Natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor

Abstract

The application relates to a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor, which comprises a stator assembly and a rotor assembly, wherein the stator assembly comprises a stator support, a core, an inner winding and an outer winding; the stator support is annular; a plurality of cores are distributed on the stator support; the inner winding and the outer winding are respectively wound on the inner and outer ends of the core in the radial direction; the inner winding and the outer winding on each core are connected in parallel; the rotor assembly comprises a rotating seat, an inner magnet and an outer magnet; the rotating seat is rotationally arranged; the rotating seat comprises an inner support part and an outer support part; a plurality of inner magnets are alternately arranged on the inner support part according to N poles and S poles; the inner magnet and the inner side of the stator assembly form an inner air gap with uniform width in the circumferential direction; a plurality of outer magnets are alternately arranged on the outer support part according to N poles and S poles; the outer magnet and the stator assembly form an outer air gap with uniform width in the circumferential direction; the electric potential between the inner magnet and the inner winding is the same as the electric potential between the outer magnet and the outer winding, thereby realizing the ability of radial active natural magnetic suspension.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric machines, and more particularly to a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor. BACKGROUND

[0002] The attitude control system is an extremely important subsystem of a spacecraft, and the performance of the control system will directly determine the success or failure of the entire spacecraft. With the development of space technology in China, large spacecraft such as space stations are required to have more and more functions, and at the same time, higher and higher requirements are put forward for the pointing accuracy and attitude stability of large spacecraft. Therefore, it is an urgent need to develop a large spacecraft attitude adjustment mechanism with high performance and high stability.

[0003] With the improvement of space mission requirements, the spacecraft attitude control not only requires large torque output, but also requires wide control bandwidth, high torque accuracy and torque resolution. Ideal spacecraft attitude control should use magnetic suspension technology to achieve high-precision, high-torque resolution attitude control without friction and dead zone.

[0004] However, the traditional magnetic suspension technology has a large volume, and the mass of the magnetic suspension bearing is also large. Moreover, the control circuit of the magnetic suspension bearing is complex, and the reliability is not ideal, which makes it difficult to be used in space systems. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor to solve the above-mentioned defects of the prior art.

[0006] The technical scheme adopted by the present application to solve the technical problem is: a natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor is constructed, comprising:

[0007] A stator assembly comprising a stator support, a core, an inner winding and an outer winding, the stator support is annular, a plurality of cores are distributed on the stator support in a circumferential direction, each core is symmetric about the center axis of the stator support, the inner winding and the outer winding are respectively wound on the inner and outer ends of the core in the radial direction, and the inner winding and the outer winding on each core are connected in parallel;

[0008] A rotor assembly comprising a rotating seat, an inner magnet and an outer magnet, the rotating seat is rotatably arranged, and the rotating axis is coaxial with the stator support, the rotating seat comprises an inner support portion located on the inner side of the inner winding and an outer support portion located on the outer side of the outer winding;

[0009] The inner support part is provided with a plurality of inner magnets which are distributed in a circumferential central symmetry, and the polarity of each inner magnet is arranged in an N pole and S pole alternation along the arrangement direction, the inner magnets are opposite to and spaced from the inner side of the stator assembly, and an inner air gap with uniform width is formed in the circumferential direction.

[0010] The outer support part is provided with a plurality of outer magnets which are distributed in a circumferential central symmetry, and the polarity of each outer magnet is arranged in an N pole and S pole alternation along the arrangement direction, the outer magnets are opposite to and spaced from the outer side of the stator assembly, and an outer air gap with uniform width is formed in the circumferential direction.

[0011] The electric potential between the inner magnets and the inner windings is the same as the electric potential between the outer magnets and the outer windings.

[0012] In some embodiments, the inner windings and outer windings of the inner and outer ends of each iron core are wound in the same way, each inner winding is distributed in a central symmetry along the stator support, and each outer winding is distributed in a central symmetry along the stator support.

[0013] In some embodiments, the outer side of the inner support part is provided with a plurality of inner magnets which are distributed in a circumferential central symmetry, and the inner side of the outer support part is provided with a plurality of outer magnets which are distributed in a circumferential central symmetry.

[0014] In some embodiments, the number of inner magnets and outer magnets is the same, and the polarity of the inner magnets and outer magnets at the same angular position is opposite, and the width of the inner air gap and outer air gap is the same.

