26 poles and 24 slots

Transcription

1 IEEE Intermag 2009, Sacramento, CA May 8, 2009, GG-02 Novel bearingless motor concept with 26 poles and 24 slots. Zürcher, T. Nussbaumer*, W. Gruber**, and J. W. Kolar Power Electronic Systems Laboratory ETH Zurich Zurich, Switzerland *Levitronix GmbH Technoparkstrasse 1 Zurich, Switzerland **ACCM GmbH Johannes Kepler University Linz Linz, Austria Power Electronic Systems Laboratory

2 and applications of bearingless slice motors Properties of bearingless slice motors Ultra compact setup Passive axial and tilting bearing Active radial bearing and PMSM Large air-gap possible High torque Stator with Bearing and Drive coils Magnetic air gap Magnetic forces for contactless levitation and rotation Application Process Source Process Object Rotor with permanent magnets Hermetically encapsulated rotor in process chamber or biotechnology, pharma and semiconductor industry Process Chamber 2 GG-02 Novel bearingless motor with 26 poles and 24 slots

3 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

4 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets ( NdeB ) r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

5 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

6 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r z r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

7 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

8 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

9 Basic principle: passive axial and tilting PM bearing z stator iron z rotor permanent magnets z r r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

10 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

11 Basic principle: passive axial and tilting PM bearing z stator iron z T x,y rotor permanent magnets r zz rr r 3 GG-02 Novel bearingless motor with 26 poles and 24 slots

12 Basic principle: active radial bearing and motor drive stator with drive and bearing coils angular and displacement sensors rotor with permanent magnets and iron ring air gap Principle Active radial magnetic bearing for x and y Permanent magnet synchronous motor (PMSM) Stator with bearing and drive windings......and position and angular sensors Rotor with permanent magnets and back iron 4 GG-02 Novel bearingless motor with 26 poles and 24 slots

13 Basic principle: active radial bearing and motor drive stator with drive and bearing coils angular and displacement sensors rotor with permanent magnets and iron ring air gap Principle Active radial magnetic bearing for x and y Permanent magnet synchronous motor (PMSM) Key parameter Number of stator teeth: N = motor teeth 12 bearing teeth Number of rotor pole-pairs: p = 13 Stator with bearing and drive windings......and position and angular sensors Rotor with permanent magnets and back iron 4 GG-02 Novel bearingless motor with 26 poles and 24 slots

14 Basic principle: active radial bearing and motor drive rotor with permanent magnets stator iron GG-02 Novel bearingless motor with 26 poles and 24 slots

15 Basic principle: active radial bearing and motor drive air gap rotor with permanent magnets stator iron GG-02 Novel bearingless motor with 26 poles and 24 slots

16 Basic principle: active radial bearing and motor drive drive coils air gap rotor with permanent magnets stator iron GG-02 Novel bearingless motor with 26 poles and 24 slots

17 Basic principle: active radial bearing and motor drive drive coils bearing coils 10 3 air gap rotor with permanent magnets stator iron GG-02 Novel bearingless motor with 26 poles and 24 slots

18 Introduction Basic principle: active radial bearing and motor drive drive coils Y bearing coils 10 3 air gap X+ rotor with permanent magnets X stator iron Y angular and position sensors 5 GG-02 Novel bearingless motor with 26 poles and 24 slots

19 Permanent magnet synchronous drive Active radial magentic bearing Permanent magnet synchronous drive Drive windings D drive phase D D GG-02 Novel bearingless motor with 26 poles and 24 slots

20 c c c c Introduction Permanent magnet synchronous drive Active radial magentic bearing Permanent magnet synchronous drive Drive windings D drive phase D T D D GG-02 Novel bearingless motor with 26 poles and 24 slots

21 Permanent magnet synchronous drive Active radial magentic bearing Permanent magnet synchronous drive T D 6 GG-02 Novel bearingless motor with 26 poles and 24 slots

22 Active radial magnetic bearing Permanent magnet synchronous drive Active radial magentic bearing B 3 5 Bearing windings 10 4 B bearing phase B GG-02 Novel bearingless motor with 26 poles and 24 slots

23 c c c Introduction Active radial magnetic bearing Permanent magnet synchronous drive Active radial magentic bearing B 3 5 Bearing windings 10 4 B 2 dense flux region x 3 2 bearing phase B sparse flux region GG-02 Novel bearingless motor with 26 poles and 24 slots

24 Active radial magnetic bearing Permanent magnet synchronous drive Active radial magentic bearing res 7 GG-02 Novel bearingless motor with 26 poles and 24 slots

25 Parameter Optimization Bearing force optimization Motor torque optimization Parameter to be optimized Rotor and stator length l Magnet thickness δ magnet Magnet shape Tooth width w tooth Number of windings Criteria Maximum motor torque T M Minimum cogging torque T cogging Maximum levitation x Maximum axial stiffness k z Minimum radial stiffness k r Optimization using 3D-EM simulation 8 GG-02 Novel bearingless motor with 26 poles and 24 slots

26 Bearing force optimization Motor torque optimization Motor torque optimization (example) 60 T D,16000A turns [ Nm ] 50 Tcogging, TD [ Nm ] T cogging [ Nm ] T D,8000A turns [ Nm ] T D,4000A turns [ Nm ] w tooth [ mm ] 9 GG-02 Novel bearingless motor with 26 poles and 24 slots

27 Bearing force optimization Motor torque optimization Bearing force optimization (example) x [ N ] k r [ N/mm ] 400 x,16000 A turns [ N ] x,8000 A turns [ N ] x,4000 A turns [ N ] k z [ N/mm ] w tooth [ mm ] kr,kz [ N/mm ] 10 GG-02 Novel bearingless motor with 26 poles and 24 slots

28 Laboratory Prototype Prototype Experimental performance position and angular sensors rotor with permanent magnets ( NdeB ) air gap δ = 7 mm stator with drive and bearing windings 11 GG-02 Novel bearingless motor with 26 poles and 24 slots

29 Performance Results Prototype Experimental performance Bearing performance Prototype properties Outer diameter: D = 500 mm Rotor weight: m = 3.1 kg Air-gap: δ = 7 mm Max. bearing force: x = 155 N Max. displacment during acceleration: x = 69 µm Radial stiffness: k r = N/mm Axial stiffness: k z = 20.1 N/mm Motor performance Max. speed: n max = 1800 rpm Acceleration time: t = 1.5 s Rated torque: T = 13.1 Nm 12 GG-02 Novel bearingless motor with 26 poles and 24 slots

30 Prototype Experimental performance Thank you for your attention! Please feel free to ask questions. 13 GG-02 Novel bearingless motor with 26 poles and 24 slots

31 Motor Performance Introduction Prototype Experimental performance n r t I drv r r max I bng 14 GG-02 Novel bearingless motor with 26 poles and 24 slots

32 Bearing Performance Prototype Experimental performance T xpos x xpos ref I bng,max I bng 15 GG-02 Novel bearingless motor with 26 poles and 24 slots