JPH0340566B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a magnetic levitation device, and more specifically, to a magnetic levitation device that levitates a moving object such as a train using magnetic attraction.

Conventionally, there has been a device of this type as shown in FIG. That is, four electromagnets 3 are attached to the moving body 1 facing the lower and side surfaces of a guide rail 2 made of a magnetic material for the moving body 1, and a gap sensor 4 is attached to each electromagnet 3. There is. The gap sensor 4 detects the gap between the electromagnet 3 and the guide rail 2.
The movable body 1 is levitated by controlling the attractive force of the four electromagnets according to the detected value. Such control
As shown in the figure, a gap between the moving body 1 and the guide rail 2 is detected by a gap sensor 4 and a gap detection circuit 5, and a differential component of the gap signal is extracted by a phase compensation circuit 6. The power of this signal is amplified by a power amplifier 7, and the excitation current of the electromagnet 3 is controlled to keep the gap between the moving body 1 and the guide rail 2 at a constant value.

However, the conventional devices as described above are
Since a gap sensor, an electromagnet, and a control circuit are required to support not only the vertical direction but also the horizontal direction, the device becomes complicated and expensive.

This invention was made to eliminate the drawbacks of the conventional devices as described above, and by using both an electromagnet and a permanent magnet, it is possible to uncontrollably support a moving body in either the horizontal or vertical direction. The purpose of this invention is to provide a magnetic levitation device that can be made using the following methods.

Further, a remarkable embodiment of the present invention is an electromagnet consisting of a permanent magnet, a C-shaped iron core with a magnetic air gap in a part of the magnetic path, and a magnetic flux emitted from the N pole of the permanent magnet to the iron core of the electromagnet. A magnetic structure consisting of an electromagnet and a permanent magnet is fixed to the levitated moving object, and the moving object is moved using the ferromagnetic material as a fixed guide rail. An example of this is a magnetic levitation device that moves relative to this.

Hereinafter, embodiments of the present invention shown in the drawings will be described.

3 and 4 show a first embodiment of the present invention, in which two electromagnets 13 each having a C-shaped core are coupled to both sides of the lower surface of a moving body 11, and a guide rail made of a ferromagnetic material. 12 side edges 12a are interposed in the magnetic gap 130 of the electromagnet 13. 14 is a gap sensor. To explain about Figure 4, which shows the magnetic circuit configuration on one side of Figure 3, 1
Rectangular permanent magnets 18a and 18b are connected in parallel above and below the magnetic gap between the pair of electromagnets 13a and 13b, with the polarity directions being the same.

To explain the operation of the magnetic levitation device having the above configuration, in FIG. 4, the permanent magnets 18a,
The magnetic flux from the N pole of the electromagnet 18b passes through the iron core of the electromagnet 13a as shown by the dotted line, flows into the guide rail 12 from vertically above and below through the gap between the guide rail 12 and the electromagnet 13a, and then flows into the guide rail 12 from the vertically upper and lower sides through the gap between the electromagnet 13b. It passes through the iron core of the electromagnet 13b and reaches the S poles of the permanent magnets 18a and 18b.
In such a magnetic circuit, electromagnets 13a, 1
When the iron core 3b is displaced horizontally, this magnetic flux exerts a force on the electromagnet to return it to its original position, and as a result, the horizontal floating position of the mobile body 1 is secured without control. I can do it.

However, the attraction force due to the magnetic circuit is the electromagnet 13
Since it also acts perpendicularly to a and 13b,
In order to ensure the vertical floating position, the excitation currents of the electromagnets 13a and 13b are controlled according to the gap. That is, if we assume that among the upper and lower vertical gap between the guide rail 12 and the iron cores of the electromagnets 13a and 13b, the upper and lower gap is large and the lower gap is small, the gap imbalance is detected by a gap sensor. 14. Gap detection circuit 1
5, and as in the conventional case, the phase compensation circuit 16,
After passing through the power amplifier 17, the electromagnets 13a and 13b are excited so that the magnetic flux shown by the solid line is generated. Then, when this excited magnetic flux passes through the upper gap, it has the same direction as the magnetic flux caused by the permanent magnet 18a, and when it passes through the lower gap, it has the opposite direction to the magnetic flux caused by the permanent magnet 18b. As a result, the magnetic flux passing through the upper gap increases, and an attractive force that tends to reduce the upper gap acts on the electromagnets 13a and 13b, thereby ensuring the correct floating position of the moving body 11 in the vertical direction.

FIG. 5 shows a second embodiment, in which electromagnets 13c,
13d, a permanent magnet 18 is arranged between the electromagnets 13c and 13d perpendicular to the moving direction of the moving body 11, and a guide rail 12 made of ferromagnetic material is connected to the electromagnet 1.
It has a structure in which it is interposed in the magnetic gap between the C-shaped iron cores 3c and 13d. 14 is a gap sensor.

In this case, the magnetic flux emitted from the N pole of the permanent magnet 18 flows into the guide rail 12 through the upper and lower gaps formed by the electromagnet 13c and the guide rail 12, and then flows into the upper and lower gaps formed by the electromagnet 13d and the guide rail 12. Since the magnetic circuit reaches the south pole through the gap, the floating position of the moving body 11 in the horizontal direction is secured without control by this magnetic circuit. As for the floating position of the moving body in the vertical direction, the gap is detected by the gap sensor 14 and the electromagnets 13c and 13d are appropriately excited, which is the same as in the first embodiment.

