Magnetic Bearings: Proceedings of the First International Symposium, ETH Zurich, Switzerland, June 6–8, 1988 PDF
Preview Magnetic Bearings: Proceedings of the First International Symposium, ETH Zurich, Switzerland, June 6–8, 1988
G. Schweitzer (Editor) Magnetic Bearings Proceedings of the First International Symposium ETH Zurich, Switzerland, June 6-8, 1988 Springer-Verlag Berlin Heidelberg New York London Paris Tokyo Prof. Dr. G. Schweitzer Institute of Mechanics ETHZurich CH-8092 Zurich Switzerland ISBN 978-3-642-51726-6 ISBN 978-3-642-51724-2 (eBook) DOI 10.1007/978-3-642-51724-2 Library of Congress Cataloging-in-Publication Data Magnetic bearings: proceedings of the first international symposium. ETH Zurich, Switzerland, June 6-8, 1988 / G. Schweitzer, editor. I. Magnetic bearings--Congresses. I. Schweitzer, G. (Gerhard), II. Eidgeniissische Technische Hochschule Zurich. TJI073.7.M34 1988 621.8'22--dc 19 88-39971 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broad casting, reproduction on microfilms orin otherways,and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provision of the German Copyright Law of September9, 1965,in its version ofJune 24, 1985,and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law. © Springer-Verlag Berlin Heidelberg 1989 Softcover reprint of the hardcover 1st edition 1989 The use ofr egistered names,trademarks,etc.in this publication does notimplY,even in the absence ofa specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. 216113020 543210 Preface Magnetic Bearings are bearings where the suspension forces are generated magnetically without any contact. The advantages to modern machinery are obvious: no mechanical wear, no lubrication, potential for high rotor speed, accuracy, and high dynamic performance, new constructional solutions to a classical problem in machine dynamics. The realization of such bearings is in rapid progress. Examples for application areas are turbomachinery, centrifuges, vacuum techniques, machine tool spindles, chemical industry, medical devices, robotics, high speed drives, spacecraft equipment, con tactless actuators, vibration isolation. The Symposium is demonstrating the current state of the art in this developing field of mechatronics, showing actual research efforts, reporting on applications in the various areas, and discussing open questions. The main purpose of the Symposium has been to establish a common information basis for people working on magnetic bearings. It will point to promising areas, and it will help to facilitate decisions on research and development projects, and on investments for applications. The Advisory Committee for the Symposium consisted of Prof. P.E. Allaire, University of Virginia, Charlottesville, USA H. Habermann, Societe de Mecanique Magnetique, Vernon, France Prof. T. Higuchi, University of Tokyo, Tokyo, Japan Prof. R. Holmes, University of Southampton, Southampton, UK Prof. G. Schweitzer, ETH Zurich, Zurich, Switzerland, (chairman) The Symposium has been drawing considerable interest from research and from industry. Only 36 papers of a much larger number of submitted contributions could be considered for presentation. The 180 participants came from 15 countries with an especially large delegation from Japan. This Symposium was the first of its kind. There are plans to have the Second Symposium in Japan in July 1990, hosted by the University of Tokyo, and an invitation for the Third Symposium comes from the University of Virginia, Charlottesville, USA. VI For the proceedings the original manuscripts submitted by the authors are reproduced. Therefore varying quality of the papers can be observed in this book. Only limited editing has been done as to preserve the individual flavor of each contribution. The contributed papers reflect the scientific, industrial and commercial interests of the authors. The lectures were devoted to the following main topics: Applications in Space, Applications in Physics, Applications in Robotics, Special Bearings, Stabilization of Rotor Motion, Vibration Control of Flexible Rotors, Industrial Applications, Identification of Bearing and Rotor Parameters, Unbalance and Disturbance Control, Digital Control, Signal Processors and Applications Some of the papers are related to more than one of these main topics, but in order to assist the reader we have structured this volume according to the main topics, thus maintaining the structure of the Symposium. The lectures were extensively discussed, and it is expected that the Symposium will have a stimulating effect on further research in this challenging and promising field of mechatronics. The discussions in the audience and statements of the members of the Advisory Committee indicate that there are necessary and