18th INTERNATIONAL CONFERENCE ON MICRO/NANOTECHNOLOGIES AND ELECTRON DEVICES EDM 2017

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Nikolay P. Savin, Sergey A. Kharitonov
Novosibirsk State Technical University, Novosibirsk, Russia
Abstract  7KH SDSHU SUHVHQWV D VWUXFWXUH RI D PDJQHWLF Field experience of mechanical gearboxes shows high wear
JHDUER[ ,W LV VKRZQ WKDW D VLPXODWLRQ PRGHO RI D PDJQHWLF and overloading failures (especially, at shock overloads).
JHDUER[FDQEHUHGXFHGWRWKHWZRPDVVV\VWHP%DVHGRQWKH Severe wear and failures of mechanical gearboxes result
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in considerable maintenance costs. It should also be noted
KDOIFRXSOLQJV E\ LQHUWLDOHVV H[LEOH FRXSOLQJ WKH VWUXFWXUDO
PRGHORIWKHPDJQHWLFJHDUER[LVGHYHORSHG that the presence of lubricants inside a mechanical gearbox
OHDGVWRDVWURQJGHSHQGHQFHRIVWDWLFUHVLVWDQFHWRUTXHRQ
Index Terms  SHUPDQHQW PDJQHWV PDJQHWLF JHDUER[ WZR ambient air temperature and can be one of the reasons of
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Using of magnetic gearboxes is of great importance for
systems where mechanical energy is to be transferred via
I. INTRODUCTION
hermetic barriers to, for example, vacuum cavities, high

P 52*5(66 ,1 '(9(/23,1* thermally stable high-

energy magnets made from alloys of rare earth metals
having high coercive force (e.g. samarium-cobalt (SmCo)
SUHVVXUHYHVVHOVFKDPEHUVOOHGZLWKDJJUHVVLYHPHGLXPV
(in chemical industry, nuclear power engineering, space
technologies, etc). In these cases, application of direct
DQGQHRG\PLXPLURQERURQ1G)H%VLJQLFDQWO\H[WHQGV mechanical transmission through a barrier or a wall with
WKHHOGRIDSSOLFDWLRQIRUHOHFWURPHFKDQLFDOFRQYHUWHUV> WKHXVHRIVHDOLQJJODQGVKDVJUHDWGLIFXOWLHVRUHYHQLVQRW
2, 3]. possible.
Application of mechanical devices for rotational energy
transfer in electric drive systems is associated with such II. &216758&7,212)$0$*1(7,&*($5%2;
known drawbacks as backlashes, nonlinearities, reduced
HTXLSPHQW HIFLHQF\ DQG RYHUKDXO SHULRGV To increase
safety for technological processes performed in aggressive,
explosive, vacuum and other environments, application of
hermetic gears and electromechanical energy converters is
UHTXLUHG>@
Using magnetic couplings, it is possible to eliminate
drawbacks in electric drive systems caused by mechanical
gears and to develop a novel device conforming to tightness
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electromechanical converters. Application of high-energy
magnets for magnetic couplings allows improving mass
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WRUTXHRIURWDWLRQZLWKWKHVDPHGLPHQVLRQV
0DJQHWLF FRXSOLQJV DUH FRQYHQLHQW DQG HIFLHQW GHYLFHV
for developing hermetic electromechanical gears for energy
transfer. This technology is characterized by simplicity,
advanced reliability and high operating economy. Magnetic
Fig. 1. Design of a magnetic gearbox
couplings successfully compete with other hermetic devices
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The magnetic gearbox (see Fig. 1) consists of a high-speed
They have different areas of application. Magnetic
rotor (pos. 1) and a stator (pos. 3) with permanent magnets
couplings are used for soft start of mechanisms having high
with the different number of pole pairs. A low speed rotor in
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the form of a modulating ring with ferromagnetic segments
for interconnected mechanisms with hard acceleration and
(pos. 2) is placed between poles of the high-speed rotor
hard braking. It can also be used for protection of drives
and the stator. Magnetic gearbox operation is based on
against mechanical overloads under fault conditions of a
electromagnetic reduction of a rotational speed. Fluxes of
load device (for example, jamming).
two permanent magnet rings of the stator and the high-speed
Perspectives of using mechatronic systems for energy
rotor are closed through ferromagnetic segments of the low-
transformation with the use of magnetic gears can be
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VLJQLFDQWO\ H[SDQGHG ZKHQ XVLQJ PDJQHWLF JHDUER[HV
harmonic contents are generated in gaps between permanent