FIG. 6 shows a third embodiment in which permanent magnets magnetized perpendicularly are arranged on the left and right sides of the moving body, and only the right side is shown in the figure. In the figure, moving body 1
Electromagnet 1 consisting of a C-shaped iron core vertically on one side of 1.
3e and 13f are magnetized in the vertical direction to form a permanent magnet 18.
The arm 1 of the guide rail 12 made of ferromagnetic material is placed in the gap of the C-shaped core facing inward.
2e and 12f are interposed therebetween. 14 is a gap sensor.

In this case, S is emitted from the N pole of the permanent magnet 18.
The magnetic flux returning to the pole flows as shown by the dotted line, and the floating position of the movable body 11 in the horizontal direction is secured without control by this magnetic flux. Furthermore, since the directions of magnetic flux passing through the upper and lower magnetic gaps of the arms 12e and 12f of the guide rail 12 are opposite to each other, the vertical floating position of the moving body 11 is determined based on the detection by the gap sensor 14. Electromagnet 13
e and 13f are appropriately excited and controlled to the correct position by the magnetic flux shown by the solid line.

FIG. 7 shows a fourth embodiment, in which permanent magnets 18c and 18d, whose polar directions are opposite to each other, are vertically coupled to the upper and lower ends of the electromagnet 13 using a U-shaped iron core, and further, L on the top end, bottom end of 18d
A magnetic structure formed by coupling the letter-shaped magnetic conductive members 19c and 19d is coupled and arranged on the left and right sides of the moving body 11, and the arms 12c and 12 of the guide rail 12 made of ferromagnetic material are formed.
d is interposed in the air gap of the magnetic structure, and has a configuration in which the electromagnets and permanent magnets in FIG. 6 are replaced.

With this configuration, the magnetic flux shown by the dotted line from the permanent magnets 18c and 18d correctly maintains the horizontal floating position of the moving body 11, and the vertical floating position of the moving body 11 is maintained by the magnetic flux shown by the solid line from the electromagnet 13.
In the magnetic gap on the lower side of the arm 12c and the magnetic gap on the upper side of the arm 12d, the magnetic flux by the permanent magnet shown by the dotted line is directed in the forward direction and in the opposite direction, respectively, and is controlled by exciting the electromagnet 13.

FIG. 8 shows a fifth embodiment for floating and supporting a ring-shaped rotating body used in an attitude control wheel for artificial hygiene, and includes a pair of electromagnets made of a C-shaped iron core and connected by a permanent magnet 18. 13 are equally arranged in four sets in the radial direction of a ring-shaped rotating body 20 made of a ferromagnetic material, and the rotating body 20 is interposed in a gap formed by a pair of opposing electromagnets 13. 1
4 is a gap sensor. Note that illustration of a mechanism that applies rotational torque to the rotating body 20 is omitted.

Even in such a configuration, the floating position of the rotating body 20 in the horizontal direction is ensured by the magnetic flux produced by the permanent magnet 18, and the floating position in the vertical direction is ensured by the controlled magnetic flux produced by the electromagnet 13.

Furthermore, in each of the first to fifth embodiments, on the magnetic pole surface where the electromagnet 13 and the guide rail 12 or the rotating body 20 face each other to form a magnetic gap,
By forming grooves 13g and 12g as shown in FIG. 9, the horizontal restoring force of the movable body can be increased.

In the above embodiments, an uncontrolled restoring force is applied to the horizontal levitation position of the moving body, and the magnetic flux of the electromagnet is controlled to the vertical levitation position, but this can be reversed. , the horizontal direction may be controlled by magnetic flux, and the vertical direction may be controlled by uncontrolled restoring force.

As described above, according to the present invention, since the movable body is configured to be restored in either the horizontal direction or the vertical direction without any control, there is an effect that the apparatus becomes simple and inexpensive.

[Brief explanation of drawings]

FIG. 1 is a partially cross-sectional front view of a conventional device, FIG. 2 is a wiring diagram of the control device, FIG. 3 is a partially cross-sectional front view of the first embodiment of the present invention, and FIG. FIG. 5 is a partially cross-sectional front view of the second embodiment, FIG. 6 is a partially cross-sectional front view of the third embodiment, and FIG. 7 is a partially cross-sectional front view of the fourth embodiment. In FIG. 8, a is a plan view of the fifth embodiment, b is a front sectional view, and FIG. 9 is a sectional view of a main part of another embodiment. 11... Moving object, 12... Guide rail, 13
...Electromagnet, 14...Gap sensor, 18...
Permanent magnet, 20...rotating body, 130...magnetic gap. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. C at both N and S poles of at least one permanent magnet.
A magnetic structure having a letter-shaped electromagnetic core fixed thereto, and a ferromagnetic body intervening between the two electromagnetic cores having N and S poles to form a magnetic space, the ferromagnetic body and the magnetic structure means that one is fixed and the other is integrated with a moving body relative to the one, and the floating position of the moving body in the horizontal (vertical) direction is kept constant by the magnetic flux of the permanent magnet passing through the magnetic air. 1. A magnetic levitation device comprising: control means for holding the movable body at a vertical (horizontal) direction and controlling a vertical (horizontal) levitation position of the movable body by controlling magnetic flux from the electromagnet. 2. The magnetic levitation device according to claim 1, wherein the ferromagnetic material is a fixed guide rail, and the magnetic structure is attached to a movable body that moves relative to the guide rail. 3. The magnetic levitation device according to claim 1, wherein the ferromagnetic material is a ring-shaped rotating body, and a plurality of pairs of magnetic structures are fixedly arranged in a radial direction from the center of the rotating body.