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Journal of System Design and Dynamics Journal of System Vol. 7, No. 2, 2013 Design and Dynamics 【Review Paper】 Reviews of Magnetic Bearing Development in Japan* Naohiko TAKAHASHI** **Turbomachinery R&D Center, Infrastructure System Company, Hitachi, Ltd. 603 Kandatsu-machi, Tsuchiura-shi Ibaraki, Japan E-mail: [email protected] Abstract In the 1980s, active magnetic bearings attracted attention because of their benefits that include contact-free support, no lubrication and low energy consumption, and their industrial applications were extensively studied. In the 1990s, the latest control theories were applied to magnetic bearings, and bearingless drive technologies were established. Magnetic bearings were increasingly applied to industrial machinery and started to find use in artificial hearts. The number of researchers engaged in research on magnetic bearings rapidly increased in Japan, and many achievements were reported. Currently, however, less research is being carried out. In this article, Japan’s contribution to the research and development of magnetic bearings is reviewed, particularly key works in the early days of magnetic bearings, from various aspects such as control, rotordynamics, self-sensing, bearingless drives, bearing loss, touchdown bearings, industrial applications, and standardization. Key words: Magnetic Bearing, Control, Rotordynamics, Self-Sensing, Bearingless Drive, Bearing Loss, Touchdown Bearing, Turbo Molecular Pump, Spindle, Compressor, Blower, Pump, Turbine, Electric Motor, Flywheel 1. Introduction The progress of magnetic bearings in Japan would be reviewed for publication in this issue entitled Reviews of Japan’s Rotordynamics Development. Currently, research on magnetic bearings is no longer popular in Japan. This is because magnetic bearing technologies are already mature, and the industries that require magnetic bearings have not significantly grown in Japan. However, Japan has greatly contributed to the establishment of basic technologies for magnetic bearings. This review should provide a good opportunity to recognize the achievements of Japanese researchers. Research on magnetic bearings is mainly reported in the Transactions of the Japan Society of Mechanical Engineers (in Japanese) and the International Symposium on Magnetic Bearings (ISMB) (in English). Therefore, most of the research on magnetic bearings in Japan can be found in these publications. Meanwhile, online services for searching for academic articles have recently become available. Anyone can easily search for academic articles on magnetic bearings using the Scholarly and Academic Information Navigator (CiNii) provided by the National Institute of Informatics (NII). In this article, the research activities on magnetic bearings in Japan are reviewed referring to the above-mentioned two publications and using the search system of CiNii. Through this approach, the postwar Japanese achievements in magnetic bearings will be clarified. Although Japan has significantly contributed to the *Received 23 Jan., 2013 (No. R-13-0023) [DOI: 10.1299/jsdd.7.111] international standardization of magnetic bearings, this is rarely indicated in the literature. Copyright © 2013 by JSME The Japanese activity for standardization is also reviewed. It is hoped that by recognizing 111 Journal of System Vol. 7, No. 2, 2013 Design and Dynamics Japan’s contribution to magnetic bearings, the research and development of magnetic bearings will again become popular in Japan. 2. General Description Magnetic bearings have two types of operation; one uses the repulsive force of magnets and the other uses the attraction force. Moreover, some use permanent magnets and others use electromagnets. Repulsive-type magnetic bearings using permanent magnets can essentially stabilize an object in the levitation direction; however, an object cannot be stably levitated solely by permanent magnets, as shown by Earnshaw’s theorem(1). Magnetic bearings using electromagnets are generally based on the attraction-type operation, which is essentially unstable and requires some control. To support a rotating shaft using electromagnets, a total of five axes, i.e., four axes in the radial direction and one axis in the axial direction, must be controlled. This review focuses on active magnetic bearings using electromagnets. In Japan, some societies have carried out extensive activities on magnetic bearings through their committees and have published related books as follows. The results of a four-year survey have been reported by the Magnetic Levitation Technical Committee of the Institute of Electrical Engineers of Japan (Chairperson, Fumio Matsumura)(2). An introduction to magnetic bearings has been published by the Technical Section for the Dynamics and Control of Magnetic Bearings of the Japan Society of Mechanical Engineers (Chairman, Yohji Okada)(3). A practical guide for designers of rotating machines has been published by the Technical Section for the Standardization of Active Magnetic Bearings of the Japan Society of Mechanical Engineers (Chairman, Osami Matsushita; Editor and Author, Yoichi Kanemitsu)(4). Several books on magnetic bearings written by Japanese researchers have also been published overseas; Chiba and his colleagues, who study bearingless drives, wrote a book on the basics of bearingless drives(5). Okada has outlined bearingless motors in a book on magnetic bearing technologies edited by Schweitzer and Maslen, which focuses on rotating machinery (6). Japan has also played a major role in running the ISMB. This symposium was established in 1988 and is held every two years, usually in Switzerland, Japan, and the USA in this order. Thus far, the symposium has been held four times in Japan: Tokyo in 1990 (Chairperson, Toshiro Higuchi), Kanazawa in 1996 (Chairperson, Matsumura), Mito in 2002 (Chairperson, Okada), and Nara in 2008 (Chairpersons, Kenzo Nonami and Takeshi Mizuno). As research on magnetic bearings has recently become popular in China, the 2010 symposium was held in China. Figure 1 shows the number of academic articles written by Japanese researchers on magnetic bearings for each year over approximately the last 60 years, obtained by entering “jiki jikuuke” (magnetic bearing in English) as a keyword in CiNii. In 1937, Holmes at Virginia University demonstrated, for the first time in the world, that magnetic levitation can be realized by automatically changing the strength of a magnetic field(7). Approximately 10 years later, the first study on magnetic bearings carried out in Japan was reported. The report concerned magnetic bearings used for high-speed rotation and was written by Arakatsu et al. at the Institute for Chemical Research, Kyoto University, and submitted to the Nihon Butsuri Gakkaishi (Butsuri), a Japanese journal published by the Physical Society of Japan, in 1948(8). In the 1950s, ultracentrifuges for biochemistry were intensively studied in Japan. Magnetic bearings were highly expected for them to have low friction. In 1952, Mimura and Taniguchi at Tokyo Institute of Technology reported their study on magnetic bearings(9). In 1960, the Central Research Laboratory, Hitachi, Ltd., developed a magnetically supported prototype free-running equilibrium type ultracentrifuge(10). In the 1960s and 1970s, a group led by Sasaki, Mori, Okino, and 112 Journal of System Vol. 7, No. 2, 2013 Design and Dynamics Watanabe at Kyoto University and a group led by Taniguchi and Shimizu at Tokyo Institute of Technology intensively studied magnetic bearings(11)(12)(13). In France, the company Société Mécanique Magnétique (S2M), which specializes in the design and manufacture of magnetic bearings, was founded in 1976. In the 1980s, research on magnetic bearings became active and the number of related articles increased yearly. In particular, there were many reports from Higuchi and Mizuno at the University of Tokyo, Matsumura and Fujita at Kanazawa University, and Murakami and Nakajima at the National Aerospace Laboratory of Japan. During this period, magnetic bearings used for turbomolecular pumps, machine tool spindles, and flywheels of spacecraft(14)(15) were actively developed and commercialized. The commercialization of magnetic bearings was further expanded in the 1990s. An increasing number of researchers studied magnetic bearings and presented many reports; magnetic bearing research in Japan was led by the groups of Okada at Ibaraki University and Nonami at Chiba University in addition to the above-mentioned groups. In this period, robust control theories including H∞ control were intensively studied, and fast digital-signal processing systems became readily available. The use of magnetic bearings has become popular for demonstrating these new control theories. Basic bearingless drive technologies were also established in this period and were frequently reported by the groups of Fukao at Tokyo Institute of Technology and Chiba at Science University of Tokyo (currently at Tokyo Institute of Technology) as well as the above-mentioned group led by Okada. Moreover, magnetic levitation technologies started to be applied to blood pumps. In the 2000s, the demand for industrial machinery using magnetic bearings grew less than expected, with the exception of medical applications and some small applied products. In contrast, intensive activity was observed overseas towards the establishment of future industries using magnetic bearings. For example, compressor manufacturers competitively developed machines supported by magnetic bearings for use in subsea gas fields by integrating
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