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    • 专利摘要:
    Storage and drive system (1) with at least one electrical machine (2) together with control (50), wherein the bearing force of the respective storage degree of freedom of the machine (2) can be actively influenced, and with a contact-free working, actively influenced storage (6, 7) including control (55), wherein the drive (56) of the machine (2) has two modes of operation, one of which operating mode minimizing the force of the electric machine (2) to the respective Lagerfreiheitsgrade and the other operating mode active bearing force generation of the electric machine (2) for bearing support and wherein a detection and switching unit (52 ', 52 ") is provided for switching between the two modes of operation when exceeding or exceeding a predetermined limit of at least one operating parameter with which a control unit (35) for the machine (2') and the storage (6, 7) is connected.
    公开号:AT513640A1
    申请号:T50555/2012
    申请日:2012-12-04
    公开日:2014-06-15
    发明作者:Alexander Dipl Ing Dr Techn Schulz；Harald Dipl Ing Sima；Thomas Dipl Ing Hinterdorfer；Johann Dr Techn Wassermann；Manfred Ing Neumann
    申请人:Tech Universität Wien；
    IPC主号:
    专利说明:

    1
    The invention relates to a storage and drive system with at least one electric machine including control, wherein the bearing force of the respective storage degree of freedom of the machine is actively influenced, and with a non-contact, actively influenced storage including control.
    In known electrical machines, i. Engines and / or generators cf. e.g. M. Ooshima, S. Kobayashi, and H. Tanaka, " Magnetic Suspension Performance of a Bearingless Motor / Generator for Flywheel Energy Storage Systems ", IEEE, 2010; Charpentier J.F., Lemarquand G .: A comparative analysis of permanent magnet-type bearingless synchronous motors for fully magnetically levitated rotors, Journal of Applied Physics, vol. 83, no. 11, 1998; and Yanbo Lv, Wenquan Zuo, Xiaoyan Diao and Huangqiu Zhu, Modeling and Digital Control System for Permanent Magnet Synchronous Motor, Aug. 1, 2011) is often provided with a separation of storage and propulsion tasks. For example, in rotating storage and propulsion systems with magnetic bearings special regulations, so-called. "Unbalance Control", used to rotate the rotor about its main axis of inertia, whereby the required bearing forces - and thus the power consumption of storage - are minimized (See eg Betschon F .: Design Principles of Integrated Magnetic Bearings, Diss. ETH No. 13643, Dissertation, ETH Zurich, 2000; or Schweitzer G., Maslen EH: Magnetic Bearings Theory, Design, and Application to Rotating Machinery, Springer Verlag, Berlin Heidelberg, 2009). This simple measure can be used advantageously, as long as no electrical machine (motor and / or generator) in combination with "Unbalance Control". the storage is used, since the electrical machine due to the eccentric running of the rotor in the area of the electric machine due to the system generates additional radial forces 2/63 2, resulting in an additional, sometimes greatly increasing energy requirements for storage.
    Bearing-free electrical machines that can generate radial and / or axial bearing forces, either with the aid of additional windings and / or by separating the phase currents and a special drive in addition to the drive torque, are used in order to be able to dispense with a dedicated radial or axial magnetic bearing. For example, depending on the type of electrical machine (s) used, it is not possible to introduce bearing forces at every angular position (eg, in a 6/4 "switched reluctance" motor-switched reductant machine) and / or the resulting efficiency in generating bearing forces lower compared to a dedicated magnetic bearing.
    This results in the problem of optimum operation of a combined bearing-drive system through the functional combination of bearing and engine components to maximize the overall efficiency, while ensuring the required bearing precision and highest immunity to interference.
    To solve this problem, the invention provides a storage and drive system as stated above, which is characterized in that the control of the machine has two operating modes, one of which operating mode minimizing the force influences of the electric machine on the respective Lagerfreiheitsgrade and the other operating mode causes an active bearing force generation of the electric machine (s) for bearing support, and that a detection and switching unit for switching between the two operating modes when exceeding a predetermined limit of at least one operating parameter 3/63 3 is provided with a control or control unit for the machine and the storage is connected.
    Advantageous embodiments and further developments are specified in the subclaims.
    Thus, it is particularly advantageous if the detection and switching unit is set up to detect a deviation of the rotor or armature of the machine from a geometric center position. Preferably, the control or control unit provides an asymmetrical energization of the coils of the machine based on a stored map or model together with observers.
    Furthermore, it is advantageous if the deflection and / or the deflection speed of the rotor or armature and / or the acceleration of the housing of the machine are predetermined as operating parameters. In principle, an operating parameter alone or else a weighted combination of a plurality of operating parameters can cause the operating mode to be switched over when a specified limit value is exceeded or fallen short of.
    It is also advantageous if a plurality of electrical machines are present, which have an independent power control and a device for power distribution. In this case, it may be expedient if the electrical machines are controlled by means of the device for power distribution in such a way that the overall efficiency of the electrical machines is maximized; when the electric machines are controlled by means of the power sharing device to maximize the overall efficiency of the electric machines and drive; or when the electrical machines are driven by the power sharing means to minimize the operating temperature of power converters driving the electric machines; Also, it is beneficial if the electric machines are controlled by means of the power sharing device to minimize the losses within the machine housing.
    The present system can be rotational or translatory.
    The system is particularly advantageous if it is designed with a flywheel energy storage system (Flywheel Energy Storage System-FESS).
    The invention enables optimal in terms of overall efficiency and storage precision with maximum immunity to power operation of systems that have at least one electric machine together with control and a non-contact, actively influenced storage including control, with an increase in the total energy efficiency of the storage and drive system by means of an automatic Detection and switching unit in conjunction with a control or
    Control unit is achieved.
    The term "(automatic) detection and switching unit " is to be understood in a general way and should not only concern specific switches, but also other realizations, e.g. Include software solutions, fuzzy control solutions, etc.
    The electrical machine together with control is designed so that an active influence on the bearing force of the respective bearing degree of freedom is possible, at least in certain operating conditions of the storage and drive system. This can also be realized in the case of several electrical machines including control. The automatic detection and switching unit and the control or regulation unit determine the operating mode - depending on the current operating point or state of the storage and drive system - at least the electric machine (s) in terms of 5/63 5 "force-free". and "bearing power generating"; in the presence of a plurality of electrical machines, these units dictate the take-up power distribution between these electric machines. In this case, the switchover condition may be the deviation of the structure (rotor or armature) from the desired position and / or the deviation speed and / or a weighted combination of these two parameters or, for example, the acceleration of the housing.