978-1-5090-6688-9/17/$31.00 2017 IEEE

18th INTERNATIONAL CONFERENCE ON MICRO/NANOTECHNOLOGIES AND ELECTRON DEVICES EDM 2017 

magnet poles and the modulating ferromagnetic ring. By E\ -1 EHLQJ HTXDO WR -1  -PM  -1M 7KH WRWDO HTXLYDOHQW
variation of the number of pole pairs, it is possible to change moment of inertia for elements having rigid connection to
IUHTXHQFLHV RI IXQGDPHQWDO KDUPRQLFV ,W DOORZV FKDQJLQJ WKH RSHUDWLQJ PHFKDQLVP LV GHQRWHG E\ -2 EHLQJ HTXDO WR
the ratio of rotational speeds of the low-speed rotor and the -2 -OM-2M7KHUVWPDVVKDYLQJWKHPRPHQWRILQHUWLD-1
high-speed rotor. LVDFWHGRQE\WKHPRWRUWRUTXH1 M which counteracts
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realized without mechanical contact between the low- PDJQHWLFHOGLQWKHDLUJDS
speed rotor and the high-speed rotor. In combination with To determine parameters of the magnetic gearbox, the
high-energy magnets it is possible to provide the following WRUTXH FKDUDFWHULVWLF RQ DQ DQJOH RI SRVLWLRQ IRU WKH KLJK
DGYDQWDJHV KLJK WRUTXH GHQVLW\ RI WKH ORZVSHHG URWRU VSHHGURWRUZDVFDOFXODWHGE\DQLWHHOHPHQWPHWKRGXVLQJ
JUHDWHU WKDQ  N1PP3); decreasing of mass and $16<60D[ZHOO>@7KHUHVXOWVRIFDOFXODWLRQVIRUDQJXODU
dimensions parameters; reducing of operating costs due characteristics of the low-speed rotor and the high-speed
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XS WR  SK\VLFDO LVRODWLRQ EHWZHHQ VKDIWV WKDW PDNHV
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safety with the lack of oils and lubricants in a gearbox; low
noise and vibrations; drive protection against mechanical
overloads under fault conditions of a load device (for
example, jamming).
Relevance for the development of magnetic gearboxes
are also caused by the possibility for automatic control of
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for example, by shielding some magnets with the use of
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ferromagnetic parts or dividing pole pairs of halfcouplings.

III. PROBLEM DEFINITION

Fig. 2 shows a kinematic diagram of connection between
a primary motor and an operating mechanism through a
magnetic gearbox.

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These characteristics show that the character of change

RI HOHFWURPDJQHWLF WRUTXH WUDQVPLWWHG WR WKH ORZVSHHG
URWRU WKURXJK WKH HTXLYDOHQW PDJQHWLF VSULQJ LV FORVH WR D
)LJ .LQHPDWLF GLDJUDP 30  SULPDU\ PRWRU 20  RSHUDWLQJ sinusoidal waveform. By analogy with a magnetic coupling
mechanism, 1 high-speed rotor, 2 low-speed rotor, 3 stator
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If neglecting elasticity of input and output rotors, an M M m sin T , (1)
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by the two-mass mechanical system shown in Fig. 3. The
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low-speed rotor and the high-speed rotor are connected via
the magnetic gearbox and properties of permanent magnets
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and ferromagnetic materials [7], a twist angle between
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In the design model of the two-mass elastic system (see
T M1  M2 p1T1  p2T 2 ( p1Z1  p2Z2 )dt (2)
)LJWKHWRWDOHTXLYDOHQWPRPHQWRILQHUWLDIRUHOHPHQWV
2 and 2 the number of pole pairs and angular position of
having rigid connection to the primary motor is denoted
 18th INTERNATIONAL CONFERENCE ON MICRO/NANOTECHNOLOGIES AND ELECTRON DEVICES EDM 2017