[0015] In some embodiments, each inner magnet is arranged in a closed ring in the circumferential direction, each outer magnet is arranged in a closed ring in the circumferential direction, and the number of iron cores is greater than the number of inner magnets and the number of outer magnets.

[0016] In some embodiments, the width of the iron core in the axial direction is the same as the width of the inner magnet and the outer magnet in the axial direction, and the iron core, the inner magnet and the outer magnet are aligned in the axial direction.

[0017] In some embodiments, the flywheel motor further comprises a drive controller, which is located on the outer ring or the inner ring of the stator support, so as to detect the rotation speed and current of the motor in real time by detecting the rotation of the rotor assembly.

[0018] In some embodiments, the flywheel motor further comprises a support shaft for the rotation of the rotor assembly, and an auxiliary bearing and an elastic washer are arranged between the rotating seat and the support shaft, the auxiliary bearing is sleeved outside the support shaft, and the elastic washer is sleeved outside the auxiliary bearing and cooperates with the rotating seat.

[0019] In some embodiments, the rotor assembly further comprises an annular flywheel disposed on the rotating base and concentric with the rotating base.

[0020] In some embodiments, the flywheel motor further comprises a housing, the stator assembly and the rotor assembly are located in the housing, and the inside of the housing is sealed from the outside.

[0021] The natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor of the present application has the following beneficial effects: the inner winding and the outer winding are connected in parallel, if there is a deviation in the inner and outer air gaps, if the rotor assembly rotates, a counter electromotive force will be generated in the inner winding and the outer winding, the counter electromotive force of the side with a smaller air gap is larger, the current will be smaller, and the attraction between the stator and the rotor will be smaller; the counter electromotive force of the side with a larger air gap is smaller, the current will be larger, and the attraction between the stator and the rotor will be larger; in this way, the deviation of the inner and outer air gaps is reduced, and eventually the air gap deviation is minimized, so that unstable radial attraction can be overcome, and the ability of radial active natural magnetic suspension can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0023] Figure 1 is a cross-sectional structure schematic diagram of the natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor in the embodiments of the present application;

[0024] Figure 2 is a position structure schematic diagram of the inner winding and the outer winding of the stator assembly arranged on the stator base;

[0025] Figure 3 is a winding schematic diagram of the inner winding and the outer winding;

[0026] Figure 4 is a position structure schematic diagram between the inner winding and the outer winding of the stator assembly and the inner magnet and the outer magnet of the rotor assembly. DETAILED DESCRIPTION

[0027] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings.

[0028] As Figures 1 to 4As shown, the natural electromagnetic magnetic suspension radial magnetic circuit attitude control flywheel motor in one preferred embodiment of the application comprises a stator assembly 1, a rotor assembly 2, and a shell 3, the stator assembly 1 and the rotor assembly 2 are located in the shell 3, the inside of the shell 3 can be sealed from the outside, so that the flywheel motor can work in a vacuum environment, of course, the flywheel motor can also work in a non-vacuum environment, the inside of the shell 3 can be vacuum or non-vacuum. A vertical support shaft 31 is arranged in the shell 3, the rotor assembly 2 is rotatably connected with the support shaft 31, so that the rotor assembly 2 can rotate relative to the stator assembly 1. In this embodiment, the rotor assembly 2 and the stator assembly 1 are rotatably connected with different height positions of the support shaft 31.

[0029] The stator assembly 1 comprises a stator support 11, a core 12, an inner winding 13, and an outer winding 14, the stator support 11 is annular and horizontally arranged in the shell 3, a plurality of cores 12 are distributed on the stator support 11 in a circumferential direction, each core 12 is symmetric to the center axis of the stator support 11, the inner winding 13 and the outer winding 14 are arranged on the inner and outer ends of the core 12 in a radial direction, and the inner winding 13 and the outer winding 14 on each core 12 are connected in parallel.

[0030] The rotor assembly 2 comprises a rotating seat 21, an inner magnet 22, and an outer magnet 23, the rotating seat 21 is rotatably arranged on the support shaft 31, and the rotating axis is coaxial with the stator support 11, the rotating seat 21 comprises an inner support part 211 located on the inner side of the inner winding 13 and an outer support part 212 located on the outer side of the outer winding 14.