    The operating mode "power-free" causes an energization of the individual coils of the electric machine (s) to the effect that the forces of the electric machine (s) are minimized despite deflection of the rotor from the geometric center position in the direction of the bearing degrees in question. As a result, for example, an operation of a rotary bearing and drive system in its main axis of inertia without additional, to be generated by the dedicated storage bearing forces, whereby the energy consumption for storage is minimized.
    Another mode of operation, if desired, provides active bearing force generation of the electric machine (s) to assist dedicated storage, for example to support exceptionally large disturbing forces on a structure (e.g., runners) or to act as a redundant bearing in the event of dedicated storage failure. As a result, either a higher bearing precision, even at high disturbance forces or Störkraftanstiegsgeschwindigkeiten, possible that would lead to strong deviations of the structure of the respective target position without the additional use of the electric machine (s) as bearing support, or it is a weaker dimensioning of the dedicated Storage possible, which in turn has lower losses. 6/63 6
    The switching between the different modes of operation may, depending on the operating state of the storage and drive system, e.g. as follows: (1) As long as e.g. the rotor orbit and / or the translatory speed of the rotor center and / or the acceleration of the machine housing remain within prescribed limits, o the power generation is effected only by means of contactless mounting in the well-known "unbalance control" mode, i. for rotary systems advantageously the bearing of the rotor in the inertial main axis, and o the energization of the coils of the electric
    Machine (s) to the effect that even with a position of the rotor (rotor) outside the geometric center of the influences on the respective Lagerfreiheitsgrade be minimized (= "force-free run"). (2) As soon as a violation of the above condition for the rotor occurs (eg if the rotor center is outside a predefined barrier (eg for rotors a predefined orbit and / or too high a deflection speed), an automatic changeover of the operating mode takes place the dedicated storage causes a proportionate return of the structure (the rotor) to its desired position or its target orbit for rotary systems, o the electric machine is controlled so that it can generate bearing forces (= "storage operation") and thus the dedicated Storage helps to bring the structure back to its nominal position or its target orbit for rotary systems. 7/63 7
    In order to achieve a further improvement of the overall efficiency, the automatic detection and switching unit and the control unit can be made to perform power sharing between a plurality of electric machines. This can e.g. be executed with a higher-level separate controller module or with an integrated into the drive control module specifying the manipulated variable as a function of the operating state for the respective drive control.
    If the overall efficiency optimum is in the partial load range, the operation of the electrical machine (s) can be realized as follows:
    For storage and drive systems with an electric machine: ο Pei, system < Ρη, πιαχ (system recording / output powers below the power that leads to the maximum efficiency of the electric machine): There is a modulation or pulsation of the drive or. Output power, i. a modulated or pulsed control of the electric machine at the operating point with optimum overall efficiency, wherein, for example, a pulse width modulation for the power can be used in which the pulse width corresponds to the ratio of required output power to output power with maximum overall efficiency: pulse width = Pei, system / p Γη, τηαχ · o Pei, system ^ Ρη, πιαχ (intake / delivery services equal to or above the power for maximum overall efficiency): There is a continuous (unpulsed) operation with the required recording / output power.
    For rotors with n electric machines: 8/63 8
    The division of the intake / delivery performance of the individual machines acting in the system is such that the total results in the best possible overall efficiency: ο P'ei, system / n < Ρη, τηαχ '· Operation of m electrical machines with that power which leads to the optimum efficiency of the electrical machines, i. m = floor (elsystem), Ρη, τηαχ with the function floor (), which rounds downwards, and an electric machine, which is pulsed as described above, and on average the power P Pel ^ stems Ρη, τηαχ '^ · supplies. o Pei, system / n ^ Ρη, τηαχ · the services of n
    Split machines so that overall efficiency is maximized. This is given by _ ΣΓ = ι Pi 'lges ~ n _Pj_ ·
    Δι = 1ν (PO
    The optimal power distribution is obtained from the equation system i = i, ..., n drlges _ «dPi
    The function v (Pd can be adapted to measured curves or to simulation results, for example, by a polynomial or by splines, so that the optimization can be carried out online 9/63 9
    Likewise, the power distribution in advance (offline) can be calculated and stored in a map.
    When using electrical machines with the possibility of functioning as a bearing element, a distinction can be made between different forms depending on the application: • A bearing function / bearing support of the drive with regard to the forces acting on the center of gravity requires the use of at least one storable electric machine which is as close as possible to the center of gravity Optimal manner is arranged in the center of gravity. • A bearing function / bearing support of the drive with respect to forces acting on the center of gravity as well as moments requires the use of at least two storable electrical machines, which are ideally located far out of the center of gravity.
    It should be noted that except for the "Unbalance Control" mentioned above. Of course, other control algorithms, such as e.g. "Active Vibration Control", are applicable in the invention.
    The target position or the target orbit can either be set in advance or specified by means of a higher-level controller. This superordinate controller searches for those setpoint positions or those setpoint orbit which, in total, results in the lowest required currents in the radial bearings and the electric machine (s). For this purpose, the currents of bearings and electrical machines can be detected for each operating point and the desired position or the target orbit can be found by means of minimization algorithm. For example, this can be small changes in the 10/63 10
    Target position or the target orbit can be performed, and the resulting change in the sum of the average currents can be used to optimize for each operating point.
    The invention will be further explained with reference to preferred embodiments shown in the drawing, to which it should not be limited. Show it:
    1 is a block diagram of a rotary flywheel storage and propulsion system (flywheel energy storage system flywheel energy storage system) with hybrid magnetic bearing control and drive;
    FIG. 2 shows a block diagram of a unit for digital regulation and power electronics for the system according to FIG. 1; FIG.
    3 shows in a schematic cross section as an example a switched reluctance motor (SRM) with six stator poles and four rotor poles (short: 6/4 SRM), as provided in the system according to FIGS. 1 and 2;
    FIG. 4 is a schematic cross-sectional view similar to FIG. 3 showing the structure of an active radial magnetic bearing; FIG.
