电磁轴承结构参数设计研究

以实际工程应用为背景,针对电磁轴承的结构参数设计,分析了忽略铁磁材料磁阻对磁路计算带来的误差。通过对控制器参数的研究,表明磁轴承最终的控制刚度不仅与控制器有关,而且受结构参数的制约。从提高控制线圈电流和磁力的响应速度出发,给出了工作气隙、磁极面积与控制线圈的设计原则。这些结构参数与控制性能相关性的研究对于提高电磁轴承的总体性能有积极的作用。     

径向磁力轴承磁极布置对磁场和磁力的影响

使用有限元方法对8极径向磁力轴承的磁场进行了建模,计算了气隙磁通密度和磁力,对比分析了在转子不同的偏心情况下两种磁极布置形式(NSNS交替磁极布置和NNSS成对磁极布置)的磁力轴承的气隙磁通密度和磁力,并通过实验测试验证了有限元磁场建模和计算的准确性.结果表明,在同样大小的电流激励下,NSNS布置比NNSS布置的气隙磁通密度大,偏心时产生的磁力也较大,适合小尺寸的磁力轴承,而NSNS布置磁极之间的磁耦合比NNSS布置形式强,增加了控制系统的复杂性.研究结论对磁力轴承的结构设计和控制系统设计具有一定的指导意义.     

高温磁悬浮轴承定子电磁线圈封装技术研究

高温电磁线圈是高温磁悬浮轴承系统的关键元件,为了延长高温电磁线圈的可靠性及使用寿命,提高磁悬浮轴承系统的性能,需要对高温电磁线圈进行封装。主要介绍了高温磁悬浮轴承系统,设计了高温磁悬浮轴承定子线圈的封装结构以及线圈陶瓷骨架结构,探讨了电磁线圈的封装材料及线圈封装工艺。     

Fault tolerant control of magnetic bearings with force invariance

A magnetic bearing even with multiple coil failure can produce the same decoupled magnetic forces as those before failure if the lemaining coil currents are properly redistributed This faulttolerant, force invariance control can be achieved with simply leplacing the distribution matrix with the appiopnate one shortly after coils fail, without modifying feedback control law The distribution gain matrix that satisfies the necessary constraint conditions of decoupling linearized magnetic foices is determined with the Lagrange Multiplier optimization method     

径向电磁轴承线圈容错控制研究

针对径向电磁轴承线圈容错控制问题,以一个具有多极独立驱动结构的径向轴承为模型,先利用磁路法建立了此轴承电磁力的一般表达式,并用广义偏流线性化的方法将其线性化;然后在此基础上提出了一种基于控制器重构的容错方案。该方案考虑了磁路间的耦合作用,对不同磁极结构的轴承具有普遍适用性。仿真结果表明了方案的可行性。     

磁悬浮轴承非定向差动控制方式研究

提出非定向差动控制方式,通过独立控制各差动磁极对,提高参与控制的最少差动磁极对数量,以提高磁悬浮轴承的承载能力。以16极径向磁悬浮轴承为例,详细介绍了非定向差动控制方式与常规差动控制方式,对比了两种控制方式的等效刚度和等效阻尼、复刚度和复阻尼、名义承载力等支承性能。通过高速旋转试验验证两种控制方式下系统的控制性能。理论分析结果表明,采用非定向差动控制方式时,磁悬浮轴承的承载能力提高了8.24%,最大承载力提高了30.657%。试验结果表明,采用非定向差动控制方式时,系统具有更好的控制效果。     

Head design considerations for lower thermal pole tip recession and alumina overcoat protrusion

The magnetic/mechanical spacing between the transducer and the disk significantly decreases due to thermal expansion of pole tips at stressed high temperature and high humidity tests. The protruded pole tips and alumina overcoat result increased thermal asperities and can interfere with the higher disc asperities and be damaged due to high contact. The damage at the head-disk interface due to protruded pole tips and alumina overcoat may become a major roadblock in the drive mechanical performance when flying height is below 10 nm. In this study, the thermal PTR defined as change in PTR with temperature is measured using an optical profiler and an AFM for heads having stack design with single and dual layers of writer coil. The pole tips protrude above the ABS surface by 3–4 nm when the temperature of the head is raised by 50°C. Heads with single layer of writer coil exhibit significantly lower thermal PTR than those with dual layers of coils.     