promising directions where future efforts will have to go: - further industrial applications - power electronics - digital control, at least for high level tasks (diagnostics, adaptive control, operational aspects) - safety design and retainer bearings to improve customer acceptance - permanent magnets for low energy or low price solutions The Symposium was sponsored and financially supported by Eidgenossische Technische Hochschule ZUrich (Swiss Federal Institute of Technology Zurich) Schweizerische Gesellschaft fUr Mikrotechnik (Swiss Society of Microtechniques) European Research Office of the US Army This help is gratefully acknowledged. VII The Local Organizing Committee consisted of Mrs. G. Junker, Prof. J. Hugel, Prof. G. Schweitzer (chairman), Dr. A. Traxler A main contribution to the success of the Symposium is due to the help and excellent work of the staff of the Institute of Mechanics of the ETH. The editorial work of the Proceedings was supported by the Institute of Mechanics of the ETHZ. Thanks to the Springer-Verlag are due for an agreeable and efficient cooperation. Zurich, July 1988 G. Schweitzer Contents Applications in Space Nakajima, A. National Aerospace Laboratory, Tokyo, Japan Research and Development of Magnetic Bearing Flywheels for Attitude Control of Spacecra .................................................................... 3 Bichler, U., and T. Eckhardt TELDIX GmbH, Heidelberg, Germany A 3(5) Degree of Freedom Electrodynamic-Bearing Wheel for 3-Axis Spacecraft Attitude Control Application .............................................. 13 Applications in Physics Fremerey, J.K. Kemforschungsanlage Julich GmbH, Julich, Germany Radial Shear Force Permanent Magnet Bearing System with Zero-Power Axial Control and Passive Radial Damping ........................................ 25 Hackenberg, R., and W. Ebert Uranit GmbH, Julich, Germany High Precision Particle Beam Choppers ............................................. 33 Boden, K. Kemforschungsanlage Julich GmbH, Julich, Germany Wide-Gap, Electro-Permanentmagnetic Bearing System with Radial Transmission of Radial and Axial Forces ............................................ 41 Fremerey, J.K., and B.E. Lindenau Kemforschungsanlage Julich GmbH, Julich, Germany Ultra-low-Friction, Zero-Power Magnetic Suspension System of the Spinning Rotor Vacuum Gauge....................................................... 53 Bauser, E. (I), Schweitzer, G. (2), Strunk, H.P. (3), and A. Traxler (2) Max-Planck Institut fUr Festkorperforschung, Stuttgart, Germany (1), ETH, Zurich, Switzerland (2) and TU Hamburg-Harburg, Germany (3) Centrifuge for Epitaxial Growth of Semiconductor Multilayers .................. 59 Eisenhaure, D. (1), Slocum, A. (2), and R. Hockney (1) SatCon Technology Corporation, Cambridge MA, USA (1), Massachusetts Institute of Technology, Cambridge MA, USA (2) Magnetic Bearings for Precision Linear Slides . . .. . . . . . . . .. . . . .. .. .. . . . .. . . . . . . . .. . 67 IX Applications in Robotics Higuchi, T. University of Tokyo, Tokyo, Japan Applications of Magnetic Bearings in Robotics ..................................... 83 Special Bearings Yoshida, K., Zen, E.; Inoguchi, H., Sonoda, S., and T. Nakaoo Kyushu University, Fukuoka; Yaskawa Electric MFG. Co. Ltd., Kitakyushu, Japan Lift Force Analysis in a Controlled -PM LMS Maglev Carrier ................... 103 Nikolajsen, J.L. Texas A&M University, Texas, USA Experimental Investigation of an Eddy-Current Bearing ........................... 111 Stabilization of Rotor Motion Zhao, H., and Z. Zhang Tsinghua University, and Beijing Management Institute of Machinery Industry, Beijing, P.R. of China Analysis on the Operating Stability of a Magnetic Bearing ...... .................. 121 Pierri, P.S., Pereira da Silva, P.S., and F. Betti Coordenadoria Para Projetos Especiais -COPESP, Sao Paulo, Brazil Design of a Controller for Magnetic Levitation . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . 129 Maslen, E.H., Allaire, P.E., Scott, M.A.; and P. Hermann University of Virginia, Charlottesville, VA; and Sundstrand Corporation, Rockford, IL, USA Magnetic Bearing Design for a High Speed Rotor .................................. 137 Vibration Control of Flexible Rotors Allaire, P.E., Kasarda, M.E.F., Humphris, R.R., and D.W. Lewis University of Virginia, Charlottesville, VA, USA Vibration Reduction in a Multimass Flexible Rotor Using a Midspan Magnetic Damper ....................................................................... 149 Burrows, C.R. and Sahinkaya, N.; Traxler, A., and G. Schweitzer University of Bath, UK; ETH, Zurich, Switzerland Design and Application of a Magnetic Bearing for Vibration Control and Stabilization of a Flexible Rotor ...................................................... 