[0031] A plurality of inner magnets 22 are symmetrically distributed on the inner support part 211 in a circumferential direction, and the polarity of each inner magnet 22 is alternately arranged as N pole and S pole along the arrangement direction, the inner magnet 22 is opposite to the inner side of the stator assembly 1 and is arranged at intervals, and an inner air gap with uniform width is formed in the circumferential direction.

[0032] A plurality of outer magnets 23 are symmetrically distributed on the outer support part 212 in a circumferential direction, and the polarity of each outer magnet 23 is alternately arranged as N pole and S pole along the arrangement direction, the outer magnet 23 is opposite to the outer side of the stator assembly 1 and is arranged at intervals, and an outer air gap with uniform width is formed in the circumferential direction.

[0033] The rotor assembly 2 further comprises an annular flywheel 24, the flywheel 24 is arranged on the rotating seat 21 and is concentric with the rotating seat 21 and rotates with the rotating seat 21. Further, the materials of the shell 3, the stator support 11, and the flywheel 24 of the motor can be metal or non-metal composite materials.

[0034] The electric potential between the inner magnet 22 and the inner winding 13 is the same as the electric potential between the outer magnet 23 and the outer winding 14, the inner winding 13 and the outer winding 14 are connected in parallel, if there is a deviation in the inner and outer air gaps, if the rotor assembly 2 rotates, a counter electromotive force will be generated in the inner winding 13 and the outer winding 14, the counter electromotive force of the side with smaller air gap is larger, the current will be smaller, the attraction between the stator and the rotor will be smaller; the counter electromotive force of the side with larger air gap is smaller, the current will be larger, the attraction between the stator and the rotor will be larger; in this way, the deviation of the inner and outer air gaps becomes smaller, and eventually returns to the minimum air gap deviation, so as to overcome the unstable radial attraction and realize the ability of active natural magnetic radial suspension.

[0035] Further, in the present embodiment, the outer ring of the stator support 11 is provided with an annular stator seat 111 protruding in the axial direction, the iron core 12 is embedded on the stator seat 111 and exposed on the inner and outer sides of the stator seat 111 respectively, and the inner and outer ends of the iron core 12 are wound with coils respectively. In other embodiments, the inner and outer sides of the stator seat 111 can also form accommodation grooves for winding the coils. Preferably, the inner and outer windings 13 and 14 of each iron core 12 are wound in the same way, including winding thickness and winding method, so as to generate balanced attraction between the stator assembly 1 and the rotor assembly 2, and facilitate overcoming the unstable axial attraction.

[0036] The outer side of the inner support part 211 is centrally and circumferentially symmetrically distributed with a plurality of inner magnets 22, and the inner side of the outer support part 212 is centrally and circumferentially symmetrically distributed with a plurality of outer magnets 23, and the inner magnets 22 and the outer magnets 23 are alternately arranged in N-pole and S-pole. The material of the rotating seat 21 can be: a metal magnetic conductive material, so as to serve as a back iron of the upper magnet and the lower magnet, and become part of the magnetic circuit.

[0037] In combination Figures 2 to 4 As shown in the figure, in the present embodiment, the electrical interface of the flywheel motor is located at the bottom of the side wall of the housing 3, and the inner winding 13 and the outer winding 14 of the flywheel motor can be led out by the control cable through the electrical interface. The number of poles of the inner magnet 22 and the outer magnet 23 of the flywheel motor is 2P=10, and the number of poles of the stator, i.e. the number of virtual slots of the stator Z=12, and the number of poles per phase Z / m=12 / 3=4, which is an even number.

[0038] Preferably, the number of inner magnets 22 and outer magnets 23 is the same, and the polarity of the inner magnet 22 and the outer magnet 23 at the same angle position is opposite, and the width of the inner air gap and the outer air gap is the same, so as to balance the magnetic force on the inner and outer sides.

[0039] The outer magnet 23 located at the inner side wall of the outer support part 212 and the inner magnet 22 located at the outer side wall of the inner support part 211 each have 2P=10 permanent magnetic poles, which are evenly distributed along the inner and outer circumferential side walls and have opposite N and S polarities. The pole faces of the magnetic poles of the inner magnet 22 and the outer magnet 23 of the double-rotor slotless permanent magnet motor of the radial magnetic circuit are aligned in the inner and outer directions and have opposite N and S polarities. The magnetic circuit of the double-rotor slotless permanent magnet motor of the radial magnetic circuit forms a closed magnetic loop through the core 12 and the winding thickness, the inner and outer air gaps, the inner magnet 22 and the outer magnet 23, and the rotor support, and the stator magnetic field and the rotor magnetic field interact to generate torque and natural electromagnetic magnetic suspension.