    5 shows an exemplary circuit diagram of a 2-quadrant converter of a DC link for controlling the SRM and magnetic bearing coils;
    Fig. 6 is a block diagram of a SRM phase control and energization unit as may be employed in the engine control and drive of Fig. 7; 11/63 11
    Fig. 7 is a block diagram of a machine control and control unit as may be used in the digital control and power electronics unit of Fig. 2;
    Fig. 8 is a block diagram of a unit for the radial magnetic bearing control and -Ansteuerung, as can be used in the digital control and power electronics of FIG. 2;
    Fig. 9 is a block diagram of a unit for the axial magnetic bearing control and control, as can be used in the digital control and power electronics of FIG. 2;
    10 is a diagram showing the forces generated in an SRM at different eccentricities as a function of
    Rotor angle Θ;
    FIG. 11 shows a force diagram comparable to FIG. 10, but in contrast to FIG. 10, but with a constant eccentricity and at different currents; FIG.
    Fig. 12 is a graph showing the required current correction A / 0 for various target currents to achieve a power-free operation;
    13 is a graph showing the force / current dependency of an exemplary SRM;
    Figure 14 is a schematic of a FESS similar to Figure 1, but in outer rotor design, with a conical magnetic bearing; 12/63 12
    Fig. 15 is a block diagram of a unit for controlling and driving a conical magnetic bearing as shown in Fig. 14, wherein the illustration in Fig. 15 is similar to that in Figs. 6 and 7;
    Fig. 16 is a diagram similar to that of Fig. 1, but now for a system with two switched reluctance motors;
    17 is a diagram illustrating the efficiency η of a switched reluctance motor as a function of the electric power P;
    FIG. 18 shows a schematic view in axial section of an arrangement with a shaft which is radially supported at its upper end and lower end by means of active air bearings; FIG.
    19 shows a perspective view of a magnetically mounted linear drive unit;
    FIG. 20 shows an axial diagram of this linear drive according to FIG. 19, which is based on the reductant principle; FIG. and
    21 is a diagram of a digital control and power electronics unit of the linear drive unit illustrated in FIGS. 19 and 20. FIG.
    In Fig. 1 is shown schematically as an example of a rotary bearing and drive system 1, specifically in the form of a FESS 1 with active magnetic bearing and with an electric machine 2 in the form of an SRM motor 2, is shown. The engine 2 together flywheel 3 is mounted within a container 4. The shaft 5 carrying the flywheel 3, i. the rotor 5 is supported at both ends in a respective radial active magnetic bearing 6, 7; together define a non-contact working, 13/63 13 actively influenced storage 6-7 for the rotor 5. Furthermore, an upper thrust bearing 8 and a lower thrust bearing 9, a radial position sensor 10 and an axial position sensor 11 and an upper and a lower stator support sleeve 12 and 13 are illustrated. Moreover, usual fishing camps 14 and 15 are shown. The Axialmagnetlagerung 8, 9 is also an active, non-contact storage.
    A high efficiency, reliable hybrid magnetic bearing control and drive unit 16 associated with this system 1 is shown schematically in block 16 in FIG. 1, and includes a digital control and power electronics unit 17, which will be described in more detail below with reference to FIG. 2 will be explained. Furthermore, a module for a digital signal processing 18 and a module for an analog signal processing 19 including downstream analog / digital converter 20 are provided. Schematically further shown are an error detection unit 21 and an intermediate circuit 22, via which the energy transfer to the motor 2, indicated by a double arrow, takes place.
    The calculation and provision of the required currents, indicated generally by I in FIG. 1, is performed in the digital control and power electronics unit 17. In this case, at 23 sensor signals concerning positions, rotor angle, rotor speed and temperature of the unit 16 are supplied from the machine part.
    The flywheel 3 drives the rotor 5 and thus loads the system 1. For radial and axial stabilization in the upper and lower carrier sleeves 12, 13, the radial electromagnet bearings 6, 7, and the two thrust bearings 8, 9 are mounted. The fishing camp 14 is a mechanical bearing, the 14/63 14
    System failure occurs. The flywheel 3 runs inside the evacuated housing 4; this housing 4 further serves as a support for the various sensors, such as the radial and axial position sensors 10, 11; on the representation of other conventional per se sensors, such as for the rotor speed, the rotor angle and the temperature was omitted for the sake of clarity.
    In order to achieve the longest possible storage time (stand-by time), the rotor 5 is moved by the magnetic bearings 6, 7 in its main axis of inertia by means of a so-called "unbalance control". guided. As a result, minimum radial bearing forces are required, whereby the storage energy requirement is minimized. However, this can lead to eccentricity of the rotor, i. Rotor 5, the electric machine 2 lead, whereby this generates additional forces in conventional energization, which in turn must be compensated by the magnetic bearings 6, 7, whereby their energy consumption would increase again.
    The invention enables an operating mode of the electric machine 2 to minimize these forces, whereby the efficiency of the magnetic bearings 6, 7 increases and a longer storage period can be achieved.
    The switched reluctance motor (SRM) 2 has, as shown in Fig. 3, a stator 25 to which coils are mounted, and the rotor 5 having salient poles. Fig. 3 shows an SRM 2 with six stator and four rotor poles. Due to the rotor shape, an angular dependence of the magnetic resistance (the reluctance) arises because the air gap changes with the angle of rotation of the rotor 5. By a sequential Beschälten the coils la, lb; 2a, 2b; 3a, 3b, an excitation field can thus be generated, which the rotor 5 follows synchronously, since this aims at an angular position having a minimal reluctance. 15/63 15
    The advantage of this electric motor 2 is that no permanent magnets are required, a negligible drag torque is caused and for driving the same converter topology as for the active magnetic bearings can be used. By means of a separate control of the individual coils of each phase 1a, 1b or 2a, 2b or 3a, 3b, actively influenced radial forces are generated. The control of each coil via its own 2-quadrant converter 26 (a current direction, positive and negative voltage), as shown by way of example in Fig. 5:
    This 2-quadrant converter 26 has a left and a right half bridge 27 and 28, each with a diode D and a transistor T. The converter 26 supplies a load 29 which is a coil of the electric motor 2 or the magnetic bearings 6, 7. The transistors T are driven by a pulse width modulation (PWM) (not illustrated in greater detail in FIG. 5) whose pulse width is predetermined by the respective current regulator. The intermediate circuit voltage UZK is applied.