159 Satoh ,I. (1), Nagahiro, J. (I), Murakami, C. (2), and A. Nakajima (3) Tokyo Denki University (I), Tokyo Metropolitan Institute of Technology (2), National Aerospace Laboratory (3), Japan Vibration and Control in Outer Rotor Type Magnetic Bearings ................... 169 x Nonami, K. NASA Lewis Research Center, Cleveland, USA Vibration and Control of Flexible Rotor Supported by Magnetic Bearings ...... 177 Industrial Applications Chan Hew Wai, C., and J. Morel Electricite de France (EdF), Clamart, France The Electromagnetic Damper -Towards a First Large-Scale Industrial Application .. . . .. . .. . . . . . .. . ..... .. . . . . . .. . .. . ... ... . . .. . . .. . .. . . .. ... . . . . . . .. . . . . . .. . . . . 189 Girault, J.P. Societe Ewopeenne de Propulsion (SEP), Vernon, France Implementation of Active Magnetic Bearings on Advanced Rocket Engine Turbopumps ............................................................................. 199 Dell, H. (1), Engel, 1. (2), Faber, R. (1), and D. Glass (2) Hochtemperatur-Reaktorbau GmbH, Dortmund (1), and ASEA Brown Boveri AG, Mannheim (2), Germany Developments and Tests on Retainer Bearings for Large Active Magnetic Bearings . . . . .. . .. . . .. . .. . . .. . .. . . ... . . . . . . . . .. . .. . . ... .. . . . . . .. . . . . .. .. . . . . . .. . . . . . .. . .. . 211 Brunet, M. Societe de Mecanique Magnetique (S2M), Vernon, France Practical Applications of the Active Magnetic Bearings to the Industrial World.. 225 Moses, H.J., Pickney, F.D., and D.A. Weise Magnetic Bearings Inc., Radford VaA USA Magnetic Bearing Turbomachinery Operating Experience ......................... 245 Identification of Bearing and Rotor Parameters Lewis, D.W., Maslen E., and R.R. Humphris University of Virginia, Charlottesville VA , USA Dynamic Response of Magnetically Supported Rotor .............................. 263 Hisatani, M. Mitsui Engineering & Shipbuilding Co. Ltd., Tamano City, Japan Identification and Optimization of Active Magnetic Bearing Systems Using Measured Nyquist Diagrams .............................•........................................ 273 Ulbrich, H. Technical University Munich, Munich, Germany New Test Techniques Using Magnetic Bearings .... ' . . . .. .. . . . . . . . . . . .. . . . .. . . . . . . 281 Wagner, N.G., and W.O. Pietruszka Mannesmann Demag, and University -GH -Duisburg, Duisburg, Germany Identification of Rotordynamic Parameters on a Test Stand with Active Magnetic Bearings . . . . .. . .. . . ... .. . . .. . ... . . . . . .. . .. . . .. . .. . . .. . .. . . . . . .. . . .. . . . . . . . . . .. . . . . . . . . . . . 289 XI Unbalance and Disturbance Control Murai, Y.; Watanabe, K., and Y. Kanemitsu Ebara Corporation; Ebara Research Co., Ltd., Fujisawa-shi, Japan Seismic Test on Turbo-Molecular Pumps Levitated by Active Magnetic Bearing ................................................................................... 303 Murakami, C., and I. Satoh Tokyo Metropolitan Institute of Technology, Tokyo, Japan A Suppression Method of Conical Motion of an Axi-Symmetrical Spinning Rigid Rotor Suspended by Magnetic Bearings ............................................. 311 Matsumura, F., Fujita, M., and C. Oida Kanazawa University, Kanazawa, Japan A Design of Robust Servo Controllers for an Unbalance Vibration in Magnetic Bearing Systems ......................................................................... 319 Higuchi, T. and T. Mizuno Tokyo University, and Saitama University, Japan Balancing Measurement System Using Magnetic Bearings ....................... 327 Digital Control Matsushita, H. (1), Bleuler, H. (2), Sugaya, T. (1), and R. Kaneko (3) Mechanical Engineering Research Laboratory, Hitachi Ltd., Japan (1), ETH Zurich, Switzerland (2), Hitachi Works, Hitachi Ltd., Japan (3) Modeling for Flexible Mechanical Systems ..... .......... ..... ..... ... ............. 337 Larsonneur, R., and R. Herzog ETH Zurich, Switzerland Optimal Design of Structure Predefined Discrete Control for Rotors in Magnetic Bearings (SPOC-D) .................................................................... 347 Okada, Y., Nagai, B., and T. Shimane lbaraki University, Hitachi, Japan Ditigal Control of Magnetic Bearing with Rotationally Synchronized Interruption .............................................................................. 357 Signal Processors and Applications Kanemitsu, Y., Ohsawa, M., and K. Watanabe Ebara Research Co. Ltd., Fujisawa-shi, Japan Active Control of a Flexible Rotor by an Active Bearing . . . . . . . . . . . . . . . . . . . . . . . . . . 367 Bleuler, H. ETH Zurich, Switzerland Controlling Magnetic Bearing Systems with a Digital Signal Processor ......... 381
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