[0040] Each inner magnet 22 is arranged in a closed ring in the circumferential direction, each outer magnet 23 is arranged in a closed ring in the circumferential direction, and the number of cores 12 is greater than the number of inner magnets 22 and the number of outer magnets 23. In some embodiments, the core 12 is formed by winding silicon steel sheets, and the material can be one of thin silicon steel sheets, microcrystalline silicon, and SMC composite soft magnetic materials. In addition, the materials of the inner magnet 22 and the outer magnet 23 can be sintered neodymium iron boron, bonded neodymium iron boron material, or other high magnetic energy product permanent magnets.

[0041] The width of the core 12 in the axial direction is the same as the width of the inner magnet 22 and the outer magnet 23 in the axial direction, and the core 12, the inner magnet 22, and the outer magnet 23 are aligned in the axial direction. Therefore, there is an axial attractive force between the stator and the rotor, which constitutes an axial passive magnetic suspension capability capable of axial positioning; there is also a radial attractive force between the stator and the rotor, which is equal in size and opposite in direction when the inner and outer air gaps are equal, and which will attract the rotor to the side with the smaller inner or outer air gap when the inner and outer air gaps are not equal. The present application overcomes the unstable radial attractive force.

[0042] Specifically, in the present embodiment, the Z=12 pole windings of the stator are evenly distributed along the inner and outer circumferential side walls of the stator support 11, the outer support part 212 is arranged with the outer winding 14, and the inner support part 211 is arranged with the inner winding 13. The flywheel motor of the present application is a double-rotor radial magnetic circuit motor, which is a slotless motor with fractional slot concentrated winding. In the present embodiment: 2P=10 poles, Z=12 virtual slots, and the cogging torque is zero, with high efficiency, power density, and reliability. The core 12 is the simplest punching sheet with teeth and slots; in order to adapt to different working speeds, other tooth numbers and virtual slot combinations can be used, such as: 2P=14 poles, Z=12 slots, 2P=4 poles, Z=6 slots, 2P=16 poles, Z=18 slots, etc.

[0043] Specifically, in the embodiment, the stator Z = 12 pole winding is arranged on the outer circular side wall of the core 12, the outer winding 14 is arranged on the outer end of the core 12, and the inner winding 13 is arranged on the inner end of the core 12; Z = 12 outer winding 14 elements on the outer circular side wall of the stator base 111, each element can be wound into an arc ring-shaped winding element by using self-adhesive enameled wire, each element has two ports at the head and tail, the winding and manufacturing process of each element are completely the same, and the 12 outer winding 14 elements are arranged in sequence and distributed uniformly along the outer circular side wall, wherein the head and tail port lead-out wires of the odd-numbered elements: 1, 3, 5, 7, 9, and 11 are consistent, and the head and tail port lead-out wires of the even-numbered elements: 2, 4, 6, 8, 10, and 12 are turned by 180° relative to the head and tail port lead-out wires of the odd-numbered elements, and three-phase windings are further constructed by connecting the element ports. The number of poles per phase Z / m = 12 / 3 = 4 is even, the U-phase winding has four element windings 1, 2, 7, and 8, the V-phase winding has four element windings 3, 4, 9, and 10, and the W-phase winding has four element windings 5, 6, 11, and 12, and the winding methods of all the windings are the same, the head of the U-phase winding is connected in parallel to become a U-phase port, the tail is connected in parallel to become a U-phase midpoint O, in this way, the U-phase winding forms two pairs of 180° symmetrical windings 1 and 7 and 2 and 8, and the mechanical and electromagnetic structures are 180° symmetrical, when the motor rotates and the radial air gaps are uniform and equal, the counter electromotive forces in each pair of 180° symmetrical windings must be equal.

