A miniature milling spindle with Active Magnetic （一个微型铣刀轴与主动磁）.pdf

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A miniature milling spindle with Active Magnetic （一个微型铣刀轴与主动磁）.pdf

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A miniature milling spindle with Active Magnetic （一个微型铣刀轴与主动磁）

Mechatronics 20 (2010) 224–235 Contents lists available at ScienceDirect Mechatronics journal homepage: /locate/mechatronics A miniature milling spindle with Active Magnetic Bearings M.H. Kimman *, H.H. Langen, R.H. Munnig Schmidt Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands a r t i c l e i n f o a b s t r a c t Article history: This paper describes the design and realization of a miniature milling spindle with Active Magnetic Bear- Received 22 May 2009 ings (AMBs). Permanent magnet biased, reluctance type actuators position the rotor in ﬁve Degrees of Accepted 30 November 2009 Freedom (DOF), leaving the rotation unconstrained. A rotordynamic model was developed to expedite the controller design, and enabled modeling of the spindle’s performance under the inﬂuence of cutting forces. A modal controller, including a negative stiffness compensation scheme, was implemented. A Keywords: cross-feedback controller partly compensates the gyroscopic effect. The spindle with these controllers Active Magnetic Bearings has a maximum speed of 150.000 rpm. Micro milling 2009 Elsevier Ltd. All rights reserved. High speed rotation 1. Introduction