    In order to achieve optimal operational management, the following signals are recorded:
    Currents of the individual magnetic bearing coils LAMBij r and the currents of the coils of each motor phase IsRMij r by means of current sensors, for example, according to the compensation principle on a Hall basis, where generally i the number or number of magnetic bearings AMB and the motors SRM and j the number or number Indicates number of respective coils
    Rotor speed (by bar marks on the rotor and optical detection or by means of tooth profile and eddy current sensor or inductive sensor) 16/63 16
    Rotor angle position Θ (either via absolute encoders, for example based on the Hall principle, or incrementally from the speed signal). With incremental detection, the current angular position Θ = dAkt / dEnd is calculated with the current counter reading dAkt of a counter that counts upwards, which is stored in dEnd each time it passes through a zero mark and is then set to zero. In this case, since the absolute angle can not be detected or calculated when the rotor is at rest, a special start-up procedure is required until the rotor 5 rotates so fast that the PLL engages; For example, while the rotor 5 is energized by energizing a phase, e.g. la, lb, brought into a defined position and then, due to knowledge of torque and moment of inertia, offset by a timed current supply in rotation.
    Rotor position (by means of eddy current sensors)
    DC link voltage via isolation amplifier for galvanic isolation between power circuit and controller small signal electronics.
    All analog signals are converted to the digital domain after anti-aliasing filtering by the analog-to-digital converter 20 (FIG. 1) and supplied to a digital signal processor (DSP) or microcontroller (μΟ).
    The digitally present signals (e.g., speed) are fed directly to this signal processor or pC, respectively.
    The active radial magnetic bearing 6, 7 has (see Fig. 8) on a special control, which has two operating modes between which is switched depending on the rotor position and speed. The actuator, i. the respective bearing, e.g. 6, is as Y-arrangement (three electromagnets with separate Flußdichtepfaden in 120 ° pitch, see Fig. 4) 17 carried out, which results in the minimum number of electromagnets for the radial bearing 6 and 7 respectively.
    In detail, Fig. 4 shows by way of example a structure of a radial active magnetic bearing, e.g. It consists of a rotor, namely the rotor 5, and a stator 31, which in turn is constructed with three electromagnets. On each electromagnet a coil (coil 6.1, coil 6.2 and coil 6.3) is mounted, which is wound over both legs of the electromagnet. This arrangement with three offset by 120 ° electromagnet is mentioned as mentioned Y-arrangement.
    Warehouse operation mode 1:
    The scheme operates according to, for example, Betschon F: Design Principles of Integrated Magnetic Bearings, Diss. ETH No. 13643, Dissertation, ETH Zurich, 2000; or Schweitzer G., Maslen E.H .: Magnetic Bearings Theory, Design and Application to Rotating Machinery, Springer Verlag, Berlin Heidelberg, 2009; described "Unbalance Control", which rotates the rotor 5 in its main axis of inertia, whereby the required bearing forces and thus the energy consumption of storage are minimized. Here, an FIR (Finite Impulse Response) filter 32 with adaptive coefficients (see Fig. 8) implemented in the digital controller 55 (Figure 8) is used to determine the proportion of the position sensor signal resulting from the imbalance of the rotor 5. to filter, whereby the downstream position controller 33, designed here as a simple digitally implemented PID controller, does not respond to the deviation due to the unbalance, but only to the remaining signal component.
    The static zero position is determined by the integral portion of a superordinate regulator 71 which minimizes the average coil currents of the bearings. Thus 18/63 18 also production or assembly-related deviations between the bearing layer position and the geometric zero position lead to no additional power requirements and thus power requirements for storage.
    Warehouse operation mode 2:
    For position control with the PID controller 33 is not used in this mode of operation, the filtered and thus reduced by the imbalance portion position sensor signal, but the actual signal (actual position), whereby the rotor 5, as well as possible with the available bearing forces and control , in the nominal position (here: middle position) is brought.
    In both bearing operating modes, the position controller 33 calculates a desired force in the x and y directions. The desired current of each of the three electromagnets of the respective radial bearing actuator (6 or 7) is determined by interpolation from a map (see block 34 in Fig. 8, "map" lAMBij, shall (Fx, AMBij> Fy, AMBij <sx, AMBij <sy, AMBij)). Herein, the target current of each electromagnet is stored as a function of the rotor deflection and the required force. These nominal currents are impressed into the individual coils of the actuator 6 and 7, respectively, by means of lower-level current regulators 56, which for the sake of simplicity can be designed as proportional regulators, signal limiters 57, pulse width modulators 58 and 2-quadrant converters 26 (see FIG , The coil currents are measured by means of current sensors and fed to the regulators digitized.
    The electric machine 2 also has two operating modes ("force-free" / "stored"): FIG. 6 shows the control concept of one phase of the SRM 2. In FIG. 6, the SRM phase control and control 35 are shown in detail. The regulator specifications are calculated by a higher-level controller 50, which is shown in FIG. 7 19/63 19. FSRMjj denotes in Fig. 6 (and 7) the required force of the phase j of the electric machine 2 or i (with i = 1, 2 ...), which is zero for the power-free operation. Depending on the translational position sxSRMjj or sy <SRMjj and the rotation angle Θ, the current correction Aljj is calculated in a unit 36, which is added or subtracted from the setpoint current IsRMij.soii. The setpoint current and also the switch-on and switch-off angles θοη and 0off are determined by the setpoint power PsRMij, which is likewise predetermined by the higher-order controller 50 (see FIG.
    In block 37 (operating parameters), the setpoint power is converted by an angular velocity (w) -dependent map into the setpoint current and the switch-on and switch-off angles. A switching logic 38 then specifies whether the respective phase is to be energized if the current angle is within the on and off angle. For current control, s. Current regulator 39, 40 in Fig. 6, the current control error eSRMjja the coil yes or eSRMjjb the coil jb (with j = l, 2, 3 ...) formed and the current controller 39 and 40, respectively. The current control error is calculated from the difference between the sensor signal IsRMija or IsRMijb of the currently flowing current IsRMija or IsRMijb and the corresponding setpoint current. The output of the current regulator 39 or 40 is limited to the permissible PWM range (see limiter 41, 42) and fed to the associated pulse width modulator (PWM) 43 or 44, which activates the power converters 26 (see FIG.
    The power amplifiers 26 are thus controlled via pulse width modulation 43, 44 whose duty cycle is determined by the current controller 39 and 40, respectively. The current controller 39, 40 is usually designed as a P or PI controller, the 20/63 20
    Control parameters, if enough computing power of the motor controller 50 is available, adaptively adjusted as a function of the angular position to account for the strong nonlinearity of the inductance. The "switching logic" block 38 in Fig. 6 specifies at which angular positions the respective phase, with the currents predetermined separately for the two coils, should be excited.
