Hill Yard
Hill Yard
Hill Yard
Overview
Magnetic Bearings
Introduction
Magnetism Review
Active Magnetic Bearings
Passive Magnetic Bearings
Industry Applications
Introduction
Magnetic Bearing Types
south pole
north pole
H
∫ H ds = i
i
i
H= (for one
2πr current loop)
Magnetism
Magnetic Flux Density
multiple loops
B = µH of wire, n
B = magnetic flux density ni
µ = magnetic permeability H=
H = magnetic field
2πr
µ = µ0 µ r
µ 0 = permeability of free space
µ r = relative permeability
diamagnetic µ <1
paramagnetic µ >1
ferromagnetic µ >> 1
Magnetism
B-H Diagram
Remanence, Br
magnetic saturation
B
B = µH
Coercivity, Hc
H
Electromagnet
Rotor
Sensor
Controller
Amplifier
Active Magnetic Bearings
Force Behavior
fm 1 fs
~ 2
xs
Force
Force
xs xs
Distance Distance
Active Magnetic Bearings
Force Linearization
fm 1 fs
~ 2
xs
mg mg
x0 xs x0 xs
Active Magnetic Bearings
Force Linearization
x0 xs
i = im − i0
ki = force-current factor
fm fm f = ki i
2
~ im
mg i
i0 im i0 im
Active Magnetic Bearings
Force Linearization
Linearized equation: im
f ( x, i ) = f m , s i + f m ,i
m = i0 x s = x0
x
f m,s i = ks x
m = i0
i = im − i0
f m ,i = ki i
x s = x0 x = − xs + x0
x
Controller signals?
- Input: position, x
- Output: current, i
Artifical damping and stiffness: k d
i = i(x) f = −( kx + dx ) x
Active Magnetic Bearings
Closed Control Loop
Controller Abilities:
1) k, d can be varied in controller
2) air gap can be varied in controller
3) specify position for different loads
4) rotor balancing, vibrations,
monitoring...
Active Magnetic Bearings
Bearing Geometry
Orientation:
magnet pole pairs are often lined up with the principle
coordinate axes x and y (vertical and horizontal)
control equations are simplified
Active Magnetic Bearings
Sensors
Position Sensor
contact-free
measure rotating surface + sensor
surface quality
homogeneity of surface
material
various values
Other Sensors
speed
current …other concerns:
flux density observability
temperature placement
… cost
Active Magnetic Bearings
Sensors
“Sensorless“ Bearing
- calculate position
- less equipment
- lower cost
Active Magnetic Bearings
Amplifier
Converts control signals to control currents.
di
voltage drops:u L = L and u R = Ri
dt
di
u = Ri + L + ku x
dt
f ( x, i ) = k s x + k i i
mx = f
Active Magnetic Bearings
Current vs. Voltage Control
Voltage Control:
- more accurate model
- better stability
- low stiffness easier to realize
- voltage amplifier often more convenient
- possible to avoid using position sensor
Current Control:
- simple control plant description
- simple PD or PID control
Flux Control:
- very uncommon
Active Magnetic Bearings
Addressing of Assumptions
Air Losses
- air friction divide shaft into sections
Copper Losses (Stator)
- wire resistance PCu = RCu i
2
2
PCu ,max = 2 RCu imax
An K n = Ad n
An K n
NI max = PCu ,max
2 ρlm
Α n = slot area
Kn = bulk factor
ρ = specific resistance
lm = average length of turn
limit of permissible mmf!
Active Magnetic Bearings
Rotor Dynamics
Areas of Consideration
natural vibrations
forward/backward whirl (natural vibrations)
critical speeds
nutation
precession (change in rotation axis)
Active Magnetic Bearings
Rotor Dynamics
Issues:
- material brittleness
- varying space requirements (B-H)
(equal H at 10 mm)
- operating temperatures
Passive Magnetic Bearings
Permanent Magnets
reluctance bearings:
increase in stiffness with
multiple rings - non-rotating magnets
caution: misalignment! - resistance to radial
displacement
Passive Magnetic Bearings
Permanent Magnets
High Potential
- economical
- reliable
- practical
Maglev in Shanghai
- complete in 2004
- airport to financial district (30 km)
- world‘s fastest maglev in commercial operation
(501 km/h)
- service speed of 430 km/h
Applications
Maglev Trains