the low-speed rotor; 1 and 1 the number of ferromagnetic

segments and angular position of the high-speed rotor.
The two-mass electromechanical system is a very
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of resistance is determined by the moment of rotating
resistance MR produced by the operating mechanism and Fig. 6. Linearized structure diagram of the magnetic gearbox
related to the driven shaft of the magnetic coupling. As a
result, motion of the considered two-mass mechanical drive  :KHQ ORDG WRUTXH R LV FORVH WR PD[LPXP WRUTXH RI
V\VWHPFDQEHPDWKHPDWLFDOO\GHVFULEHGDV the low-speed rotor, pole-slipping is possible to occur. It
is evident that a linear model does not allow analyzing this
dZ1 dZ
01  0 3 -1 0 2  0 R - 2 2  regime.
dt dt ,IDQDQDO\WLFDOGHSHQGHQFHRIPDJQHWLFFRXSOLQJWRUTXHRQ

 0 3  0 2  G 0 2 f T  0 m VLQ T  (3) DWZLVWDQJOHLVNQRZQDFRHIFLHQWRIULJLGLW\RIPDJQHWLF
FRXSOLQJZLOOEHHTXDOWR
T M1  M2 ( p1Z1  p2Z2 )dt , dM 2
cm M m cos T .
where G  p1  p2 FRHIFLHQWRIVSHHGUHGXFWLRQ dT
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corresponding to (3). twist angle is also nonlinear. With twist angles of
S   d T d S  

the dependence c m (T ) may be approximated by a straight

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7KH VWUXFWXUH GLDJUDP JLYHQ LQ )LJ  LQYROYHV D
considerably nonlinear element. To analyze these diagrams,
the method of detailed structured diagrams can be used. In
recent years it has been widely used. Using this method, it is
possible to identify linear and nonlinear areas of the model,
transform a linear part according to known principles [9],
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and electromagnetic forces, expand the model by additional
elements as in real electromechanical systems. The method
is shown to be universal [9]. It allows changing models of
system elements without any global changes in the system
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GHWHUPLQHG E\ DQ HTXDWLRQ RI WDQJHQW WR WKH FKDUDFWHULVWLF
c m (T ) , which is generally represented by
c m (T ) c m (T 0 )  ccm (T 0 )(T  T 0 ) .
,QWKLVHTXDWLRQ T 0 GHQHVDQDQJXODUFRRUGLQDWHZKHUHD
tangent to the characteristic c m (T ) is plotted. Considering
that
ccm (T )  M m sin T
and with T 0 S   , obtain
model.
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applied for linear structure diagrams is more preferable for
synthesis of automatic control systems. With relatively low
twist angles (up to 30 degrees) it is assumed that
F m T   0 m T  S   
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determined from

sin T | T . 0  F m T dT 0 m > T  S  dT  C @ ,

It allows approximation of a gearbox mechanical where C the constant of integration.

characteristic in the range of twist angles not exceeding 30 As a result, obtain
GHJUHHV E\ D VWUDLJKW OLQH ZLWK DQ HUURU RI ORZHU WKDQ  1 S
Using such approximation, obtain 0   0 m  T 2  T  & .
2 2
M2 Mm T .
The constant of integration can be derived from
0S   0 m .
In this case, a linearized structure diagram of the magnetic
gearbox can be developed (see Fig. 6).
18th INTERNATIONAL CONFERENCE ON MICRO/NANOTECHNOLOGIES AND ELECTRON DEVICES EDM 2017 

[2] 3DQNUDWRY99=LPD<H$.RWLQ'$.XFKHU<H63HUPDQHQW
Magnet Synchronous Drives as Promising Systems for Electric and
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    [3] $FDUQOH\ 3 3 :DWVRQ - ) 5HYLHZ RI 3RVLWLRQ6HQVRUOHVV
Operation of Brushless Permanent-Magnet Machines, IEEE Trans.
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Then, &  . WUDQVPLVVLRQGHYLFH,(((7UDQVDFWLRQVRQ0DJQHWLFVYRO1R
8 SS
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FRXSOLQJ FRQVWUXFWLRQV IRU WRUTXH WUDQVPLVVLRQ WKURXJK D KHUPHWLF
WRUTXHFDQEHGHQHGDV EDUULHULQHOHFWULFSXPSXQLWV9RURQH]K(OHFWURWHFKQLFDOFRPSOH[HV
and control systems, No. 1, pp. 6-10, 2007.
S 1 [6] Sapsalev A.V., Achitaev A.F., Bogdanov V.V., Savin N.P., Davydenko
0 0 m T  T 2   2%6WUXFWXUDO0RGHORID0DJQHWLF&RXSOLQJWK,QWHUQDWLRQDO
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transmission with variable gear ratio in a wind-driven generator for
Mm
2

S T  T 2    improving dynamic stability stoke, Bulletin of the Tomsk Polytechnic
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[8] Montague R., Bingham C., Atallah K. Servo control of magnetic
JHDUV ,((($60( 7UDQVDFWLRQV RQ 0HFKDWURQLFV YRO  1R 
Calculations show that if a twist angle is varied in the pp. 269-278, 2012.
range of [9] Ivanushkin V.A., Sarapulov F.N., Szymczak P., Structured modeling
RIHOHFWURPHFKDQLFDOV\VWHPVDQGFRPSRQHQWV6]F]HFLQ6]F]HFLQ
S   d T d S   , University of Technology, 2000.

$QDWRO\96DSVDOHY'(QJ3URIHVVRU$FWLQJ+HDG
WKH HUURU LQ WRUTXH GHWHUPLQLQJ XVLQJ  GRHV QRW H[FHHG of the Electronics and Electrical Engineering
Department, Novosibirsk State Technical University
 (NSTU), graduated from Novosibirsk Institute of
The structure diagram of the magnetic gearbox developed (OHFWULFDO(QJLQHHULQJ1,((LQ+HKDVZRUNHG
ZLWKWKHXVHRIDQGLVJLYHQLQ)LJ LQWKH16781,((VLQFH+LVDUHDRIVFLHQWLF
research is gearless electric drives and their control
V\VWHPV3URI6DSVDOHYKDVPRUHWKDQSDSHUV+H
is awarded by the USSR Inventor Medal.
6HUJH\ $ .KDULWRQRY E  '(QJ 3URIHVVRU
+HDG RI WKH (OHFWURQLFV DQG (OHFWULFDO (QJLQHHULQJ
Department, Novosibirsk State Technical University.
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of electromagnetic process in nonlinear electric circuits
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Marks av., Novosibirsk, 630073, Russian Federation.
Fig. 7. Structure diagram of the magnetic gearbox at high twist angles (PDLONKDULW#\DQGH[UX
$OH[DQGHU * 3ULVWXS, Ph.D., Associate Professor of
the Electromechanics Department, Novosibirsk State
Technical University (NSTU), graduated from
V. CONCLUSIONS Novosibirsk Institute of Electrical Engineering (NIEE)
As a result of investigations, a structural model of a
PDJQHWLF JHDUER[ ZLWK PRGLFDWLRQV IRU YDULRXV ORDGV
depending on a twist angle was developed. These models
can be used in designing of mechatronic systems involving
magnetic gearboxes of a radial construction. When adding
models representing various converters, coordinate
converters, coordinate control sensors and feedback signal
sensors into the considered structure, it is possible to develop
structure diagrams of closed-loop control systems and, based
on these structure diagrams, to perform both analog and
digital modeling of electric drives as a part of mechatronic
systems in various electromechanical complexes.
LQ+HKDVZRUNHGLQ16781,((VLQFH
+LV DUHD RI VFLHQWLF UHVHDUFK LV HOHFWULF GULYHV DQG
permanent magnet machines design.
$QGUH\ $ $FKLWDHY, a PhD student at the Power
Supply Systems Department in Novosibirsk State
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6FLHQFHLQ+HKDVZRUNHGDWWKH3RZHU6XSSO\
6\VWHPV'HSDUWPHQWVLQFH+LVDUHDRIVFLHQWLF
research is magnetic gears, synchronous machines with
permanent magnets and wind power engineering.
1LNROD\ 3 6DYLQ, Associate Professor of the
Electronics and Electrical Engineering Department,
Novosibirsk State Technical University (NSTU),
graduated from Novosibirsk Institute of Electrical
The reported study was supported by RFBR, research (QJLQHHULQJ 1,(( LQ  +H KDV ZRUNHG LQ WKH
SURMHFW1RPROBD 1678 1,(( VLQFH  +LV DUHD RI VFLHQWLF
research is gearless electric drives and their control
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REFERENCES the USSR Inventor Medal.
[1] Sapsalev A.V., Kaluzhsky D.L., Syrovarsky V. V., AC Electronic
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