    The current specification of the current controller consists of two parts. In the "Operating Parameters" block 37 are "offline". determined maps filed, which include the necessary power and on and off angle depending on the target power and the current speed. This current is added or subtracted to a correction current calculated in the "Current Correction" block 36. The function of this block 36 and the calculations contained therein are described in more detail below.
    Incidentally, FIG. 2 (and also FIG. 14) schematically illustrates the desired intermediate voltage setting 26 '.
    FIG. 7 shows the electrical machine control and activation 50. The current translational position of the electric machine 2 or i in the x and y direction, sxSRMj or sySRMj, and the corresponding setpoint positions sXjSRMi> S0n or sySRMisoll and the actual intermediate circuit voltage UZK and their setpoint value UZKson are supplied. A position controller 51 provides a force to bring the rotor 5 to the target position, and by a force split, the target force FSRMjj is formed for the respective phase. By an operating mode switching unit 52 can be switched by a higher-level controller, shown in Fig. 1, between stockerndem and force-free operation. In force-free operation, the nominal force is zero. A 21/63 21
    Coordinate transformation unit 53 converts the force vector into the local coordinate system of the respective phase.
    A power controller 54 forms from the voltage control error a target power for the respective phase PSRMjj, which is n ° tig to keep the required DC link voltage at its desired value with appropriate dynamics.
    The desired powers and forces are the SRM phase control and -ansteuerung 35, s. Fig. 6, supplied.
    8 shows the radial magnetic bearing control and activation 55. Input variables are the current rotor position at the bearing point i in the x and y directions, sxAMBj or syAMBj, and their nominal values sXjAMBijSOn or SyjAMBi; SOn, as well as by the in FIG 2 illustrated regulator predetermined operating mode. Depending on the operating mode, the position controller 33, which sets the target force of the magnetic bearings, FxAMBj or Fy <AMBj, is supplied with the actual rotor position or the position signal reduced by the FWF 32 by the unbalance. The required nominal current IAMBij, soii of the electromagnet j of the magnetic bearing i is calculated via the map unit 34. A current controller 56 then regulates the respective sensor signal IAMBij of the current Iämbij current to the desired current and thus minimizes the current control error eIAMBjj. The output of the respective current regulator 56 is limited to the permissible PWM range (limiter 57) and fed to a pulse width modulator (PWM) 58, which activates the power converters 26 (see Fig. 5).
    FIG. 9 also shows the control / activation 60 of the axial magnetic bearing 8, 9 (FIG. 1). The 22/63 22 formed from the current axial position sz and its setpoint
    Position control error eAxBPos is minimized by a position controller 61. The output of this regulator 61 is the nominal force in the axial direction, Fzson, which is converted by a map unit 62 into a corresponding desired current Iaxbi.soII or IaxB2, so11 and supplied to current regulators 63. The control error eIjAxBj of the respective current regulator 63 is formed from the desired current and the measured value IAxbj of the flowing current Iaxbj. The index j designates the respective coil (see also Fig. 2). The outputs of the current regulator 63 are limited (limiter 64) and supplied to the PWM 65, which controls the power electronics.
    FIG. 2 illustrates in detail the digital control and power electronics 17 of the Flywheel Energy Storage System 1 (FESS) shown in FIG. It is a higher-level controller, the target positions of the thrust bearing AxB (or 8, 9 in Fig. 1), the radial magnetic bearing AMB1 and AMB2 (or 6, 7 in Fig. 1) and for the electrical machine SRM1 ( or 2 in Fig. 1) pretends. These target positions as well as the operating mode dependent on the current system behavior are sent to the subordinate controller structures 60: "Axial magnetic bearing control and activation". (see Fig. 9); 55: "Radial magnetic bearing control and control &quot; (see Fig. 8); and 50: "Electrical machine control and drive &quot; (see Fig. 7). For the engine 2 described below, the data according to the following Table 1 were used by way of example.
    Table 1: Motor data
    Number of stator poles 6 Number of rotor poles 4 23/63 23
    Rotor pole angle in ° 32 stator pole angle in ° 31 shaft radius in mm 38 rotor pole height in mm 9,2 rotor pole radius in mm 70 rotor return thickness in mm 22,7 stator pole height in mm 34, 9 stator pole radius in mm 71 stator return thickness in mm 30, 6 stator external radius in mm 136, 2 Length in mm 52,2 air gap in mm 1 number of turns per coil 80
    10 shows the radially acting forces F (N) of such a SRM 2 with the same energization of the two coils of a phase with 20 A and with different eccentricities sySRMij of 0.1 mm to 0.5 mm, in each case over the rotation angle Θ.
    11 shows the radial forces F (N) at constant eccentricity of sySRMjj = 0.5 mm and a current in coil b of FIG. 20A, but different currents in coil a, from 0A to 20A, also dependent on Θ. It can be seen that the radial forces can be significantly reduced and with appropriate current conduction a force-free operation in all angular positions is possible.
    The required current correction ΔΙ0 (4) as a function of the angle for various nominal current specifications can be seen in FIG. One recognizes the linear dependence of the current correction 24/63 24 on the set current input (OA to 20A). Furthermore, this is also linearly dependent on the eccentricity sySRMij.
    The actual eccentricity is calculated from the position sensor signals by using the geometric ratios of the placement of the position sensors, e.g. 10, 11, and the center of the respective electric machine taken into account.
    The required correction of the desired current is calculated in the current correction block 36 (see FIG. 6) and added or subtracted in accordance with the desired value.
    The rule concept for the "stored" Operation is similar to the above case ("no power"), however, the difference of the two coil currents must be further increased to actively generate forces. The required force is determined in a position controller 51, which can be designed as a PID controller, and divided into the individual phases (see Fig. 7).
    A favorable arrangement for the electric machine is in the center of gravity of the rotor 5, since characterized in the "stored". Operation the dedicated bearings can be substantially relieved. An arrangement of the electric machine outside of the center of gravity (see Fig. 1) reduces the bearing effect and it is an additional torque introduced by the radial forces of the electric machine, which is to be compensated by the dedicated storage.
    The quadratic relationship between current and magnetic force results for the force-generating current correction
    F Κ (θ) ISRMijiSOu 25/63 25 with the rigidity Κ (θ) (N / A2) shown in FIG. The nominal size of the two current controllers is then
    IsRMija.soll = / SRMij, shall be ~ (ΔΙ0 + Alp)
    IsRMi jb, should = ^ SRMij.soll + (AIq + Alp).
    By the automatic detection and switching unit 52 '(s.
    2), an operating state-dependent changeover between the operating modes of both the bearings 6, 7 and of the electric machine 2 takes place in block 52 "(" changeover operating mode ").
    Switching occurs when the limits of one or more operating parameters are exceeded or fallen below. For example, the acceleration of the FESS housing 4 or the deflection of the rotor 5 from the desired position can be used in the following way:
    As long as the acceleration of the FESS housing 4, AaCeh & use, is below a threshold, i. A &amp; Gehiluse ^ LilTlit ^ a, the power generation takes place only by means of non-contact storage in the "Unbalance Control" operation, i. by means of the bearing of the rotor 5 in the main axis of inertia. The electric machine 2 is operated without force in order to influence the magnetic bearings 6, 7 as little as possible.
    As long as the deflection Ar of the rotor 5 at the rotor ends is below a limit value, i.
    Ar &lt; Limits ύ, Δν and the deflection speed at the rotor ends is below a threshold, i. dAr -t-- &lt; Limitdr / dt 26/63 26 and as long as the weighted relation for the displacement (weighting factor a) and for the deflection speed (weighting factor b) at the rotor ends is below a limit value, ie dAv a- Ar + b - &lt; Limitah,
    dt aD (where a, b can be determined in advance by tests), the force generation is also done only by means of non-contact storage in "Unbalance Control" operation, i. the bearing of the rotor 5 in the main axis of inertia. The electric machine 2 is again operated without force to the magnetic bearings 6, 7 as little as possible to influence.
    If the respective condition is violated, a changeover to the other operating mode takes place - "bearing-force-generating".
    The required total electrical power of the system 1 is calculated based on the deviation of the actual DC link voltage and its setpoint. A voltage increase of the intermediate circuit voltage results when externally coming energy to be stored in the FESS 1 is introduced into the DC link. A voltage drop occurs when energy is removed from the DC link and thus the FESS 1 is discharged. For this purpose, the DC link voltage is galvanically isolated by means of an isolation amplifier, filtered and digitized and fed to the power regulator. This can for example be designed as a PID controller and be integrated in the microcontroller 30 of the controller 17 of the electric machine 2.
    The axial magnetic bearing is according to the prior art, as shown in Fig. 9, executed. The operation is analogous to the radial magnetic bearing, except that no unbalance control is performed.
    For the sake of completeness, reference is again made to the illustration of the digital control and power electronics 17 according to FIG. 2 27/63 27, where the input side units 70 (for the axial target position calculation) and 71 (for the radial target position calculation) are illustrated. Furthermore, in association with the radial bearings 6,1-ÄMBl, AMB2 (AMB - Active Magnet Bearing - active magnetic bearing) to the thrust bearings 8, 9 (or AxB) and to the machine 2 and SRM 1, the in Figs. 8, 9 and Fig. 6 shown blocks 55, 60 and 35, respectively.
    Figs. 14 and 15 illustrate the control and actuation of a magnetic bearing similar to Figs. 8 and 9, but for a conical magnetic bearing which can generate forces in all three coordinate directions. The control shown is provided for three electromagnets which are arranged offset by 120 ° on the stator (see Fig. 14).
    Concretely, Fig. 14 shows a FESS 1 similar to Fig. 1, but in outer rotor design and with the cited conical magnetic bearing. In comparison to FIG. 1, here the electric machine is a permanent magnet-excited synchronous machine (PMSM) lying in the center of gravity, which can likewise be operated in stock and without force.
    The external rotor form lends itself here because the permanent magnets are supported by the composite material of the rotor 5 '.
    In the case of PMSM machines, too, radial forces occur in the case of eccentric running, which depending on the rotor topology can also have an angular dependence (compare Charpentier JF, Lemarquand G .: A comparative analysis of permanent magnet-type bearingless synchronous motors for fully magnetically levitated rotors, Journal of Applied Physics, vol. 83, no. 11, 1998). By an appropriate design of the magnetic poles and the winding system and a separate control of the coils per phase or by their own Lagerwindungen (s., For example, 28/63 28
    Yanbo Lv, Wenquan Zuo, Xiaoyan Diao and Huangqiu Zhu, Modeling and Digital Control System for permanent magnet synchronous engine, 1 Aug 2011) can use PMSM, as well as the SRM of FIGS. or "in stock" operate. The difference in the control of PMSM compared to the SRM used in the previous embodiment is that the PMSM can use standard motor drive converters which are state of the art.
    Furthermore, conical magnetic bearings 6 ', 7' for supporting the rotor 5 'are present in this exemplary embodiment, as also described, for example, in Mohamed et al., Conical Magnetic Bearings with Radial and Thrust Control, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 37 (12) (1992 ): 1859-1868, described.
    These offer the advantage that with six electromagnets (three per rotor end) a complete magnetic bearing of the rotor 5 'is possible, resulting in a compact design results. Furthermore, there is a reduced effort in the control electronics. By this embodiment, the complete soft magnetic branch can be realized laminated, resulting in lower Ummagnetisierungsverluste than produced from soft magnetic solid material magnetic bearings.
    The rotor position is detected in this embodiment by means of four, each also inclined arranged eddy current sensors. At each rotor end two of these sensors 10 ', 11' are placed, wherein the planes which are spanned by the respective sensor axis and the central axis of the flywheel 3 'are each normal to each other. 29/63 29
    The "Conical Bearing Control and Actuation" 80 (see also Fig. 15 except Fig. 14) is analogous to the radial magnetic bearing control and -ansteuerung 55 in Fig. 8 executed. The only difference is that the map from which the set currents of the solenoids are calculated (block 34 '"map &quot; lAMBij, shall (Fx, AMBij> Fy, AMBij> Fz, AMBij> sx, AMBij> sy, AMBij &gt;; sz, AMBij)) SOWOhl the desired forces in the x and y direction from the radial position controller 33 'and in the z direction from the axial position controller 61' are supplied. For this purpose, in block 53 '"coordinate transformation &quot; a conversion of the distance sensor signals in the radial and axial directions. The calculation of the characteristic field (block 34 ') takes place in a manner known per se via the geometric relationships and the nonlinearity of the magnetic circuit.
    The three power control blocks connected downstream of the map block 34 'correspond to those according to FIG. 8, so that a further description can be dispensed with.
    In Fig. 16, an active magnetic bearing type FESS system 1 is similar to that shown in Fig. 1, except that now several - e.g. two - electric machines 2.1, 2.2 are provided in the form of SRMs. Accordingly, two control and drive blocks 35, one for each of the two electrical machines 2.1, 2.2, are provided. Otherwise, the embodiment corresponds to that according to FIGS. 1 and 2, so that reference may be made to the description there.
    Of importance in this third embodiment shown in FIG. 16 that when two electrical machines 2.1, 2.2 are used, they can also be used as supportive storage in large external disturbances, due to the selected in Fig. 16 placement on the shaft ends also a sole storage with the 30/63 30
    Operating mode "in stock" operated electric machines 2.1, 2.2 is possible (redundant storage, for example, if the dedicated magnetic storage, according to Fig. 1 to 9, the required total electrical power of the system 1 is calculated based on the deviation of the actual DC link voltage and the setpoint For example, it may in turn be embodied as a PI controller and integrated in the microcontroller (see pC in FIG. 1) of the control of the electrical machines (blocks 35) In addition, the above-described power split between the electric machines 2.1, 2.2 takes place by means of pulse width modulation of the drive power ,
    Of course, more than two electrical machines can be arranged coaxially with each other. An advantage in the provision of two or more electric machines is that - as mentioned above - an independent power control can be provided, then also a means for distributing the power is provided on the machines, for example, as shown in FIG Units 17 and 35 can be realized. With the aid of this power distribution, the machines, e.g. 2.1, 2.2, are controlled such that a maximum overall efficiency of the machine combination is obtained. On the other hand, the control of the machines can be done so that a maximum overall efficiency for the machine including control is achieved. Furthermore, it is conceivable to monitor the power converters (26 in FIG. 5) with regard to their operating temperature, wherein the device for power distribution then controls the machines in such a way that the lowest possible operating temperature of the power converters 26 which control the machines is ensured. Finally, it is also conceivable to monitor the internal temperature of the machine housing 4 and to determine the power distribution for the machines, e.g. 2.1, 2.2, so 31/63 31 provide that the losses within the housing are minimized by the control of the machines.
    Incidentally, as in the first embodiment, as shown in FIG. 16, the rotor 5 is supported in its main axis of inertia by the magnetic bearing in the first operation mode. The electrical machines 2.1, 2.2 are in this mode of operation "free of power &quot; operated. The deflections of the rotor 5 are determined via the geometric relationship of position sensor 10 to electrical machine 2.1 or 2.2 or bearings 6, 7. Here, too, a switchover to the second operating mode (bearing force generation of the electrical machines) takes place in accordance with the switching conditions described for the first exemplary embodiment.
    FIG. 17 generally shows the efficiency η of an SRM motor 2 as a function of the electrical power P, with the maximum effective wheel η ^ χ being shown. Incidentally, the relationship between η and P is similar for PMSM machines.
    In Fig. 18, a rotor shaft 5 is shown, which is mounted at the upper and lower ends respectively by means of an active air bearing 6 'and 7'. Furthermore, in turn, two electric machines 2.1, 2.2 are provided for driving the rotor shaft 5. These electric machines 2.1, 2.2 may in turn be SRM or PMSM machines, or any other engine technology that enables active radial forces to be generated.
    The representation of an axial bearing has been omitted in FIG. 18 for the sake of simplicity; it may be embodied, for example, as shown in FIG. 1 or as shown in FIG. 16. 32/63 32
    If, in the fourth exemplary embodiment, as shown in FIG. 18, a rotary bearing and drive system with air bearing and two electrical machines is shown, then of course only one electric machine 2 could be provided. The storage of the rotor 5 again takes place in the normal or first operating mode simply by means of the air bearing, the machine or machines 2.1, 2.2 "free of forces &quot; operate.
    Once, as in the first embodiment, the
    Switching condition is met, the SRM 2 or the SRMs 2.1, 2.2, in turn, as described, from the "power-free". Operating mode in the "stored" Switched operating mode, which greater disturbance forces or the failure of the air bearings can not lead to attacks of the rotor 5 on the stator.
    In FIGS. 19 to 21, as a further exemplary embodiment, a translational bearing and drive system with active magnetic bearing and an electrical machine (SRM) is shown.
    In detail, Fig. 19 is a diagrammatic view of a magnetically supported linear drive unit 90; the associated digital control and power electronics 91 is illustrated in FIG. 21; Fig. 20 shows in detail schematically a linear machine 92, which is based on the reluctance principle, as a drive, with a rotor or armature 95. The representation of distance sensors, etc. has been omitted for reasons of clarity.
    The magnetic storage takes place by means of electromagnets according to the prior art. In each case four bearing magnets are combined according to an axis. As can be seen from Fig. 19, there are upper bearing magnets (electromagnets) 93 which provide vertical stabilization. Furthermore, 33/63 are 33
    Bearing magnets (electromagnets) "right" 94 and bearing magnets (electromagnets) "left &quot; 96 for horizontal stabilization. The drive (92 in Fig. 20) has a left stator 98 and a right stator 97, see. except Fig. 19 also Fig. 20.
    As regards the aforementioned bearing axes, the vertical bearing axis Axl operates independently with the magnets AxlA, AxlB. The axis Ax2, with the magnets Ax2A, Ax2B, Ax2C and Ax2D performs the upper bearing of the plate-shaped rotor 95; the axis Ax3, with the magnets Ax3A, Ax3B, Ax3C and Ax3D (Ax3B is hidden in FIG. 19), realizes the lower bearing of the disk rotor 95.
    According to FIG. 20, excitation coils la, lb; 2a, 2b; and 3a, 3b are attached to form the electromagnets 99.
    By in Fig. 20 in particular apparent stator (stator 97, 98), arises as mentioned a position-dependent reluctance, which is used for the advancement of the rotor 95.
    In Fig. 21, the digital control and power electronics 91 is illustrated in an abstracted block diagram. Similar to the previous embodiments relating to rotary systems, the sub-blocks are also designed according to FIG. 21 for the control of the bearing axes and of the electric machine, with the difference that (of course) no imbalance control is used and instead of the angle of rotation the electric machine 2, the displacement of the rotor 95 is used.
    By moving direction-dependent energization of the coil pairs coil la to coil 3a (left coils) and coil lb to coil 3b (right coils) of the drive unit, the driving force 34/63 34 is generated. As with the rotary system 1, forces are also normally produced on the plate in the case of the translatory system 90, depending on the distance between the fixed stator 97, 98 and the movable rotor 95. By different energization of the left and right armature coil pairs la to 3a or lb to 3b asymmetries can be compensated here, too. a "stock free" &quot; Run can be achieved, and by switching the operating mode in the "warehouse operation". It is also possible to support strong external disturbing forces that can not be handled with the magnetic bearing alone.
    Specifically, in the unit for digital control and power electronics, s. Block 91 in Fig. 21, analogous to the preceding embodiments a
    Target position calculation unit 70 'for the bearing axis 1 and a target position calculation unit 71' for the bearing axes 2, 3 are provided. A detection and switching unit 52 ', 52' 'again serves to detect the overshoot or undershoot of a predetermined limit for at least one operating parameter, and for switching from one operating mode to another.
    Finally, in FIG. 21, analogous to FIG. 2, an electrical machine control drive 35 'and also three control drive blocks 55.1 (for the magnetic bearing axis Axl), 55.2 (for the magnetic bearing axis Ax2) and 55.3 (for the magnetic bearing axis Ax3 ). Finally, the controlled blocks SRM1 (see also Fig. 20) and the bearing magnets for the axles Axl, Ax2 and Ax3 are illustrated. 35/63
    权利要求:
    Claims (13)
    [1]
    35 claims: 1. Storage and drive system (1) with at least one electric machine (2) together with control (50), wherein the bearing force of the respective storage degree of freedom of the machine (2) is actively influenced, and with a non-contact, active influenceable storage (6, 7) together with control (55), characterized in that the control (50) of the machine (2) has two operating modes, one of which operating mode minimizing the force influences of the electric machine (2) on the respective Lagerfreiheitsgrade and the other operating mode causes an active bearing force generation of the electric machine (2) for bearing support, and that a detection and switching unit (52 ', 52' ') for switching between the two operating modes when falling below a predetermined limit of at least one Operating parameter is provided, with a control or control unit (35) for the machine (2) and the storage (6, 7) is connected.
    [2]
    2. Bearing and drive system according to claim 1, characterized in that the detection and switching unit (52 ', 52' ') for detecting a deviation of the rotor (5, 5') and armature (95) of the machine a geometric middle layer is set up.
    [3]
    3. Bearing and drive system according to claim 1 or 2, characterized in that the control or control unit (35) based on a stored map (34, 62) or model including observer asymmetric energization of the coils (la-3b) the machine (2) provides.
    [4]
    4. Bearing and drive system according to one of claims 1 to 3, characterized in that as an operating parameter, the deflection and or the deflection speed of the rotor (5, 5 ') or armature (95) and or or the 36 / 63 36 acceleration of the housing (4) of the machine (2) are specified.
    [5]
    5. Storage and drive system according to one of claims 1 to 4, characterized in that in the case of a plurality of operating parameters causes a weighted combination of operating parameters when exceeding or falling below a predetermined limit, the switching of the operating mode.
    [6]
    6. Bearing and drive system according to one of claims 1 to 4, characterized in that a plurality of electrical machines (2.1, 2.2) are present, which have an independent power control and a device (17, 35, Fig. 16) for power distribution ,
    [7]
    7. Storage and drive system according to claim 6, characterized in that the electrical machines (2.1, 2.2) are controlled by means of the power distribution device to the effect that the overall efficiency of the electric machines is maximized.
    [8]
    8. Bearing and drive system according to claim 6, characterized in that the electrical machines (2.1, 2.2) are controlled by means of the device for power distribution to the effect that the overall efficiency of the electrical machines together with control is maximized.
    [9]
    9. Storage and drive system according to claim 6, characterized in that the electrical machines (2.1, 2.2) are controlled by means of the power distribution device to the effect that the operating temperature of power converters (26), which control the electric machines, is minimized ,
    [10]
    10. Bearing and drive system according to one of claims 6 to 9, characterized in that the electrical machines (2.1, 2.2) are controlled by means of the power distribution device 37/63 37 to the effect that the losses are minimized within the housing.
    [11]
    11. Storage and drive system according to one of claims 1 to 10, characterized in that it is designed with a flywheel storage (3) for storing electrical energy (Flywheel Energy Storage System-FESS).
    [12]
    12. Bearing and drive system according to one of claims 1 to 9, characterized in that it is designed as a rotary system.
    [13]
    13. Bearing and drive system according to one of claims 1 to 9, characterized in that it is designed as a translational system (92). 38/63
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    同族专利:
    公开号 | 公开日
    AT513640B1|2014-08-15|
    WO2014085839A1|2014-06-12|
    EP2929197A1|2015-10-14|
    引用文献:
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    US6727618B1|2002-06-10|2004-04-27|The United States Of America, As Represented By The Administrator Of National Aeronautics And Space Administration|Bearingless switched reluctance motor|
    US20060238053A1|2004-03-01|2006-10-26|The University Of Toledo|Conical bearingless motor/generator|
    WO2010137766A1|2009-05-28|2010-12-02|Kyungsung University Industry Cooperation Foundation|Hybrid pole bearingless srm|
    JP4558367B2|2004-03-31|2010-10-06|エドワーズ株式会社|Vacuum pump and control method thereof|
    DE102008038787A1|2008-08-13|2010-02-18|Siemens Aktiengesellschaft|Fluid energy machine|
    FR2936287B1|2008-09-22|2018-06-22|Soc De Mecanique Magnetique|TURBOMOLECULAR PUMP WITH FLEXIBLE MOUNTING|
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    CN109378930B|2018-10-11|2020-06-09|江苏大学|Outer rotor vehicle-mounted flywheel energy storage device based on novel magnetic repulsion hybrid magnetic bearing|
    法律状态:
    2018-08-15| MM01| Lapse because of not paying annual fees|Effective date: 20171204 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50555/2012A|AT513640B1|2012-12-04|2012-12-04|Bearing and drive system|ATA50555/2012A| AT513640B1|2012-12-04|2012-12-04|Bearing and drive system|
    PCT/AT2013/050232| WO2014085839A1|2012-12-04|2013-12-03|Bearing and drive system|
    EP13811762.7A| EP2929197A1|2012-12-04|2013-12-03|Bearing and drive system|
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