[0044] Similarly, the head of the V-phase winding is connected in parallel to become a V-phase port, and the tail is connected in parallel to become a V-phase midpoint O; similarly, the head of the W-phase winding is connected in parallel to become a W-phase port, and the tail is connected in parallel to become a W-phase midpoint O, in this way, a special outer winding 14 UVW three-phase winding is formed, which has six pairs of 180° symmetrical windings; when the motor rotates and the radial air gaps are not equal and exist radial deviation, the magnet will be attracted to the side with small air gap, the counter electromotive force of the pole winding on the side with small air gap becomes large, the current becomes small, and conversely, the counter electromotive force of the winding on the side with large air gap becomes small, the three-phase current becomes large, then the radial pulling force on the side with large air gap becomes large, the radial pulling force on the side with small air gap becomes small, which inevitably leads to the change of the radial air gap in the direction of the small deviation, and makes the air gap deviation stable, so after the motor rotates, the Z = 12 winding elements on the outer circular side wall of the stator base 111 of the present application can generate and have the radial natural magnetic suspension ability, and each conductor of the motor will naturally and actively generate the ability to restore the center to make the radial deviation small when the rotor exists radial deviation.

[0045] Similarly, the Z=12 inner winding 13 elements on the inner circular side wall of the stator base 111 can be wound into arc ring-shaped winding elements using self-adhesive enameled wire, each inner winding 13 element has two head and tail ports, the winding and manufacturing process of each inner winding 13 element are completely the same, and the 12 inner winding 13 elements are arranged in sequence along the outer circular side wall, wherein the head and tail port lead wires of the odd-numbered elements: 1, 3, 5, 7, 9, and 11 inner winding 13 elements are consistent, and the head and tail port lead wires of the even-numbered elements: 2, 4, 6, 8, 10, and 12 elements are turned 180° relative to the head and tail port lead wires of the odd-numbered elements, and further through the connection of the element ports, a three-phase winding is constructed. The number of poles per phase Z / m=12 / 3=4 is even, the U-phase winding has four inner winding 13 elements: 1, 2, 7, and 8, the V-phase winding has four element windings: 3, 4, 9, and 10, and the W-phase winding has four element windings: 5, 6, 11, and 12, and the winding methods of all inner winding 13 elements are the same, the head ends of the U-phase winding are connected in parallel to form a U-phase port, the tail ends are connected in parallel to form a U-phase midpoint O, in this way, the U-phase winding forms two pairs of 180° symmetrically distributed windings: 1 and 7, and 2 and 8, and the mechanical and electromagnetic structures are 180° symmetrically distributed, when the motor rotates and the radial air gaps are uniform and equal, the counter electromotive forces in each pair of 180° symmetrically distributed windings are necessarily equal.

[0046] Similarly, the head ends of the V-phase winding are connected in parallel to form a V-phase port, and the tail ends are connected in parallel to form a V-phase midpoint O; similarly, the head ends of the W-phase winding are connected in parallel to form a W-phase port, and the tail ends are connected in parallel to form a W-phase midpoint O, in this way, a special inner winding 13 UVW three-phase winding is formed, which has six pairs of 180° symmetrically distributed windings; when the motor rotates and the radial air gaps are not equal and exist radial deviation, the magnet will be attracted to the side with smaller air gap, the counter electromotive force of the pole winding on the side with smaller air gap will become larger, and the current will become smaller, on the contrary, the counter electromotive force of the winding on the side with larger air gap will become smaller, and the three-phase current will become larger, thus the radial pulling force on the side with larger air gap becomes larger, and the radial pulling force on the side with smaller air gap becomes smaller, which inevitably leads to the change of the radial air gap in the direction of smaller deviation, and makes the air gap deviation stable, so after the motor rotates, the Z=12 winding elements on the inner circular side wall of the stator base 111 of the present application can also generate and have radial natural magnetic suspension capability, and each conductor of the motor will naturally and actively generate the ability to restore to the center to make the radial deviation smaller when the rotor exists radial deviation.

[0047] The present application connects two special three-phase windings of the inner winding 13 and the outer winding 14 on the inner and outer walls of the stator seat 111 in parallel, and 12 pairs of the inner winding 13 and the outer winding 14 are connected in parallel on the inner and outer ends of the iron core 12. At this time, if the inner air gap and the outer air gap are not equal and exist deviation, if the magnet rotates, the counter electromotive force is generated in the inner winding 13 and the outer winding 14, the counter electromotive force of the smaller air gap is larger, the current is smaller, the attraction between the stator assembly 1 and the rotor assembly 2 is smaller, the counter electromotive force of the larger air gap is smaller, the current is larger, the attraction between the stator assembly 1 and the rotor assembly 2 is larger, thus the inner and outer air gap deviation is smaller, and finally the air gap deviation is the smallest, the radial active natural magnetic suspension capacity of the present application is strengthened, and a larger radial natural electromagnetic magnetic suspension force can be obtained.

[0048] The flywheel motor further comprises a driving controller 4 containing driving and control circuits, and only has three external connections, such as power supply +, power supply ground and USB, and has high reliability. The flywheel 24 can independently operate, or can be connected to an external system control system through the three-wire interface, and can read parameters such as voltage, current, rotor speed, flywheel 24 momentum and torque through the USB serial port interface for use by an upper control system.

[0049] In the embodiment, the driving controller 4 is located on the outer ring or the inner ring of the stator support 11 to detect the speed and current of the motor in real time by detecting the rotation of the rotor assembly 2. Specifically, the driving controller 4 can actively and in real time detect the speed and current of the motor, and can estimate the change of momentum through the speed, can estimate the torque of the motor through the speed and current, and can estimate the power change, torque change and vibration performance change of the flywheel motor through the instantaneous change of the speed and current. Since the flywheel 24 rotates in a vacuum and a frictionless environment, the control precision is very high. The present application does not need any additional sensors and controllers, and naturally contains radial active natural magnetic suspension technology, axial active natural magnetic suspension technology and radial passive magnetic suspension technology, so as to ensure that the flywheel motor can be reliably suspended, and the present application has excellent motor synchronous driving and torque control functions.

[0050] When the natural magnetic suspension flywheel motor is surrounded by an external vacuum cavity, the vacuum cavity is located outside the flywheel motor, and the vacuum cavity seals the flywheel motor therein. The rotor assembly 2 uses controllable momentum change to achieve the purpose of attitude control. In order to limit the air gap deviation between the stator assembly 1 and the rotor assembly 2 from being too large and improve the reliability design, an auxiliary bearing 311 and an elastic washer 312 are arranged between the rotating seat 21 and the support shaft 31, the auxiliary bearing 311 is sleeved outside the support shaft 31, the elastic washer 312 is sleeved outside the auxiliary bearing 311, and the elastic washer 312 cooperates with the rotating seat 21.

[0051] Preferably, the flywheel motor uses a pair of auxiliary bearings 311 with a bearing gap of 0.1-0.5 mm, and the outer ring of the auxiliary bearing 311 can be provided with an elastic washer 312; the size of the auxiliary bearing 311 can be smaller than that of a conventional bearing, so as to reduce bearing friction; the elastic washer 312 of the outer ring of the auxiliary bearing 311 can provide mechanical buffering, reduce motor vibration and noise, and naturally keep the shaft center of the motor output shaft stable under the action of natural electromagnetic magnetic suspension restoring force; at this time, although there is an auxiliary bearing 311, the natural electromagnetic magnetic suspension can still make the motor rotor rotate with energy loss tending to be minimum, at which time the vibration and noise are minimum, just like the earth and the sun naturally rotating in space.

[0052] When the motor rotor is not rotating, the back electromotive force is zero, and the motor does not have static electromagnetic magnetic suspension capability, only having passive radial magnetic suspension capability, at which time the auxiliary bearing 311 can be used to assist radial support; since the motor speed is zero, the auxiliary bearing 311 is subjected to very small force, and once started, the radial electromagnetic magnetic suspension of the motor immediately comes into effect, so that the motor of the application has dynamic radial natural electromagnetic magnetic suspension and axial dynamic natural electromagnetic magnetic suspension and passive radial magnetic suspension functions.

[0053] The application provides a natural magnetic suspension radial magnetic circuit attitude control flywheel 24 technology, which realizes lossless electromagnetic support of the flywheel 24 by using natural electromagnetic magnetic suspension, and simultaneously generates effective radial electromagnetic magnetic suspension and axial passive magnetic suspension by using the current in the motor stator winding when the flywheel motor rotates.

[0054] The application does not need any additional sensors and controllers, and naturally contains multi-level radial active natural electromagnetic magnetic suspension technology and axial passive natural magnetic suspension technology, which ensures reliable suspension of the flywheel motor, and the application has excellent motor synchronous driving and torque control functions. The application adopts a radial magnetic circuit toothless motor, has the characteristic that the positioning torque is zero, and cooperates with the magnetic suspension technology, so as to truly realize high-precision and high-torque resolution attitude control without friction and dead zone.

[0055] The application has the advantages of advancement, simplicity and reliability, which are principle-based, i.e., naturally possessed.

[0056] It can be understood that the above technical features can be used in any combination without limitation.

[0057] The above description is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation according to the content of the specification and the drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.

Claims

1. An electromagnetic levitation radial magnetic circuit attitude control flywheel motor, characterized in that, include: The stator assembly (1) includes a stator support (11), an iron core (12), an inner winding (13), and an outer winding (14). The stator support (11) is annular, and a plurality of iron cores (12) are distributed circumferentially on the stator support (11). Each iron core (12) is symmetrical about the axis of the stator support (11). The inner winding (13) and the outer winding (14) are respectively wound around the inner and outer ends of the iron core (12) in the radial direction. The inner winding (13) and the outer winding (14) on each iron core (12) are connected in parallel. The rotor assembly (2) includes a rotating seat (21), an inner magnet (22), and an outer magnet (23). The rotating seat (21) is rotatably disposed and its rotation axis is coaxial with the stator support (11). The rotating seat (21) includes an inner support part (211) located inside the inner winding (13) and an outer support part (212) located outside the outer winding (14). A plurality of inner magnets (22) are symmetrically distributed along the circumferential center on the outer side of the inner support part (211), and the polarity of each inner magnet (22) is arranged alternately with N pole and S pole along the arrangement direction. The inner magnets (22) are opposite to the inner side of the stator assembly (1) and are spaced apart, forming a uniformly wide inner air gap in the circumferential direction. The outer support (212) has a plurality of external magnets (23) symmetrically distributed along the circumferential center on the inner side, and the polarity of each external magnet (23) is arranged alternately with N pole and S pole along the arrangement direction. The external magnets (23) are opposite to the outer side of the stator assembly (1) and are spaced apart, forming a uniformly wide external air gap in the circumferential direction. The potential between the inner magnet (22) and the inner winding (13) is the same as the potential between the outer magnet (23) and the outer winding (14); The inner winding (13) and outer winding (14) on both sides of each iron core (12) are wound in the same way. Each inner winding (13) is symmetrically distributed along the center of the stator support (11), and each outer winding (14) is symmetrically distributed along the center of the stator support (11). The number of inner magnets (22) and outer magnets (23) is the same, and the polarities of the inner magnets (22) and outer magnets (23) at the same angular position are opposite. The widths of the inner air gap and the outer air gap are the same.

2. The electromagnetic levitation radial magnetic circuit attitude control flywheel motor according to claim 1, characterized in that, Each of the inner magnets (22) is arranged in a closed ring along the circumference, and each of the outer magnets (23) is arranged in a closed ring along the circumference. The number of iron cores (12) is greater than the number of inner magnets (22) and the number of outer magnets (23).

3. The electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor according to any one of claims 1 to 2, characterized in that, The axial width of the iron core (12) is the same as the axial width of the inner magnet (22) and the outer magnet (23), and the iron core (12), the inner magnet (22), and the outer magnet (23) are aligned in the axial direction.

4. The electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor according to any one of claims 1 to 2, characterized in that, The flywheel motor also includes a drive controller (4), which is located on the outer or inner ring of the stator support (11) to detect the speed and current of the flywheel motor in real time by detecting the rotation of the rotor assembly (2).

5. The electromagnetic levitation radial magnetic circuit attitude control flywheel motor according to any one of claims 1 to 2, characterized in that, The flywheel motor also includes a support shaft (31) for the rotor assembly (2) to rotate. An auxiliary bearing (311) and an elastic washer (312) are provided between the rotating seat (21) and the support shaft (31). The auxiliary bearing (311) is sleeved on the support shaft (31), and the elastic washer (312) is sleeved on the auxiliary bearing (311) and cooperates with the rotating seat (21).

6. The electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor according to any one of claims 1 to 2, characterized in that, The rotor assembly (2) also includes an annular flywheel (24), which is disposed on the rotating seat (21) and is concentric with the rotating seat (21).

7. The electromagnetic magnetic levitation radial magnetic circuit attitude control flywheel motor according to any one of claims 1 to 2, characterized in that, The flywheel motor also includes a housing (3), the stator assembly (1) and the rotor assembly (2) are located inside the housing (3), and the inside of the housing (3) is isolated and sealed from the outside.

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