动力磁悬浮轴承原理

基于普通的径向磁悬浮轴承 ,研究定子绕组由产生旋转偏磁磁场的绕组和产生旋转控制磁场的绕组叠加的动力磁悬浮轴承的工作原理。在两种绕组的极数相差 2极时 ,动力磁悬浮轴承除产生支承转子的径向轴承力外 ,还产生驱动转子转动的力矩     

便携式润滑油中磨粒图像采集仪的磁极结构

基于野外环境对润滑油中磨粒检测的需求,分析各种磨粒检测技术,设计一种采用磁极吸附和CCD传感器相结合获取磨粒图像的便携式润滑油磨粒图像采集仪。为了在有限的仪器结构空间内,获得最佳的磁力吸附效果,使尽可能多的磨粒吸附到CCD传感器的焦平面上,对磁极的结构参数,包括磁极截面积、宽度、厚度,励磁线圈长度、厚度及其与磁极的相对位置等进行分析,获得最佳的磁极尺寸。分析沉积区域的磁场强度变化,发现从回形铁芯到磁极端点,磁场强度在不断增强,直到在磁极与空气的临界面上到达巅峰,随后迅速衰弱,到沉积区域中心后又快速回升,形成一个M型曲线。     

双转子平动式啮合电动机设计与转矩分析

提出一种新型的四相双转子平动式啮合电动机,该电动机的每个磁极由一个定子和内、外转子构成.4个磁极的内转子固连在一起构成一个4极内平动转子,外转子固连在一起构成一个4极外平动转子.控制磁极的工作顺序,可以驱动内、外平动转子在4个偏心轴约束下作方向相反且同步的公转运动,并带动两个内齿圈与外齿轮啮合输出低速大扭矩运动,该结构相互抵消了惯性力,增大了输出转矩.设计制作物理样机,运用有限元法分析在不同转子位置角的磁链特性.依据磁共能原理,计算电动机的静态转矩.通过样机试验获得电动机的转速、转矩特性.与传统的电动机和减速器组成的驱动装置相比较,双转子平动式啮合电动机具有起动快、效率高、输出转矩大的特点,是一种可行的平动电动机结构.     

机械加工误差对主动磁悬浮轴承性能的影响

针对5自由度主动磁悬浮轴承,分析了每种误差类型对主动磁悬浮轴承工作状态的影响机理及特征;定量分析了机械加工误差、系统设计参数和径向磁悬浮轴承线圈干扰电流之间的关系。研究结果表明,机械加工误差会导致径向磁悬浮轴承和轴向磁悬浮轴承相互耦合,增加系统控制难度;同时会导致径向磁悬浮轴承励磁线圈中附加干扰电流,降低径向磁悬浮轴承的有效载荷;通过分析径向磁悬浮轴承励磁线圈中的干扰电流的特征可以推断系统的误差形式,从而采取相应的措施进行改善。研究结果为更合理地确定主动磁悬浮轴承的设计参数、分析主动磁悬浮轴承系统的装配误差、提高主动磁悬浮轴承的性能提供了理论依据。     

一种新型磁悬浮飞轮用永磁偏置径向磁轴承

针对现有径向磁轴承结构电励磁磁路耦合严重的缺点,分析了一种新型磁悬浮飞轮用永磁偏置径向磁轴承结构及其工作原理。采用等效磁路法对磁轴承的永磁磁路和电励磁磁路进行计算,得出了磁轴承的数学模型,给出了磁轴承主要参数的设计方法。最后通过有限元法对该磁轴承进行仿真分析,从磁场分布以及X方向通电流时对力Fy的影响两方面验证该结构电励磁回路在X、Y方向间的解耦性,其中Fy小于3%Fx。理论研究和仿真分析表明：这种径向磁轴承结构有效的避免了磁通在两个径向自由度间的耦合,从而能够扩大系统线性工作范围和稳定裕度最终提高磁轴承系统的控制性能。     

卧式柱塞泵曲轴的磁性液体密封设计*

卧式柱塞泵曲轴密封的可靠运行是曲轴轴承实现润滑与液压支架稳定供液的重要基础。基于磁性液体密封理论,设计一种单磁源梯度齿宽磁性液体密封结构,采用数值模拟的方法研究磁性液体密封结构的磁场分布特征,并分析不同密封间隙和转速对密封耐压性能的影响。结果表明：与均匀极齿宽度磁性液体密封结构相比,梯度极齿宽度密封结构平均耐压能力约提高11%;梯度齿宽密封结构中,随着极齿与永磁体距离的增大,各极齿耐压能力逐渐增强;随着密封间隙的增大,离心力引起密封失效的极限转速逐渐减小。     

Gait Planning for a Quadruped Robot with One Faulty Actuator

Fault tolerance is essential for quadruped robots when they work in remote areas or hazardous environments. Many fault-tolerant gaits planning method proposed in the past decade constrained more degrees of freedom(DOFs) of a robot than necessary. Thus a novel method to realize the fault-tolerant walking is proposed. The mobility of the robot is analyzed first by using the screw theory. The result shows that the translation of the center of body(Co B) can be kept with one faulty actuator if the rotations of the body are controlled. Thus the DOFs of the robot body are divided into two parts: the translation of the Co B and the rotation of the body. The kinematic model of the whole robot is built, the algorithm is developed to actively control the body orientations at the velocity level so that the planned Co B trajectory can be realized in spite of the constraint of the faulty actuator. This gait has a similar generation sequence with the normal gait and can be applied to the robot at any position. Simulations and experiments of the fault-tolerant gait with one faulty actuator are carried out. The Co B errors and the body rotation angles are measured. Comparing to the traditional fault-tolerant gait they can be reduced by at least 50%. A fault-tolerant gait planning algorithm is presented, which not only realizes the walking of a quadruped robot with a faulty actuator, but also efficiently improves the walking performances by taking full advantage of the remaining operational actuators according to the results of the simulations and experiments.     

Effect of Using Current-Carrying-Wire Models in the Design of Hydrodynamic Journal Bearings Lubricated with Ferrofluid

Based on the momentum and continuity equations for ferrofluid under an applied magnetic field, a modified Reynolds equation has been obtained. Assuming linear behavior for the magnetic material of the ferrofluid, the magnetic force was calculated. The magnetic pressure resulting from the magnetic force was incorporated into the Reynolds equation and it was not separately treated. The derived Reynolds equation can be applied for any magnetic field distribution model. Using different magnetic field models, the equation has been solved numerically by the finite difference technique with an appropriate iterative technique and pressure distributions have been obtained. The boundary shapes of the load-carrying active regions and cavitation regions could be then determined. The solution gives the bearing performance characteristics, namely; load-carrying capacity, attitude angle of the journal center, friction coefficient and bearing side leakage. The displaced current-carrying infinitely long wire gives a field distribution with a gradient in the circumferential direction. Two novel field models are introduced. The concentric finite current-carrying-wire model gives an axially symmetric magnetic field with a gradient in the axial direction. Axial and circumferential gradients are obtained using displaced finite wire model. The effect of these magnetic models and their design parameters on the overall bearing performance characteristics has been studied. The results concluded that the magnetic lubrication provides a higher load capacity and a reduced friction coefficient, compared with a conventional lubricated bearing. The other bearing characteristics depends on the applied field model. An axially symmetric applied field, with its sealing magnetic force, leads to a decrease in the side leakage, such that the bearing may operate without side leakage by appropriate design of the field.     

调磁环材料性能对永磁齿轮损耗的影响研究

磁场调制型永磁齿轮作为一种新型永磁变速装置,易产生较大磁场损耗,降低永磁齿轮工作效率,限制其传递能力的进一步提升。提出整体成型动力传动式调磁环提高了扭矩传动能力,建立调磁环三维模型开展了强度、刚度和损耗计算,并结合永磁齿轮性能测试分析了调磁环骨架材料和调磁极片材料的损耗,研究三种不同调磁环承载骨架材料参数对永磁齿轮损耗和效率的影响,对永磁齿轮参数进行优化并确定最优扭矩骨架承载材料。结果表明,特种工程塑料调磁环骨架材料能大幅降低永磁齿轮损耗,有效提升传动效率,永磁齿轮实测传动效率可达93.8%。     

Regulation of spindle position by magnetic actuator array

A novel embedded cylindrical-array magnetic actuator (ECAMA) is proposed and verified by experiments to provide sufficient magnetic force for spindle deviation regulation of high-speed milling process. Four I-shape silicon steel columns enclosing the spindle constitute the backbone of the ECAMA. The shape of modified concave-type yokes is designed to reduce the average air gap between magnetic poles and the spindle. In contrast to the conventional AMB (active magnetic bearing) design for which coils are usually wound on the yokes, the copper wire is wound on the I-shape silicon steel columns. As a result, the overall wound coil turns can be much increased. In other words, stronger magnetic force can be induced by ECAMA. On the other hand, to reduce the cost of ECAMA, two pairs of self-sensing modules are employed to replace the gap sensors for measurement of spindle position deviation. In order to verify the efficacy of the proposed ECAMA and the self-sensing module, high-speed milling tests are undertaken. By inspection on the precision and quality of the finish surface of workpiece, the superiority of ECAMA and the self-sensing module are assured.     

恒流源偏置三相磁悬浮轴承研究

六极结构恒流源偏置磁悬浮轴承是一种新颖结构,在定子磁极上有两套绕组,分别形成两对极偏置磁场与一对极控制磁场,根据无轴承电机原理,可产生可控悬浮力。笔者先采用等效磁路法,推导出该轴承在平衡位置附近的线性模型,并用有限元法进行了验证,对两个自由度上电流与位移之间的耦合进行分析,得到按矢量变换方式控制时,耦合较小的结论。然后,设计了一台实验样机,利用TI公司的VC33控制芯片,实现了两自由度静态悬浮,并对偏置磁场对悬浮性能的影响做了比较。最后,进行了动态激振实验。结果表明:三相磁悬浮轴承动态性能良好,适用于高速应用场合。     

漏磁传感器励磁结构影响因素分析及优化设计

漏磁检测中励磁结构的磁化能力是影响漏磁传感器缺陷检测能力的一个重要因素。根据交流漏磁检测原理,建立二维漏磁检测参数化有限元仿真模型,研究磁心的形状和尺寸、励磁线圈的位置和绕组长度、磁屏蔽层厚度等励磁结构参数对漏磁检测信号的影响。同时,将参数化有限元分析与遗传优化算法相结合,发展一种励磁结构尺寸参数的有限元模拟遗传优化设计方法,实现了漏磁传感器中磁极间距与磁极宽度等关键尺寸的优化。仿真及检测试验结果表明,传感器的励磁结构参数对漏磁检测结果具有很大影响,优化后的励磁结构可有效提高漏磁传感器的缺陷检测性能。提出的基于参数化有限元的遗传优化方法为漏磁检测中其余影响参数的优化提供了可行的参考方法。     

Rule-based fault diagnosis of hall sensors and fault-tolerant control of PMSM

Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM.