30results about How to "Suppress gyro effect" patented technology

The present invention discloses a magnetic suspension flywheel battery for a sandwich-type electric car and a work method thereof. A vertical rotation shaft is arranged at the center of the internal portion of a vacuum chamber, a disc-type flywheel motor is coaxially arranged at the center of the axial direction of the vertical rotation shaft, disc-type magnetic bearings having the same structure, being arranged at the axial direction in the longitudinal symmetry mode relative to the disc-type flywheel motor and being sleeved at the outer portion of the vertical rotation shaft are coaxially arranged at the upper portion and the lower portion of the disc-type flywheel motor, and each disc-type magnetic bearing is wound with a set of radial control coils; the disc-type flywheel motor is composed of a stator, two rotors and two sets of permanent magnets, the stator is located at the center of the disc-type flywheel motor and coaxially arranged at the outer portion of the vertical rotation shaft, and the two rotors are respectively and symmetrically arranged at upper and lower sides of the stator and coaxially and fixedly sleeved on the vertical rotation shaft; and the two sets of the permanent magnets are respectively pasted on the surfaces, back to the stator, of the two rotors along the peripheral directions, the whole structure of the flywheel battery is a disc-type structure, the disc-type magnetic bearings and the disc-type flywheel motor are both the flat structures to inhibit the gyroscopic effect of the rotors.

The invention discloses a vehicle-mounted flywheel battery by adopting a five-degree-of-freedom hybrid magnetic bearing. The right middle inside a sealed vacuum chamber is provided with the five-degree-of-freedom hybrid magnetic bearing; the rotation shaft in the right middle of the magnetic bearing is coaxially and tightly sleeved with a magnetic bearing rotor; the right axial middle of the magnetic bearing rotor is tightly sleeved with a pulling force disc; the pulling force disc is fixedly sleeved with a flywheel; a stator pole is wound with a radial control coil; the axial stator is internally provided with an axial control coil; the right middle outside the top surface of an outer shell is a motor / generator, and the rotation shaft of the motor extends to the outer shell from top to bottom and is coaxially and fixedly connected onto the upper end of the rotation shaft of the magnetic bearing; the pulling force disc and the flywheel are integrated as a whole, the axial length of the flywheel battery is further shortened, gyroscopic effects can be effectively suppressed, two single three-degree-of-freedom hybrid magnetic bearings are integrated to form the five-degree-of-freedom hybrid magnetic bearing and are distributed at two sides of the pulling force disc in a mirror symmetry mode, and the control precision is high.

The invention discloses a spherical electric vehicle magnetic suspension flywheel battery; an inner housing, a spherical stator, a spherical cavity rotor, two permanent magnets and two magnetic suspension spherical surface bearings are arranged in a vacuum cavity; the spherical stator is arranged in the right center of the flywheel housing; the spherical cavity rotor is arranged outside the spherical stator; the spherical cap shape inner housing having the same spherical core is arranged outside the spherical cavity rotor; the bottom opening of the inner housing is seamlessly fixedly connected with the first permanent magnet in a spherical cap shape; the inner housing and the spherical cavity rotor are fixedly connected through a rotor connector; the second permanent magnet in the spherical cap shape is arranged right below the first permanent magnet, and fixedly connected on the inner surface of the flywheel housing; the two magnetic suspension spherical surface bearings are arranged between the flywheel housing and the inner housing, fixedly connected on the inner wall of the flywheel housing, and two central shafts thereof are intersected. The spherical electric vehicle magnetic suspension flywheel battery can eliminate air friction losses on the flywheel, and can increase the gyro control moment scope, thus inhibiting the flywheel gyroscopic effect.

The invention discloses an ultrathin vehicle-mounted magnetic suspension flywheel battery for an electric vehicle, and a working method thereof. A motor bracket, an axial magnetic flux motor, a flywheel, an inner stator of a five-degree-of-freedom magnetic bearing, a coil and a permanent magnet are coaxially arranged in a shell from top to bottom, and the flywheel consists of an upper layer, a middle layer and a lower layer which are continuous; an upper annular groove is formed in the middle of the upper annular layer of the upper flywheel, the axial flux motor is placed in the upper annular groove, and an annular inner groove, a middle annular cavity and a lower annular groove are communicated and jointly used for placing the inner stator, the coil and the permanent magnet of the five-degree-of-freedom magnetic bearing; and the five-degree-of-freedom magnetic bearing comprises an axial magnetic bearing, a repulsion magnetic bearing, a torsion magnetic bearing and a radial spherical magnetic bearing from inside to outside. The mode that magnetic bearings with different properties are reused is adopted, advantage complementation is achieved, the bearing capacity and control precision of magnetic bearing supporting can be improved, the stability of a flywheel is remarkably improved, and the problem that the loss of a control coil is large due to complex working conditions can be effectively solved.

The invention discloses a robust proportional differential feedback controller design method based on feature structure configuration, and the method comprises the following steps: firstly, introducing cross differential feedback, and decoupling a four-degree-of-freedom electromagnetic bearing rigid rotor system into two two-degree-of-freedom systems; secondly, obtaining a parameterized expression of a proportional differential feedback matrix by using a feature structure configuration method; then, constructing a multi-objective optimization problem, and minimizing the sensitivity of the system to the bias current change, the maximum unbalanced vibration response amplitude and the maximum unbalanced control current response amplitude while limiting the closed-loop characteristic value in a given area on a complex plane; and finally, solving the multi-objective optimization problem by using a multi-objective genetic algorithm. According to the robust proportional differential feedback controller designed by the invention, the electromagnetic bearing rigid rotor system has relatively strong robustness to bias current change and unbalanced external disturbance force while ensuring stable operation and maintaining expected dynamic performance.

In a power steering apparatus of a watercraft with propeller applying an assist torque of an assist motor driven in correspondence to a steering direction and a steering force of a steering handle to a steering force transmission path to the propeller, an output side of the assist motor is provided with an inverse input interrupting apparatus transmitting an assist torque of the assist motor to the steering force transmission path, and interrupting an inverse input torque applied to the steering force transmission path from a side of the propeller caused by a rotational reaction force of a screw provided in the propeller with respect to the assist.

The invention discloses a tumbler type vehicle-mounted flywheel energy storage device for five-degree-of-freedom suspension support of an electric automobile. A flywheel is in a bowl shape formed by interference fit of a metal flywheel rotor and a composite material ring, the metal flywheel rotor is composed of an upper section ring, a middle section hollow hemisphere and a lower section ring, the composite material ring tightly sleeves the upper section ring to form a bowl-shaped bowl opening part, the inner wall of the bottom end of the upper section ring protrudes inwards in the radial direction to form a ring-shaped axial thrust disc, the upper region of the axial thrust disc is a bowl opening empty groove layer, and the lower region of the axial thrust disc is sequentially provided with a spherical empty groove layer and a bowl bottom empty groove layer to form a flywheel inner cavity, a supporting frame is sleeved in an inner stator, a bowl foot ring cavity is formed betweenthe lower section ring and a bowl foot central shaft in the middle of the lower section ring, and a driving motor is accommodated in the bowl foot ring cavity. A magnetic bearing and the motor are arranged in the flywheel, the axial length of the device is effectively reduced, the integration level is improved, the flywheel is in a shape with the light upper portion and the heavy lower portion, the gravity center is concentrated at the bowl bottom, and natural self-balance is achieved.

The invention provides a multi-dimensional integrated vehicle-mounted magnetic suspension flywheel battery control system, and belongs to the technical field of vehicle-mounted flywheel battery control. According to the invention, a current signal processed by a current normalizing module is used as an input signal of a support vector machine displacement prediction module; an output signal of the support vector machine displacement prediction module and a signal which is output by the fuzzy PID cross feedback control module and the neural network inverse decoupling control module and is processed by the accumulation and coordinate system conversion module are used as input signals of the improved zero power control module; a displacement signal output by the support vector machine displacement prediction module and an output signal of the improved zero power control module are used as input signals of the linear closed-loop controller, and output of the linear closed-loop controller is used as input signals of the fuzzy PID cross feedback control module and the neural network inverse decoupling control module. According to the invention, the complexity of the whole system is simplified, the real-time response characteristic is greatly improved, the gyroscopic effect can be inhibited, the stability is improved, and the energy consumption and the cost are reduced.

The invention discloses a five-degree-of-freedom single-side suspension supported ball flywheel integrated vehicle-borne energy storage device for an electric vehicle. The middle part of a flywheel rotor is a main disc body, the upper part is a spherical ring, the lower part is an outer ring and an inner disc, a circular groove is formed between the inner disc and the outer ring, and an outer rotor motor is in the circular annular groove. A circular outer wall of the spherical ring is an outwardly convex spherical surface, and an inner wall is an inwardly convex spherical surface. The uppermost end of a radial stator of a five-degree-of-freedom magnetic bearing is an upper end ring of a ring body, a radial outer ring stator yoke extends downward from an outer side wall of an upper end ring, a radial inner ring stator yoke extends downward from an inner side wall, a spherical groove is formed between inner side walls of a radial outer ring stator pole extending inward from an inner sidewall of a lower end of the radial outer ring stator yoke, a spherical groove is formed between inner side walls of a radial inner ring stator pole extending outward from an outer side wall of a lowerend of the radial inner ring stator yoke, and the spherical ring sleeves the radial inner ring stator pole and the radial outer ring stator pole, the axial dimension is reduced, and the gyro effect is suppressed.

The invention relates to an axial permanent magnet spherical surface magnetic levitation flywheel motor, belonging to the technical field of magnetic levitation motors. The axial permanent magnet spherical surface magnetic levitation flywheel motor comprises a flywheel, a rotor and a stator. The flywheel and the rotor form an integral body, the stator and the rotor are divided into an A phase anda B phase in an axial direction, and axial reverse magnetizing permanent magnets are respectively clamped between a rotor A-phase magnetic conducting ring and a rotor B-phase magnetic conducting ringand between a stator A-phase magnetic conducting ring and a stator B-phase magnetic conducting ring; the rotor comprises a rotor A-phase spherical surface iron core, a rotor B-phase spherical surfaceiron core, a rotor permanent magnet, the rotor A-phase magnetic conducting ring and the rotor B-phase magnetic conducting ring; the stator comprises a stator A-phase spherical surface iron core, a stator B-phase spherical surface iron core, a stator permanent magnet, the stator A-phase magnetic conducting ring, the stator B-phase magnetic conducting ring and a stator sleeve; each-phase stator spherical surface iron core is provided with a wide-tooth suspension poles, narrow-tooth torque poles and magnetic isolating bodies, and the suspension poles and the torque poles employ pole shoe structures and are respectively wound with suspension control coils and torque control coils. The axial permanent magnet spherical surface magnetic levitation flywheel motor improves the global uniformity ofair gap magnetic density, achieves the shaftless support of the flywheel and inhibits the gyroscopic effect; meanwhile, the system integration level, the operation efficiency and the reliability are improved, and the decoupling of the suspension magnetic circuit and the torque magnetic circuit is achieved.

The invention discloses a three-degree-of-freedom spherical hybrid magnetic bearing with an axial self-loop. An outer axial stator, an upper annular permanent magnet, a radial stator, a lower annularpermanent magnet and a lower axial stator sequentially coaxially sleeve a rotator from top to bottom, each of the upper axial stator and the lower axial stator is formed by axially connecting an upperdisc, a middle disc and a receiving disc, the inner end surface of every upper disc extend radially inwards extends to form a conical disc, small discs are arranged between the upper and lower end surfaces of the rotor and the corresponding conical discs, the small discs are closely attached to the upper and lower surfaces of the corresponding conical discs, the upper small disc is located abovethe upper end surface of the rotor, and the lower small disc is located below the lower end surface of the rotor; and axial air gaps are left between the upper and lower small disks and the end surface of the rotor, and a control magnetic flux enters the receiving discs through return air gaps to axially form the self-loop without mounting a pushing disc, so the rotating speed of the rotor is optimized, and coupling of axial and radial magnetic fields is reduced.

The invention discloses a five-degree-of-freedom single-side suspension supported ball flywheel integrated vehicle-borne energy storage device for an electric vehicle. The middle part of a flywheel rotor is a main disc body, the upper part is a spherical ring, the lower part is an outer ring and an inner disc, a circular groove is formed between the inner disc and the outer ring, and an outer rotor motor is in the circular annular groove. A circular outer wall of the spherical ring is an outwardly convex spherical surface, and an inner wall is an inwardly convex spherical surface. The uppermost end of a radial stator of a five-degree-of-freedom magnetic bearing is an upper end ring of a ring body, a radial outer ring stator yoke extends downward from an outer side wall of an upper end ring, a radial inner ring stator yoke extends downward from an inner side wall, a spherical groove is formed between inner side walls of a radial outer ring stator pole extending inward from an inner sidewall of a lower end of the radial outer ring stator yoke, a spherical groove is formed between inner side walls of a radial inner ring stator pole extending outward from an outer side wall of a lowerend of the radial inner ring stator yoke, and the spherical ring sleeves the radial inner ring stator pole and the radial outer ring stator pole, the axial dimension is reduced, and the gyro effect is suppressed.

The invention discloses a flywheel energy storage device based on an outer rotor bearingless permanent magnet synchronous motor. A rotating shaft is arranged at the center of the interior of a vacuum closed casing; the upper end of the rotating shaft is connected with an upper cylindrical table through an axial passive magnetic bearing; the upper cylindrical table is fixedly sleeved with a stator bearingless permanent magnet synchronous motor; a motor inner stator coaxially and fixedly sleeves the upper cylindrical table; the inner wall of the middle section of a motor outer rotor is fixedly connected to the rotating shaft through an inner hub; the outer wall of the motor outer rotor is fixedly connected to the inner wall of a the flywheel rotor through an outer hub; the lower end of the rotating shaft is connected to the center of the lower cylindrical table through a self-aligning ball bearing; a three-degree-of-freedom radial-axial hybrid magnetic bearing is arranged between the upper end of the cylindrical table and the motor outer rotor; the lower end of the motor outer rotor extends downwards in the axial direction; a circular truncated cone horizontally extends inwards in the radial direction on the inner wall of the lower section of the motor outer rotor; and the circular truncated cone serves as a magnetic bearing outer rotor of the three-degree-of-freedom radial-axial hybrid magnetic bearing. According to the flywheel energy storage device based on the outer rotor bearingless permanent magnet synchronous motor of the invention, higher energy can be obtained, and a large-capacity requirement is realized.

The invention discloses an ultra-thin vehicle-mounted magnetic levitation flywheel battery for electric vehicles and a working method thereof. A motor bracket, an axial magnetic flux motor, a flywheel and an inner stator of a five-degree-of-freedom magnetic bearing are coaxially arranged in a casing from top to bottom. , coil and permanent magnet, the flywheel is composed of continuous upper, middle and lower layers. The middle of the upper ring layer of the flywheel on the upper layer is the upper ring groove, and the axial flux motor is placed in the upper ring groove. The groove, the middle annular cavity and the lower annular groove communicate with each other and house the inner stator, coil and permanent magnet of the five-degree-of-freedom magnetic bearing. The five-degree-of-freedom magnetic bearing is axial magnetic bearing, repulsive magnetic bearing, Torsional magnetic bearing and radial spherical magnetic bearing; adopting the mode of multiplexing magnetic bearings of different properties to realize their complementary advantages, which can not only improve the bearing capacity and control accuracy of the magnetic bearing support, significantly improve the stability of the flywheel, but also effectively compensate for the complex The working conditions lead to the problem of large loss of the control coil.

Provided is an alternating-current and direct-current five-degree-of-freedom hybrid magnetic bearing having dual spherical surfaces for a vehicle-mounted flywheel battery; a radial stator consists of upper and lower radial stators (1, 8) arranged coaxially and having integrally connected yokes; three radial stator poles (11, 12, 13, 81, 82, 83) are arranged along the circumferential direction of each of the upper end of the yoke of the upper radial stator (1) and the lower end of the yoke of the lower radial stator (8); the inner surface of each radial stator pole (11, 12, 13, 81, 82, 83) is a concave spherical surface (211, 811); the upper and lower ends of the intermediate cylinder (73) of a rotor (7) are an upper connection body (72) connected to an upper-end cylindrical body (71) and a lower connection body (75) connected to a lower-end cylindrical body (74), respectively; the side walls of the upper and lower cylindrical bodies (71, 75) are convex spherical surfaces (711, 751); each concave spherical surface (211, 811) correspondingly faces, at its top and bottom, a convex spherical surface (711, 751); an axial stator (5) is nested outside the intermediate cylinder (73); the upper side of an upper axial stator (51) and the lower side of the lower axial stator (52) are each equipped with annular permanent magnets (31, 32); the opposing faces of the upper and lower radial stators (1, 8) and the rotor (7) are spherical structures, eliminating a gyroscopic effect; when the rotor (7) of the magnetic bearing deflects or deviates, the electromagnetic force points to the spherical center of the rotor (7), thus reducing the disturbance torque generated on the rotor (7) by the stator magnetic poles.

The invention discloses a spherical electric vehicle magnetic suspension flywheel battery; an inner housing, a spherical stator, a spherical cavity rotor, two permanent magnets and two magnetic suspension spherical surface bearings are arranged in a vacuum cavity; the spherical stator is arranged in the right center of the flywheel housing; the spherical cavity rotor is arranged outside the spherical stator; the spherical cap shape inner housing having the same spherical core is arranged outside the spherical cavity rotor; the bottom opening of the inner housing is seamlessly fixedly connected with the first permanent magnet in a spherical cap shape; the inner housing and the spherical cavity rotor are fixedly connected through a rotor connector; the second permanent magnet in the spherical cap shape is arranged right below the first permanent magnet, and fixedly connected on the inner surface of the flywheel housing; the two magnetic suspension spherical surface bearings are arranged between the flywheel housing and the inner housing, fixedly connected on the inner wall of the flywheel housing, and two central shafts thereof are intersected. The spherical electric vehicle magnetic suspension flywheel battery can eliminate air friction losses on the flywheel, and can increase the gyro control moment scope, thus inhibiting the flywheel gyroscopic effect.

The invention discloses a radial gyrostatic effect-resisting vehicle flywheel battery. The vehicle flywheel battery comprises a flywheel rotor, wherein the middle section of the flywheel rotor is a flywheel rotor main cylinder; a lower-end ring receiving pole, a middle ring and an upper-end ring receiving pole which are concentrically sequentially fixedly connected at the outer edge of the upper surface of the flywheel rotor main cylinder from bottom to top and a lower-end disk receiving pole, a middle disk and an upper-end disk receiving pole which are concentrically sequentially fixedly connected in the middle of the upper surface of the flywheel rotor main cylinder from bottom to top are arranged at the upper section of the flywheel rotor; the upper edge of the inner wall of the upper-end ring receiving pole is a quarter of the inner-wall arc surface which is protruded inward; the upper edge of the outer wall of the upper-end disk receiving pole is a quarter of the outer-wall arc surface which is protruded outward; a radial stator is arranged in an upper-section groove of the flywheel rotor; the lower section of the flywheel rotor is a flywheel rotor lower torus; a lower-sectioncylindrical groove is formed between the flywheel rotor lower torus and the flywheel rotor main cylinder; and an external rotor motor is arranged in the lower-section cylindrical groove. The vehicleflywheel battery has the beneficial effect that the gyrostatic effect in the radial direction is suppressed.

Disclosed by the present invention is a vehicle-mounted flywheel battery using a five-degree-of-freedom hybrid magnetic bearing as a magnetic suspension support; the five-degree-of-freedom hybrid magnetic bearing is arranged at the exact middle of an inner portion of a sealed vacuum chamber; a magnetic bearing rotor is coaxially and tightly sleeved outside of a rotating shaft of the magnetic bearing at the exact middle of the magnetic bearing; a tension disk is tightly sleeved outside of the exact center of the magnetic bearing rotor in the axial direction, and a flywheel is fixedly sleeved outside of the tension disk; a stator pole is wound with a radial control coil, and an axial stator is internally provided with an axial control coil; at the exact center outside of a top surface of an outer casing is a motor / generator, a rotating shaft of the motor extending from top to bottom into the outer casing and being coaxially and fixedly connected to an upper end of the rotating shaft of the magnetic bearing; by integrating the tension disk and the flywheel into one unit, the axial length of the flywheel battery is further shortened, and the gyroscopic effect is effectively suppressed; the five-degree-of-freedom hybrid magnetic bearing integrates two single-piece three-degree-of-freedom hybrid magnetic bearings together, and is distributed on two sides of the tension disk by using a manner of mirror-symmetry, having high control precision.

The invention discloses a construction method of a four-degree-of-freedom magnetic bearing controller for a flywheel battery used in an electric vehicle. A controller parameter optimization module is used to obtain an optimal controller gain matrix through a gray wolf optimization algorithm, and a load compensation controller and a state feedback controller are constructed. , combine the output current of the load compensation controller and the state feedback controller to form the first part of the input of the current limiting controller, and use the discretized current value at the current moment and the previous moment as the second part of the input of the current limiting controller , the state feedback controller, load compensation controller, controller parameter optimization module, and current limiting controller together constitute a four-degree-of-freedom magnetic bearing controller for the flywheel battery, which replaces four single-dimensional controllers and improves the working stability of the magnetic bearing. Improving the dynamic performance and anti-interference performance of the system can effectively increase the maximum current supplied to the magnetic bearing and shorten the adjustment time.

The invention discloses a vehicle-mounted flywheel battery suspension control system capable of suppressing gyroscopic effect and low energy consumption, including a low energy consumption control system and a gyroscopic effect suppressing control system; , after being adjusted by the PID controller and amplified by the power amplifier, the magnetic bearing rotor is controlled to achieve low-power operation. When the disturbance occurs, the feedforward controller changes the control amount according to the size of the disturbance to offset the influence of the disturbance. At the same time, the smith predictor estimates the dynamic effect caused by the disturbance entering the system, and feeds the estimated result back to the PID controller to make it change in advance to compensate for the disturbance; the gyroscopic effect control system is suppressed: the detection signal passes through the displacement sensing module Afterwards, it is sent to the PID controller for decoupling, the coupling term is eliminated, and converted into a current by the force / current conversion module. After the current is amplified, the magnetic bearing is controlled to run smoothly. When the PID controller cannot be adjusted, it is adjusted by the feedforward controller. or to remove disturbances.

The invention discloses a five-degree-of-freedom hybrid magnetic bearing for a vehicle-mounted flywheel battery. A cylindrical rotor is coaxially sleeved with an axial stator and radial stators. The radial stators comprise the upper radial stator and the lower radial stator, wherein the upper radial stator and the lower radial stator are coaxially arranged in the axial direction, a yoke part of the upper radial stator and a yoke part of the lower radial stator are connected integrally, and a radial stator pole cavity is formed by the upper yoke part and the lower yoke part. Three radial stator poles are evenly arranged at the upper end of the yoke part of the upper radial stator in the circumferential direction, three radial stator poles are evenly arranged at the lower end of the yoke part of the lower radial stator in the circumferential direction, and a radial control coil is wound on each radial stator pole. The surface of the inner end of each radial stator pole is an arc-shaped cylindrical surface which right faces the rotor. The middle portion of the rotor is coaxially sleeved with the axial stator. An axial control coil which is closely attached to the inner wall of the axial stator and arranged outside the rotor in a sleeving mode is arranged in a cavity of the axial stator. The middle portion of the rotor is closely sleeved with a tensile plate. An axial air gap is formed between the axial stator and the tensile plate, and the middle portion of the axial stator is coaxially and closely sleeved with an annular permanent magnet. By adoption of a five-degree-of-freedom integrated structure, the length of a shaft is decreased, and the gyroscopic effect of the rotor is effectively restrained.

The invention discloses a control method of a spherical electric vehicle use magnetic suspended flywheel battery. In the working processing of the spherical flywheel battery, a control mode that a magnetic field laminates differential is adopted, that is, a pair of upper stator poles and a pair of lower stator poles are provided with bias coils and control coils respectively, the bias coils of the two stator poles are in series connection, and through a constant current, a bias magnetic field for a magnetic spherical faced bearing to work is provided; the control coils on each pair of the stator poles are in series connection, magnetic fluxes generated by the control coil and the control current in the control coil are added up in the pair of stator poles, and the magnetic fluxes of the control coil and the control current generated in the control coil are subtracted in the other pair of stator poles, therefore an air gap flux between the pair of the stator poles and a spherical flywheel is increased, an air gap flux between the other pair of the stator poles and the spherical flywheel is reduced, according to a formula I, B is a magnetic induction intensity, S is a stator spherical face area of the spherical faced bearing, mu0 is an air permeability, electromagnetic force bore at one side is increased, and electromagnetic force bore at the other side is reduced, therefore the position of the spherical faced flywheel is adjusted to be always at a balanced position.

The invention discloses a vehicle flywheel battery suspension control system for suppressing gyro effect and with low energy consumption. The vehicle flywheel battery suspension control system comprises a low-energy consumption control system and a gyroscopic effect suppression control system. In the low-energy consumption control system, a current sensor reads a control current as input of a PIDcontroller, the control current is regulated by the PID controller and amplified by a power amplifier to control a magnetic bearing rotor to achieve low power operation, when disturbance occurs, a feedforward controller changes the control amount according to the disturbance to offset the influence of the disturbance, a smith predictor estimates the dynamic effect caused by the disturbance entering the system, and the estimation result is fed back to the PID controller to allow the PID controller to change for compensation in advance for the disturbance. In the gyroscopic effect suppression control system, detection signals are subjected to a displacement sensing module, is sent to the PID controller for decoupling to eliminate coupling items and are converted to a current through a force / current conversion module, the current is amplified to control the smooth operation of the magnetic bearing, and when the PID controller cannot perform regulation, the feedforward controller performsregulation to weaken the disturbance or eliminate the disturbance.

The invention discloses an AC / DC five-degree-of-freedom cone spherical surface mixed magnetic bearing for a vehicle-mounted flywheel battery. A rotor is coaxially sleeved with a radial stator and an axial stator. The center part of the rotor is a thick cylinder. The upper and lower ends of the thick cylinder are each in smooth connection with a thin cylindrical through a circular truncated cone body. The sidewalls of the upper and lower circular truncated cone bodies are convex cone spherical surfaces. The radial stator is composed of an upper radial stator body and a lower radial stator body which are arranged in longitudinal symmetry in the axial direction. Three radial stator poles are uniformly arranged on the circumference of the yoke part of each of the upper radial stator body and the lower radial stator body. A radial control coil is wound around each radial stator pole. The surface of a pole shoe of each radial stator pole is a convex cone spherical surface facing the corresponding convex cone spherical surface, and a radial air gap is reserved between each convex cone spherical surface and the corresponding convex cone spherical surface. The axial stator is composed of an upper axial stator body and a lower axial stator body which are arranged in longitudinal symmetry. Compression ring type permanent magnets are tightly overlapped between the upper axial stator body and the lower axial stator body. The stators and the rotor are each of a cone spherical surface structure. Air gap magnetic fields are distributed more evenly. Multi-dimensional motion is facilitated. The gyroscopic effect can be effectively inhibited.