a-axis direction and the b-axis direction are represented by f _a and f _b
given that Assuming that the forces acting in the y and x axis directions of the rotor shown in FIG. 3 are f _y and f _x , respectively, as shown in FIGS. 2 and 8, Therefore, from equation (31) The following can be understood from this equation.

(1) rotor position control equivalent winding N _y, current i _y of N _x, i _x and force f _y on the rotation axis which acts on the rotor 1, f _x is controllability because of the linear relationship is very good.

(2) if i _q is 0 is _{f y αi y, f x αi} x. Therefore, in order to apply an electromagnetic force in the y direction to the rotor 1, i _y may be made positive. Conversely, to apply an electromagnetic force in the −y direction to the rotor 1, i _y may be made negative by moving the current phase angle θ _b by 180 °. The same can be said about the electromagnetic force and i _x which acts in the x-direction.

When there is no need to apply a radial electromagnetic force to the rotor 1, i _x = i _y = 0, and no current flows through the radial rotating body position control winding 4. Since the force generated by the conventional magnetic bearing is only in one direction of attracting the rotating body, a current for generating the exciting current is required even when the electromagnetic force acting on the rotating body is zero. On the other hand, in the present invention, when the electromagnetic force acting on the rotor 1 is 0,
The radial rotator position control current may be zero, and the magnetic path of the magnetic flux generated by the radial rotator position control winding 4 and the converter for driving the current of the radial rotator position control winding 4 may be small. .

(3) When the rotating machine is in a load state, i _q ≠ 0, and since an armature reaction occurs, i _y and i _x interfere. However, except for the case where the current of the motor is 0, that is, i _d = i _q = 0, since the determinant of the matrix of 2 rows and 2 columns of the equation (32) is positive, there always exists an inverse matrix. Therefore, a non-interference control system can be easily configured by a control circuit in advance.

(4) f _y and f _x are represented by the product of i _d or i _q and i _y or i _x . Here, id is the sum of the rotating magnetic field for the motor converted to the stator current and the d-axis current component of the stator for the motor. This clarifies that the present invention generates a force acting on the rotor 1 by using the magnetic flux generated by the rotating magnetic field of the electric motor. In a conventional magnetic bearing, a force proportional to i _y ² or i _x ² was generated. However, in the present invention, it requires only a i _y, i _x is small it is possible to use the exciting current component i _d of the motor.

(5) Similarly, the force acting on the rotor 1 is proportional to the number of turns N of the motor winding 5. Therefore, it requires this amount, a small N _b as compared to the conventional magnetic bearing it is possible to reduce the number of turns of the radial rolling member position control winding 4.

Further, since P ₀ is a coefficient of the equation (32), by using the exciting magnetic flux of the electric motor for the radial direction rotating body position control,
It can be seen that the effective shaft length of the motor is taken as the effective shaft length of the bearing as it is, and the load bearing capacity of the magnetic bearing can be increased for the shaft length, and furthermore, the size and weight can be reduced.

[2] Induction Machine In the case of an induction machine, the d-axis already defined in FIG. 3 is the direction of the secondary flux linkage rotating at the slip frequency on the rotor. Therefore, φ, which represents the rotation angle between the rotor and the stator in the case of the synchronous machine, represents the rotation angle between the stator and the secondary interlinkage magnetic flux. Therefore, i _d in the previous section of (21) is a magnetizing current component. On the other hand, _iq is equal to the torque current component of the so-called vector controlled induction motor. Therefore, the magnetomotive force distribution is represented by equation (21).

The permeance distribution of the induction motor is equal to the permeance distribution of the cylindrical synchronous motor if the pulsation due to the slot is ignored. Therefore, the permeance distribution is expressed by equation (29).

As described above, since the magnetomotive force distribution and the permeance distribution are equal to those of the cylindrical synchronous motor, the same results as those in the previous section can be obtained.

[3] Salient-pole synchronous machine In the case of a salient-pole synchronous motor, how to take d and q axes and the definition of the current component are the same as in the case of the cylindrical synchronous machine, but the gap length becomes magnetically salient. , The permeance distribution includes a change due to salient poles.

The gap length in the case where there is no eccentricity is approximated by a sine wave to obtain g = g ₀ (1−p cos4φ _r ) (33). Here, p is a constant determined by the shape of the salient pole machine. When the increment of the gap due to eccentricity is added, from equation (27), g = g ₀ [1−p cos4φ _r −Δa cos (φ _r −φ) + Δb sin
(Φ _r −φ)] (34) Permeance per unit radian is Now, if p <1, P = P ₀ ｛1 + p cos4φ _r + Δa cos (φ _r −φ) −Δbsin
(Φ _r −φ)｝ (36) Stored energy W _m of the magnetic field Therefore, the expressions (21) and (36) are substituted, and (31), (3
Deriving f _x and f _y in the same way as in equation 2), Since the change in the force acting on the rotor due to the saliency is expressed by the term of p, the following points are clear.

(1) The ratio of (force / current) under no load is improved due to saliency.

(2) Further, at the time of load, the interference term due to the torque component current _iq is reduced, and the controllability is improved.

Next, the above-described electromagnetic rotating machine (electric motor or generator) with the radial direction rotating body position control winding is used as a load,
A description will be given of an embodiment in which a radial direction rotating body position control device is configured. FIG. 10 shows a system configuration diagram of the radial direction rotating body position control device.

The electric motor 10 with the radial rotating body position control winding is formed by winding the radial rotating body position control winding 4 independently of the motor winding 5 and unbalancing the rotating magnetic field by the motor winding 5. It generates a force acting in a direction, and corresponds to an electromagnetic rotating machine with a radial rotating body position control winding. The radial position detector 11 has a center Δ of the stator core 3 of the electric motor 10 with the radial direction rotating body position control winding as an origin, and a displacement Δa of a rotor center position with respect to a stator coordinate system ab fixed on the stator core 3, Δb is detected without contact with the rotor 1. The magnetic flux angle detector 12 uses the rotation coordinate system xy with respect to the rotation coordinate system xy fixed to the rotor 1 with the center of the rotor 1 as the origin.
And a rotation angle φ between the stator coordinate system ab. The radial position detector 11 and the magnetic flux angle detector 12 correspond to a radial position detector. The coordinate conversion unit 13 includes a rotation angle φ detected by the magnetic flux angle detector 12 and displacements Δa, Δb on the stator coordinate system ab detected by the radial position detector 11.
Thus, the gap lengths g _x and g _y of the rotor in the xy direction in the rotating coordinate system xy are calculated. The rotor position comparing unit 14 uses the gap lengths g _x , g _y of the rotor 1 calculated by the coordinate conversion unit 13 as gap length command values g _x ^* , g _y ^* ( ^* indicates a signal in the control system. This is used as a symbol. The same applies hereinafter.) And outputs an error value. The controller unit 15 controls the radial force command values f _x ^* , f _y ^* acting on the rotor 1 in the rotating coordinate system xy direction based on the error value output from the rotor position comparing unit 14. It corresponds to a radial control unit. Decoupling unit 16, the radial force command value f _x ^* calculated by the controller unit 15, with respect to f _y ^*, the phase angle of the size and current of the current radial rotating body position control windings with electric motor 10 depending interference term erased in advance, the current command value as the radial force and the match radially acting force command value and the rotor 1 i _x ^*, has become as to calculate the i _y ^*. The rotation coordinate system stator coordinate system conversion unit 17 converts the current amplitude command value on the stator coordinate system ab from the rotation coordinate system xy based on the current command values i _x ^* and i _y ^* calculated by the decoupling unit 16. I _b ^* and current phase angle command value θ _b
^* Is calculated. The three-phase-two-phase conversion unit 18 is a current command value _Ib ^* obtained by the rotation coordinate system stator coordinate system conversion unit 17 ^.
Based on the current phase angle command value θ _b ^* and the current phase angle command value θ _b ^* , the current command values i _ub ^* , i _vb ^* , i _wb ^* of the radial direction rotating body position control winding 4 are calculated. The current amplifier 19 is a three-phase to two-phase converter 18.
The current is amplified and controlled based on the current command values i _ub ^* , i _vb ^* , and i _wb ^* calculated in. Here, the rotating coordinate system stator coordinate system converting unit 17, the three-phase to two-phase converting unit 18, and the current amplifying unit 19 correspond to a control winding current converting unit.

Next, a description will be given of a control method under such a system configuration.

As described in the description up to the equation (28), the displacements Δa and Δb of the rotor center position obtained by the radial position detector 11, the rotation coordinate system xy obtained by the magnetic flux angle detector 12, and the stator coordinate system The gap lengths g _y and g _x on the rotation coordinate axis can be obtained by the coordinate conversion unit 13 from the rotation angle φ between a and ab. However, the magnetic flux angle detector 12 is not always necessary and may be separately extracted from the motor control circuit. Then, the determined gap lengths g _y , g _x are compared with the gap length command values g _y ^* , g _x ^* by the rotor position comparison unit 14, respectively, and the error is amplified and the controller unit is amplified.
15 to generate command values f _y ^* and f _x ^* for the radial forces f _y and f _x acting on the rotor 1 on the rotating coordinate axis. Here the gap length command value g _x ^*, g _y ^* may be a set value zero.

f _y and f _x are obtained by substituting equations (17) to (18) into equation (32). The equation f _y, respectively solving for f _x f _y ^*, f _x Substituting ^* i _y, i respectively command value i of the _{x y} ^*, it is possible to obtain the i _x ^*. That is, if it is a cylindrical machine Becomes On the other hand, in the case of a salient pole machine, the inverse matrix of equation (37) may be calculated. Here, θ, I are amounts determined by the load state of the electric motor and the control method. Therefore, determining the position control currents i _x ^* and i _y ^* of the rotating body based on this equation requires constantly grasping the state of the motor. However, if the position control current is determined based on this equation, the interference term of the equation (32) or the equation (37) already considered can be eliminated in advance. Such control is performed by the decoupling unit 16. Ie, x to non-interference with respect to the operating state of the motor, y-axis current amplitude command value i _y ^*, for generating a ^{_{i x *, f y, f}} x is generated by the respective control circuit f _y ^*, It is proportional to f _x ^* . Then, the command value on these rotational axes, the command value in the rotating coordinate system the stator coordinate system converter 17 current amplitude command value radial rolling member position control winding 4 I _b ^* and the phase angle theta _b ^* Occurs. But,
The coordinate conversion unit 13 and the rotating coordinate system stator coordinate system conversion unit 17 are unnecessary when the control system is configured with a stationary coordinate system. The current amplitude command value I _b ^* and the phase angle command value θ _b ^*
Is obtained from the equations (19) and (20) as follows. ^{_{That, I b * = (2/3)}} (i x 2 + i y 2) 1/2 (40) θ b * = tan -1 (i x / i y) (41) In addition, to these (10) Based on equation (12), the three-phase to two-phase converter 18 performs three-phase to two-phase conversion to generate command values i _ub ^* , i _vb ^* , and i _wb ^* of the stator radial control body position control winding current. I do. However, the three-phase to two-phase converter 18 is necessary when the motor 10 with the radial direction rotating body position control winding is a three-phase motor, but is not necessary when the motor 10 is a single-phase motor. Based on these command values, a current is supplied from the current amplifying unit 19 to the radial direction rotating body position control winding 4.

In addition, in the conventional magnetic bearing, the force acting on the rotor is only the attraction force, and therefore the direction of the force is controlled by adjusting the difference between the magnitudes of the currents of the two magnetic bearing windings. According to the invention, the direction of the force can be reversed simply by reversing the phase of the current of the radial rotating body position control winding 4.

〔The invention's effect〕

According to the present invention as described above (claim 1) comprising, 4-pole equivalent winding N _d by the coordinate transformation, and N _q, for rotor position control of the 2-pole equivalent windings N _x, the N _y By using an electromagnetic rotating machine with a radial rotating body position control winding capable of equivalent conversion to a DC machine model and calculating the current supplied to the radial rotating body position control winding by a decoupling unit, etc. The rotating magnetic field generated by the rotating machine is positively unbalanced, forces acting in the radial direction of the rotating body are generated, and the position of the rotating body can be controlled by controlling these forces. Therefore,
Problems related to mechanical bearings of ultra-high-speed electromagnetic rotating machines (high-speed performance and necessity of maintenance of bearings) and problems of magnetic bearings themselves (shortening shaft length and miniaturization, etc.), which had been problems in the past, Will be resolved.

Further, according to the present invention (claim 2), when a salient pole synchronous machine is adopted as the electromagnetic rotating machine with the radial direction rotating body position control winding, a predetermined inverse matrix operation is performed by the decoupling unit. Therefore, the interference term caused by salient poles is decoupled in advance,
The controllability of the radial rotation body position control device can be improved.

Further, according to the present invention (claim 3), when a rotating machine that causes an armature reaction is adopted as the electromagnetic rotating machine with the radial rotating body position control winding, a predetermined inverse matrix operation is performed by the decoupling unit. Since the configuration is performed, the torque current is decoupling in advance, and the controllability of the radial direction rotating body position control device can be improved.

Further, according to the present invention (claim 4), since the electromagnetic rotating machine with the radial direction rotating body position control winding is constituted by connecting a plurality of electromagnetic machine parts, the coil end can be omitted, and as a result, the shaft can be omitted. The length can be shortened. In addition, it is expected that the speed and output range of the ultrahigh-speed electromagnetic rotating machine, which have been conventionally restricted, can be greatly expanded.

Further, according to the present invention (claim 5), the plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine with the radial direction rotating body position control winding are connected or integrated in the main shaft direction without any gap. With this configuration, the shaft length is the shortest and the output range can be widened as if it were configured by one electromagnetic rotating machine.

Further, according to the present invention (claim 6), the radial rotating body position control winding of the electromagnetic rotating machine with the radial rotating body position control winding is provided only in two of the plurality of stator cores. Since it is configured by winding, the number of facilities can be suppressed while maintaining the stability of the spindle.

Furthermore, according to the present invention (claim 7), the electromagnetic rotary machine with the radial direction rotary body position control winding uses a plurality of electromagnetic machine parts connected in the main axis direction and performs the same control as in claim 1. With such a configuration, the radial position of the main shaft can be further stabilized, and the output range can be widened.

Further, according to the present invention (claim 8), the plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine with the radial direction rotating body position control winding are respectively connected or integrated in the main shaft direction without gaps. With this configuration, an effect similar to that of the seventh aspect can be obtained for an electromagnetic rotating machine having a radial direction rotating body position control winding having the shortest axial length and a large output.

Further, according to the present invention (claim 9), the radial rotating body position control winding of the electromagnetic rotating machine having the radial rotating body position control winding is wound around only two stator cores, and the rotor position is controlled. Since the control is performed at these two locations, it is possible to perform the control for maintaining the stability of the spindle while suppressing the number of facilities.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a magnetic circuit of a conventional typical active magnetic bearing. FIG. 2 is a cross-sectional view showing an example of an electromagnetic rotating machine with a radial rotating body position control winding according to the present invention. FIG. 3 is a principle view showing the principle of the present invention. FIG. 4 is a view showing an example of a stator winding method for realizing the present invention (a cross-sectional view taken along a line II in FIG. 2). FIG. 5 is a diagram showing a magnetomotive force distribution of the windings of FIG. FIG. 6 is a diagram showing a relationship between a current waveform of a motor winding and a rotation angle. 7 and 8 are diagrams showing the magnetomotive force distribution by the radial direction rotating body position control winding. FIG. 9 is a diagram showing a change in gap length due to eccentricity and how to set coordinate axes. FIG. 10 is a diagram illustrating an example of a system configuration of a radial direction rotating body position control device. 1A, 1B Rotor 2 Main shaft 3A, 3B Stator core 4 Radial rotating body position control winding 5 Motor winding 7A, 7B Slot 10 Radial rotating body position Electric motor with control winding 11 Radial position detector 12 Magnetic flux angle detector 13 Coordinate converter 14 Rotor position comparator 15 Controller 16 Decoupling unit 17 Rotation Coordinate system stator coordinate system converter 18 Three-phase two-phase converter 19 Current amplifier

Continuation of the front page (72) Inventor Tadashi Fukao 24-45 Shofudai, Midori-ku, Yokohama-shi, Kanagawa Prefecture Examiner Kiyoshi Tarashima (56) References JP-A-59-69522 (JP, A) JP-A-63-242153 (JP, A) JP-A-60-70944 (JP, A) JP-A-63-1339 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) H02K 7/00-7 / 20

Claims (9)

(57) [Claims] The present invention relates to a stator winding and / or a rotor winding for supporting and rotating a rotor in a non-contact manner, and a radial position control with respect to the rotor. A radial rotator position control device comprising a radial rotator position control winding for performing by generating a force acting in a more radial direction, wherein the stator winding and / or the rotor winding are three-dimensional. By performing coordinate conversion such as phase-two phase conversion and dq conversion or γδ conversion, an equivalent winding Nd of four poles uniformly arranged in the circumferential direction of the stator, and a position of an electrical angle π / 2 with respect to the equivalent winding Nd. A four-pole equivalent winding Nq having a phase difference and being equally arranged in the circumferential direction of the stator at a mechanical angle of π / 4, and the equivalent winding Nd and the equivalent winding Nq and the equivalent winding are separated and independent. And performing the coordinate transformation on the radial rotating body position control winding. And a two-pole equivalent winding Nx and an equivalent winding Ny for controlling the rotor position of two-pole equivalent windings arranged in parallel with the equivalent winding Nd and orthogonal to each other at the center of the rotor. An electromagnetic rotating machine with a radial rotating body position control winding that can be equivalently converted to a DC machine model, a radial position detecting unit that detects the radial position of the rotor in a non-contact manner with the rotor, and the radial position A rotor position comparator for comparing a radial position detected by a detector with a radial position command value for commanding a radial position of the rotor in advance, and outputting an error value; A radial force control unit that calculates and outputs a radial force command value to be applied to the rotor based on the error value, a radial force command value output from the radial force control unit, and a force applied to the rotor. To match the radial forces A decoupling unit that calculates a current command value for decoupling with the rotating magnetic field by performing an inverse matrix operation, and supplies a current to the radial direction rotating body position control winding based on the current command value calculated by the decoupling unit. A radial direction rotating body position control device, comprising: a control winding current converter for supplying. 2. The electromagnetic rotating machine with the radial rotating body position control winding is a salient pole synchronous machine having a salient pole type rotor,
The coefficient p representing the saliency is defined by approximating that the permeance distribution changes due to the salient pole in the decoupling part by a fundamental wave component, and the equivalent winding Nd is determined based on the radial force command value. , And the torque current iq flowing through the equivalent winding Nq are multiplied by coefficients (1 + p) and (1-p), respectively. 2. The current command value is calculated by performing an inverse matrix operation of a matrix having current as a non-diagonal element.
A radial direction rotating body position control device as described in the above. 3. The electromagnetic rotating machine with a radial direction rotating body position control winding is a rotating machine that generates an armature reaction, and the non-interacting unit changes the equivalent winding Nd based on the radial force command value. 2. The current command value is calculated by performing an inverse matrix operation of a matrix having a flowing d-axis current id as a diagonal element and a torque current iq flowing through the equivalent winding Nq as a non-diagonal element. A radial direction rotating body position control device as described in the above. 4. A stator winding and / or a rotor winding for supporting and rotating a rotor in a non-contact manner, and a radial position control with respect to the rotor, comprising: A DC machine with a radially rotating body position control winding for performing by generating a more radially acting force,
An electromagnetic rotating machine including an AC machine, the electromagnetic rotating machine performs three-phase two-phase conversion and dq conversion, or coordinate conversion of γδ conversion for the stator winding and / or the rotor winding, A four-pole equivalent winding Nd which is uniformly arranged in the stator circumferential direction, and has a phase difference of electrical angle π / 2 from the equivalent winding Nd, and is separated from the stator circumferential direction by a mechanical angle π / 4. The four-pole equivalent winding Nq, the equivalent winding Nd, the equivalent winding Nq and the equivalent winding Nq are separated and independent from each other, and the coordinate transformation is performed on the radial rotating body position control winding. By performing the above, a rotor position control equivalent winding Nx and a rotor position control equivalent winding of a two-pole equivalent winding disposed parallel to the equivalent winding Nd and orthogonal to each other at the center of the rotor.
Ny can be equivalently converted to a DC machine model, and a plurality of rotors fixed in series along a main axis located at the center of the rotor, and a predetermined gap length in the radial direction from the rotor. A plurality of stator cores facing each other, a winding for generating a torque that penetrates a slot provided in the stator core in the main axis direction and winds, and has a different number of poles from the winding. An electromagnetic rotating machine with a radial rotating body position control winding, comprising the radial rotating body position control winding wound simultaneously in the slot for each of the stator cores. 5. The plurality of rotors and the plurality of stator cores are connected to each other in the main shaft direction without gaps or are integrated by at least one core, respectively. Electromagnetic rotary machine with radial rotating body position control winding. 6. The radial direction according to claim 4, wherein the radial direction rotating body position control winding is wound around only two of the plurality of stator cores. An electromagnetic rotating machine with a rotating body position control winding. 7. The electromagnetic rotating machine with the radial rotating body position control winding, wherein the stator and / or the rotor winding for supporting and rotating the rotor in a non-contact manner, and a radius relative to the rotor. DC machine having a radial position control winding for performing directional position control by generating a force acting in the radial direction from the rotor center by unbalancing the rotating magnetic field,
An electromagnetic rotating machine including an AC machine, the electromagnetic rotating machine performs three-phase two-phase conversion and dq conversion, or coordinate conversion of γδ conversion for the stator winding and / or the rotor winding, A four-pole equivalent winding Nd which is uniformly arranged in the stator circumferential direction, and has a phase difference of electrical angle π / 2 from the equivalent winding Nd, and is separated from the stator circumferential direction by a mechanical angle π / 4. The four-pole equivalent winding Nq, the equivalent winding Nd, the equivalent winding Nq and the equivalent winding Nq are separated and independent from each other, and the coordinate transformation is performed on the radial rotating body position control winding. By performing the above, a rotor position control equivalent winding Nx and a rotor position control equivalent winding of a two-pole equivalent winding disposed parallel to the equivalent winding Nd and orthogonal to each other at the center of the rotor.
Ny can be equivalently converted to a DC machine model, and a plurality of rotors fixed in series along a main axis located at the center of the rotor, and a predetermined gap length in the radial direction from the rotor. A plurality of stator cores facing each other, a winding for generating a torque that penetrates a slot provided in the stator core in the main axis direction and winds, and has a different number of poles from the winding. 4. The apparatus according to claim 1, further comprising a plurality of said stator cores each provided with said radially rotating body position control winding wound simultaneously in said slot.
A radial direction rotating body position control device as described in the above. 8. The plurality of rotors and the plurality of stator cores of the electromagnetic rotating machine having the radial direction rotating body position control winding are connected to each other in the main shaft direction without any gap or at least one each. 8. The position control device according to claim 7, wherein the position control device is integrated. 9. The electromagnetic rotating machine with the radial rotating body position control winding, wherein the radial rotating body position control winding is wound around only two of the plurality of stator cores. The radial direction rotating body position control device according to claim 7 or 8, wherein: