CN113700741B - Magnetic suspension bearing system, control method and device thereof and storage medium - Google Patents
Magnetic suspension bearing system, control method and device thereof and storage medium Download PDFInfo
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- CN113700741B CN113700741B CN202110988227.1A CN202110988227A CN113700741B CN 113700741 B CN113700741 B CN 113700741B CN 202110988227 A CN202110988227 A CN 202110988227A CN 113700741 B CN113700741 B CN 113700741B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0459—Details of the magnetic circuit
- F16C32/0468—Details of the magnetic circuit of moving parts of the magnetic circuit, e.g. of the rotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Electromagnetism (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention provides a magnetic suspension bearing system, a control method, a device and a storage medium thereof, wherein the method comprises the following steps: acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system; judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position; wherein the set X, Y coordinates are fixed relative to the magnetic bearing system; and determining the intermediate suspension position during the rotor suspension according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic suspension bearing system, thereby controlling the rotor suspension based on the intermediate suspension position. The scheme provided by the invention can realize that the rotor can be effectively stopped and floated stably under the condition of being placed in a random rotation mode relative to a set X, Y coordinate.
Description
Technical Field
The invention relates to the field of control, in particular to a magnetic suspension bearing system, a control method and a control device thereof and a storage medium.
Background
The magnetic suspension bearing is a device which suspends a rotor in a reference position in a non-contact manner, has a series of advantages of no oil and friction, high rotating speed, low noise and the like, and is further more and more widely applied to the field of high-speed motors. At present, the stopping and floating mode of a magnetic suspension system is mostly 'soft landing', so that the stable stopping and floating of a rotor is realized.
In the related technical scheme, the output displacement instruction is changed in real time at the falling stage of the rotor, so that the current coil current is changed, and the slow falling of the rotor is realized. Fig. 2a shows a magnetic bearing system. This method of stopping and floating is only suitable for stopping and floating at a predetermined X, Y coordinate. However, in many new application fields of magnetic suspension bearings, such as magnetic suspension high-speed motors, magnetic suspension molecular pumps, magnetic suspension flywheel energy storage devices, etc., there are situations where the bearings are placed in a rotating manner relative to a predetermined X, Y coordinate, and in such situations, as shown in fig. 4b below, a conventional soft stop floating waveform may occur, and a situation where a rotor falls and hits on a protection bearing may occur.
Disclosure of Invention
The invention mainly aims to overcome the defects of the related art and provides a magnetic suspension bearing system, a control method and a control device thereof and a storage medium, so as to solve the problem that a rotor falls and smashes on a protective bearing in the process of stopping floating after the magnetic suspension bearing system is rotationally placed relative to a set X, Y coordinate in the related art.
The invention provides a control method of a magnetic suspension bearing system, which comprises the following steps: acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system; judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position; wherein the set X, Y coordinates are fixed relative to the magnetic bearing system; and determining the intermediate suspension position during the rotor suspension according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic suspension bearing system, thereby controlling the rotor suspension based on the intermediate suspension position.
Optionally, the determining the gravity direction of the rotor according to the initial position and the target levitation position includes: respectively comparing the size relationship between the abscissa and the ordinate of the target suspension position and the abscissa and the ordinate of the initial position; and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
Optionally, determining the intermediate levitation position during the levitation of the rotor according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic bearing system comprises: and determining the middle suspension position of the rotor in the suspension process according to the gravity direction of the rotor, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times.
Optionally, determining an intermediate levitation position of the rotor in the levitation process according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length, and a preset number of times, includes: according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times, calculating the middle suspension position of the rotor in the suspension stopping process through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdi _ x and Pdi _ y are judgment parameters in the gravity direction, the preset stop-float step length comprises an x-direction step length and a y-direction step length, N is the current stop-float frequency, and N is equal to N +1 every stop-float time.
In another aspect, the present invention provides a control apparatus for a magnetic suspension bearing system, including: the acquiring unit is used for acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system; the judging unit is used for judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position; wherein the set X, Y coordinates are fixed relative to the magnetic bearing system; and the determining unit is used for determining the intermediate levitation position in the rotor levitation process according to the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system, so that the rotor levitation is controlled based on the intermediate levitation position.
Optionally, the determining unit determines the gravity direction of the rotor according to the initial position and the target levitation position, and includes: respectively comparing the size relationship between the abscissa and the ordinate of the target suspension position and the abscissa and the ordinate of the initial position; and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
Optionally, the determining unit determines the intermediate levitation position of the rotor during the levitation process according to the gravity direction of the rotor, and includes: and determining the middle suspension position of the rotor in the suspension process according to the gravity direction of the rotor, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times.
Optionally, the determining unit determines the intermediate levitation position during the levitation process of the rotor according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic bearing system, the initial position and the target levitation position of the rotor, a preset levitation step length, and a preset number of times, and includes: according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times, calculating the middle suspension position of the rotor in the suspension stopping process through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdi _ x and Pdi _ y are judgment parameters in the gravity direction, the preset stop-float step length comprises an x-direction step length and a y-direction step length, N is the current stop-float frequency, and N is equal to N +1 every stop-float time.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
In a further aspect, the present invention provides a magnetic bearing system comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In a further aspect, the invention provides a magnetic bearing system comprising a control device for a magnetic bearing system as described in any of the preceding claims.
According to the technical scheme of the invention, the gravity direction of the rotor is judged according to the initial position and the target suspension position of the rotor of the magnetic suspension bearing system before the rotor stops floating, and the intermediate suspension position in the rotor stopping floating process is determined according to the judged gravity direction of the rotor, so that the rotor is controlled to stop floating based on the intermediate suspension position, and the stable rotor stopping floating can be effectively realized under the condition of being placed in any rotation relative to a set X, Y coordinate.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention. In the drawings:
FIG. 1 is a method schematic diagram of an embodiment of a method of controlling a magnetic bearing system provided by the present invention;
figure 2a shows a schematic view of a normally assembled magnetic bearing system placed at a given X, Y coordinate;
figure 2b shows a schematic view of a magnetic bearing system placed 90 ° rotated anticlockwise with respect to a given X, Y coordinate;
figure 2c shows a schematic view of a magnetic bearing system placed 180 deg. rotated counter-clockwise with respect to a given X, Y coordinate;
figure 2d shows a schematic diagram of a magnetic bearing system positioned 270 ° counter-clockwise from a given X, Y coordinate;
FIG. 3 shows a schematic representation of the radial X, Y coordinate orientation at rest.
FIG. 4a shows a normal float stop waveform;
FIG. 4b shows the de-levitation waveform after radial X, Y coordinate rotation placement;
FIG. 5 is a method diagram of an embodiment of a method of controlling a magnetic bearing system provided by the present invention;
fig. 6 is a block diagram of a control device of a magnetic suspension bearing system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 2a shows a schematic view of a radial magnetic bearing. The radial electromagnet divides the direction of force by X, Y coordinates, an included angle alpha exists between the radial electromagnet and the direction of gravity G, the upward direction of electromagnetic force F is defined as a positive direction, a displacement sensor can adopt differential control, the X1 direction is the positive direction of an X axis, the X2 direction is the negative direction of the X axis, the Y1 direction is the positive direction of a Y axis, the Y2 direction is the negative direction of the Y axis, a displacement signal of an X1 direction in an X degree of freedom is a relatively small value, a displacement signal of an X2 direction is a relatively large value, the Y degree of freedom is the same, a displacement signal of a Y1 direction in a Y degree of freedom is a relatively small value, and a displacement signal of a Y2 direction is a relatively large value.
Fig. 2a shows a magnetic suspension bearing system after normal assembly, i.e. the coordinates in a normal placement state are given coordinates, the rotor gravity G is downward, and the electromagnetic resultant force F is upward; however, the assembled magnetic suspension bearing system may not be placed according to the situation shown in fig. 2a according to different use situations, and fig. 2b, fig. 2c and fig. 2d are respectively three rotation situations based on fig. 2 a. As shown in fig. 2b, placed 90 ° rotated counterclockwise (fig. 2b shows the case of a 90 ° rotated counterclockwise placement with respect to a given X, Y coordinate, i.e. the magnetic bearing system is placed 90 ° rotated with respect to fig. 2 a); as shown in fig. 2c, rotated 180 ° counterclockwise (in the case of 180 ° counterclockwise rotation with respect to a given X, Y coordinate as shown in fig. 2c, i.e. the magnetic bearing system is rotated 180 ° with respect to fig. 2 a); as shown in fig. 2d, is placed rotated 270 counter-clockwise (as shown in fig. 2d for a 270 counter-clockwise rotation of the given X, Y coordinate, i.e. the magnetic bearing system is placed 270 relative to fig. 2 a). The actual gravity direction of the magnetic suspension bearing system after being rotationally placed is different from the initially set direction (the arrow marked with "gravity G" in the figure is the gravity direction set during the structural design), which may affect the stop-and-float control of the rotor, causing the situation shown in fig. 4b to occur, that is, the conventional soft stop-and-float process (i.e., the stop-and-float time marked in the figure) is completed, the bearing coil is powered off, and the rotor may be directly hit on the protection bearing after losing the electromagnetic force. S1, S2, S3 and S4 in fig. 2a, 2b, 2c and 2d are respectively 4 electromagnet coils in the radial bearing. It should be noted that the direction of gravity shown in fig. 2b, 2c, 2d is not the actual direction of gravity (the actual direction of gravity should be vertically downwards), but rather the direction of gravity in the case of a non-rotating magnetic levitation system, i.e. the direction of gravity of the rotor specified at the beginning of the structural design in the set X, Y coordinates of the magnetic levitation bearing system.
As shown in fig. 3, when the magnetic bearing controller is in the stop-and-float control, the magnetic bearing controller controls X, Y directional coils to generate the target current required by the rotor stop-and-float through its action execution unit, so that the rotor slowly falls onto the protection bearing at a certain speed under the action of electromagnetic force, thereby realizing stable stop-and-float.
The invention provides a control method of a magnetic suspension bearing system. Fig. 1 is a method schematic diagram of an embodiment of a control method of a magnetic suspension bearing system provided by the invention.
As shown in fig. 1, according to an embodiment of the present invention, the control method includes at least step S110, step S120, and step S130.
And step S110, acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system.
Specifically, the electromagnetic force F is defined to be positive in the same directions as x1 and y1, and the displacement signal in the x1 direction (positive x-axis direction) in the x degree of freedom is relatively small, and the displacement signal in the x2 direction (negative x-axis direction) in the x degree of freedom is relatively large, and the y degree of freedom is the same; referring to fig. 2a, since the electromagnetic force F is directed upward in general for canceling gravity, the component force of the electromagnetic force F in the x1 and y1 directions (positive x-axis direction and positive y-axis direction) is defined to be positive, i.e., the x1 and y1 directions are positive coordinate directions. Before starting the machine, the rotor is naturally placed on a protective bearing, and the initial positions xx and yy and the target suspension positions x0 and y0 of the rotor are obtained firstly.
And step S120, judging the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position.
In one specific embodiment, respectively comparing the magnitude relation between the abscissa and the ordinate of the target levitation position and the abscissa and the ordinate of the initial position; and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
The setting X, Y coordinate is fixed relative to the magnetic bearing system, i.e. when the magnetic bearing system is rotated relative to the initially set X, Y coordinate, the setting X, Y coordinate is also rotated. When the abscissa of the initial position is larger than the abscissa of the target levitation position and the ordinate of the initial position is larger than the ordinate of the target levitation position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a first direction; when the abscissa of the initial position is smaller than the abscissa of the target levitation position and the ordinate of the initial position is larger than the ordinate of the target levitation position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a second direction; when the abscissa of the initial position is smaller than the abscissa of the target levitation position and the ordinate of the initial position is smaller than the ordinate of the target levitation position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a third direction; and when the abscissa of the initial position is larger than the abscissa of the target levitation position and the ordinate of the target levitation position is smaller than the ordinate of the initial position, determining that the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system is the fourth direction. The first direction is the gravity direction when the magnetic suspension bearing system is placed according to the set X, Y coordinate; the second direction is a direction in which a gravity direction (actual gravity direction) when the magnetic bearing system is placed by rotating 90 degrees counterclockwise relative to a set X, Y coordinate is in the set X, Y coordinate; the third direction is a direction in which a gravity direction (actual gravity direction) when the magnetic bearing system is placed by rotating 180 degrees counterclockwise relative to a set X, Y coordinate is in the set X, Y coordinate; the fourth direction is the direction in the set X, Y coordinate of the direction of gravity (actual direction of gravity) when the magnetic bearing system is placed at 270 ° counterclockwise rotation from the established X, Y coordinate.
Specifically, the initial position of the rotor in the x direction and the y direction and the target suspension position are respectively compared to determine the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system at the moment;
(1) when the magnetic suspension bearing system is placed according to the determined X, Y coordinates shown in fig. 2a, it is determined that xx > x0 and yy > y0 results can be obtained, and the gravity direction of the rotor is x2 and y2, namely the resultant force direction of the negative direction of the x axis and the negative direction of the y axis, namely a first direction;
the displacement signal in the X1 direction is relatively small in the X degree of freedom, the displacement signal in the X2 direction is relatively large, the rotor is placed on the protective bearing in a free state before floating, according to fig. 2a, the initial position xx of the rotor is relatively large, and is larger than the target floating position X0 in the X direction, and the y direction is the same.
(2) When the magnetic suspension bearing system is placed by rotating 90 degrees counterclockwise relative to the determined X, Y coordinate as shown in fig. 2b, the result xx < x0, yy > y0 is determined to be obtained, and the gravity direction of the rotor is x1 and y2, namely the resultant force direction of the positive direction of the x axis and the negative direction of the y axis, namely the second direction;
based on the aforementioned situation that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, in the case of xx < x0, yy > y0, the initial position xx in the x direction is a relatively small value and smaller than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively large value and larger than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x1 direction and the y2 direction.
(3) When the magnetic suspension bearing system is placed by rotating 180 degrees counterclockwise relative to the determined X, Y coordinate as shown in fig. 2c, it is determined that xx < x0 and yy < y0 results can be obtained, and the gravity direction of the rotor is x1 and y1, namely the resultant force direction of the positive direction of the x axis and the positive direction of the y axis, namely the third direction;
based on the aforementioned situations that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, when xx < x0 and yy < y0, the initial position xx in the x direction is a relatively small value and smaller than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively small value and smaller than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x1 direction and the y1 direction.
(4) When the magnetic suspension bearing system is placed by rotating 270 degrees counterclockwise relative to the determined X, Y coordinate as shown in fig. 2d, it is determined that xx > x0 and yy < y0 can be obtained, and the gravity direction of the rotor is x2 and y1, i.e. the resultant force direction of the negative direction of the x axis and the positive direction of the y axis, i.e. the fourth direction.
Based on the aforementioned situations that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, when xx > x0 and yy < y0, the initial position xx in the x direction is a relatively large value and is larger than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively small value and is smaller than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x2 direction and the y1 direction.
It should be noted that the gravity direction shown in fig. 2b, 2c, 2d is not the actual gravity direction (the actual gravity direction should be vertically downwards), but the gravity direction in case the magnetic levitation system is not rotating; the magnitude relationships between the determinations xx, yy and x0 and y0 can be determined by software.
And S130, determining an intermediate levitation position in the rotor levitation process according to the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system, so as to control the rotor levitation based on the intermediate levitation position.
In a specific embodiment, the intermediate levitation position of the rotor in the levitation process is determined according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length and a preset number of times.
Specifically, according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length and preset times, the intermediate levitation position of the rotor in the levitation process is calculated through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdir _ x and Pdir _ y are determination parameters for the gravity direction, and the positive and negative of Pdir _ x and Pdir _ y indicate the gravity direction. Pdir _ x being positive means that the direction of gravity coincides with the x-axis positive direction x1, Pdir _ x being 1, Pdir _ x being negative means that the direction of gravity coincides with the x-axis negative direction x2, Pdir _ x being-1, Pdir _ y being positive means that the direction of gravity coincides with the y-axis positive direction y1, Pdir _ y being 1, Pdir _ y being negative means that the direction of gravity coincides with the y-axis negative direction y2, and Pdir _ y being-1. The preset float stopping step length comprises an x-direction step length and a y-direction step length, and the whole float stopping process is divided into preset times according to preset float stopping time; the finer the division times of the floating stopping process, the better, but not necessarily the larger value, the value range is, for example, 30-40 times, N is the current floating stopping time, N is N +1 every time the floating stopping process is performed, and when N reaches the preset time, the floating stopping process is finished.
For example, as shown in table 1 below, the relationship table is a corresponding relationship table of different determination parameters corresponding to different gravity directions, where the determination parameter Pdir _ x in the x direction and the determination parameter Pdir _ y in the y direction are:
TABLE 1
Wherein, the gravity direction is 1 when x1 and y1 are adopted, and the gravity direction is-1 when x2 and y2 are adopted.
Specifically, the gravity direction of the rotor is determined before starting, when the suspension control is started, the intermediate suspension position P _ ref in the suspension process is calculated according to the gravity direction of the rotor and the preset formula, and the coil current in the suspension process is controlled by taking the position as a control target, and the suspension process is ended until Px _ ref is xx and Py _ ref is yy (the target suspension position is reached).
For the purpose of clearly illustrating the technical solution of the present invention, the following describes an implementation flow of the control method of the magnetic suspension bearing system according to an embodiment of the present invention.
Fig. 5 is a method schematic diagram of an embodiment of a control method of a magnetic suspension bearing system provided by the invention. A magnetic suspension system detects the gravity of a rotor.
As shown in fig. 5, the electromagnetic force F is defined to be positive in the same directions as x1 and y1, and the displacement signal in the x1 direction (positive x-axis direction) in the x degree of freedom is relatively small, and the displacement signal in the x2 direction (negative x-axis direction) is relatively large, and the y degree of freedom is the same; before starting, naturally placing a rotor on a protective bearing, and acquiring initial positions xx and yy and target suspension positions x0 and y0 of the rotor; comparing the initial positions xx and yy of the rotors in the x direction and the y direction with the target suspension positions x0 and y0 respectively to judge the gravity direction of the rotor at the moment; and calculating the intermediate levitation position P _ ref in the levitation stopping process according to the determined gravity direction of the rotor and a preset formula, and controlling the coil current in the levitation stopping process by taking the position as a control target until the levitation stopping process is finished when Px _ ref is xx and Py _ ref is yy.
The invention also provides a control device of the magnetic suspension bearing system. Fig. 6 is a block diagram of a control device of a magnetic suspension bearing system according to an embodiment of the present invention. As shown in fig. 6, the control device 100 of the magnetic bearing system includes an acquisition unit 110, a judgment unit 120, and a determination unit 130.
The acquisition unit 110 is used for acquiring an initial position and a target levitation position of a rotor of the magnetic levitation bearing system.
Specifically, the electromagnetic force F is defined to be positive in the same directions as x1 and y1, and the displacement signal in the x1 direction is relatively small in the x degree of freedom and the displacement signal in the x2 direction is relatively large in the x degree of freedom, and the y degree of freedom is the same; referring to fig. 2a, since the electromagnetic force F is directed upward in general for counteracting gravity, the component force of the electromagnetic force F in the x1 and y1 directions (positive x-axis direction and positive y-axis direction) is defined as positive, i.e., the x1 and y1 directions are defined as positive coordinate directions. Before starting the machine, the rotor is naturally placed on a protective bearing, and the initial positions xx and yy and the target suspension positions x0 and y0 of the rotor are obtained firstly.
The determination unit 120 is configured to determine a gravity direction of the rotor in X, Y coordinates of the magnetic suspension bearing system according to the initial position and the target levitation position.
In one embodiment, the determining unit 120 may determine the gravity direction of the rotor according to the initial position and the target levitation position by: respectively comparing the size relationship between the abscissa and the ordinate of the target suspension position and the abscissa and the ordinate of the initial position; and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
Wherein when the abscissa of the target levitation position is larger than the abscissa of the initial position and the ordinate of the target levitation position is larger than the ordinate of the initial position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a first direction; when the abscissa of the initial position is smaller than the abscissa of the target levitation position and the ordinate of the initial position is larger than the ordinate of the target levitation position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a second direction; when the abscissa of the initial position is smaller than the abscissa of the target levitation position and the ordinate of the initial position is smaller than the ordinate of the target levitation position, determining the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system as a third direction; and when the abscissa of the initial position is larger than the abscissa of the target levitation position and the ordinate of the initial position is smaller than the ordinate of the target levitation position, determining that the gravity direction of the rotor in the set X, Y coordinate of the magnetic bearing system is the fourth direction. The first direction is a direction in which a gravity direction (actual gravity direction) when the magnetic bearing system is placed according to a set X, Y coordinate is in the set X, Y coordinate; the second direction is a direction in which a gravity direction (actual gravity direction) when the magnetic bearing system is placed by rotating 90 degrees counterclockwise relative to a set X, Y coordinate is in the set X, Y coordinate; the third direction is a direction in which a gravity direction (actual gravity direction) when the magnetic bearing system is placed by rotating 180 degrees counterclockwise relative to a set X, Y coordinate is in the set X, Y coordinate; the fourth direction is the direction in the set X, Y coordinates of the direction of gravity (actual direction of gravity) when the magnetic bearing system is placed at 270 ° counterclockwise rotation from the set X, Y coordinates.
Specifically, the initial position of the rotor in the x direction and the y direction and the target suspension position are respectively compared to determine the gravity direction of the rotor in the set X, Y coordinate of the magnetic suspension bearing system at the moment;
(1) when the magnetic suspension bearing system is placed according to the set X, Y coordinate shown in fig. 2a, the result of xx > X0 and yy > y0 is determined to be obtained, and the gravity direction of the rotor is X2 and y2, namely the resultant force direction of the negative direction of the X axis and the negative direction of the y axis, namely a first direction;
the displacement signal in the X1 direction is relatively small in the X degree of freedom, the displacement signal in the X2 direction is relatively large, the rotor is placed on the protective bearing in a free state before floating, according to fig. 2a, the initial position xx of the rotor is relatively large, and is larger than the target floating position X0 in the X direction, and the y direction is the same.
(2) When the magnetic suspension bearing system is placed by rotating 90 degrees counterclockwise relative to the determined X, Y coordinate as shown in fig. 2b, the result xx < x0, yy > y0 is determined to be obtained, and the gravity direction of the rotor is x1 and y2, namely the resultant force direction of the positive direction of the x axis and the negative direction of the y axis, namely the second direction;
based on the aforementioned situation that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, in the case of xx < x0, yy > y0, the initial position xx in the x direction is a relatively small value and smaller than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively large value and larger than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x1 direction and the y2 direction.
(3) When the magnetic suspension bearing system is placed by rotating 180 degrees counterclockwise relative to the determined X, Y coordinate as shown in fig. 2c, it is determined that xx < x0 and yy < y0 results can be obtained, and the gravity direction of the rotor is x1 and y1, namely the resultant force direction of the positive direction of the x axis and the positive direction of the y axis, namely the third direction;
based on the aforementioned situations that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, when xx < x0 and yy < y0, the initial position xx in the x direction is a relatively small value and smaller than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively small value and smaller than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x1 direction and the y1 direction.
(4) When the magnetic suspension bearing system is placed at 270 ° counterclockwise relative to the predetermined X, Y coordinate as shown in fig. 2d, it is determined that xx > x0 and yy < y0 results can be obtained, and the gravity direction of the rotor is x2 and y1, i.e. the resultant force direction of the negative direction of the x axis and the positive direction of the y axis, i.e. the fourth direction.
Based on the aforementioned situations that the magnetic suspension bearing system is placed at a predetermined X, Y coordinate, when xx > x0 and yy < y0, the initial position xx in the x direction is a relatively large value and is larger than the target levitation position x0 in the x direction, and the initial position yy in the y direction is a relatively small value and is smaller than the target levitation position y0 in the y direction before the rotor is levitated, so the gravity direction should be in the resultant force direction of the x2 direction and the y1 direction.
It should be noted that the gravity direction shown in fig. 2b, 2c, 2d is not the actual gravity direction (the actual gravity direction should be vertically downward), but the gravity direction in the case of a non-rotating magnetic levitation system determines the magnitude relationship of xx, yy to x0, y 0.
The determination unit 130 is configured to determine an intermediate levitation position during the levitation of the rotor according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic bearing system, so as to control the levitation of the rotor based on the intermediate levitation position.
In a specific embodiment, the determining unit 130 determines the intermediate levitation position during the levitation process of the rotor according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic bearing system, including: and determining the middle suspension position of the rotor in the suspension process according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times.
Specifically, the determining unit 130 determines the intermediate levitation position of the rotor during the levitation process according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length, and a preset number of times, including: according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times, calculating the middle suspension position of the rotor in the suspension stopping process through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdir _ x and Pdir _ y are determination parameters for the gravity direction, and the positive and negative of Pdir _ x and Pdir _ y indicate the gravity direction. Pdir _ x being positive means that the direction of gravity coincides with the x-axis positive direction x1, Pdir _ x being 1, Pdir _ x being negative means that the direction of gravity coincides with the x-axis negative direction x2, Pdir _ x being-1, Pdir _ y being positive means that the direction of gravity coincides with the y-axis positive direction y1, Pdir _ y being 1, Pdir _ y being negative means that the direction of gravity coincides with the y-axis negative direction y2, and Pdir _ y being-1. The preset float stopping step length comprises an x-direction step length and a y-direction step length, and the whole float stopping process is divided into preset times according to preset float stopping time; the finer the division times of the floating stopping process, the better, but not necessarily the larger value, the value range is, for example, 30-40 times, N is the current floating stopping times, N is N +1 every time floating stopping is performed, and when N reaches the preset times, the floating stopping process is finished.
For example, as shown in table 1 below, the relationship table is a corresponding relationship table of different determination parameters corresponding to different gravity directions, where the determination parameter Pdir _ x in the x direction and the determination parameter Pdir _ y in the y direction are:
TABLE 1
Wherein, the gravity direction is 1 when x1 and y1 are adopted, and the gravity direction is-1 when x2 and y2 are adopted.
Specifically, the gravity direction of the rotor is determined before starting, when the suspension control is started, the intermediate suspension position P _ ref in the suspension process is calculated according to the gravity direction of the rotor and the preset formula, and the coil current in the suspension process is controlled by taking the position as a control target, and the suspension process is ended until Px _ ref is xx and Py _ ref is yy.
The invention also provides a storage medium corresponding to the control method of the magnetic bearing system, on which a computer program is stored which, when being executed by a processor, carries out the steps of any of the methods described above.
The invention also provides a magnetic bearing system corresponding to the control method of the magnetic bearing system, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods.
The invention also provides a magnetic suspension bearing system corresponding to the control device of the magnetic suspension bearing system, which comprises the control device of any one of the magnetic suspension bearing systems.
Therefore, according to the scheme provided by the invention, the gravity direction of the rotor is judged according to the initial position and the target suspension position of the rotor of the magnetic suspension bearing system before the rotor stops floating, and the intermediate suspension position in the rotor stopping floating process is determined according to the judged gravity direction of the rotor, so that the rotor is controlled to stop floating based on the intermediate suspension position, the rotor can be effectively stopped floating under the condition of being randomly rotatably placed relative to a set X, Y coordinate.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts serving as control devices may or may not be physical units, may be located in one place, or may be distributed on multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A method of controlling a magnetic bearing system, comprising:
acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system;
judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position; wherein the set X, Y coordinates are fixed relative to the magnetic bearing system;
determining an intermediate suspension position during the rotor suspension according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic suspension bearing system, thereby controlling the rotor suspension based on the intermediate suspension position;
determining the intermediate levitation position of the rotor during the levitation process according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic bearing system, comprising:
and determining the middle suspension position of the rotor in the suspension process according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times.
2. The method of claim 1, wherein determining the gravitational direction of the rotor based on the initial position and the target levitation position comprises:
respectively comparing the size relationship between the abscissa and the ordinate of the target suspension position and the abscissa and the ordinate of the initial position;
and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
3. The method of claim 1, wherein determining the intermediate levitation position of the rotor during the levitation process according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length and a preset number of times comprises:
according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times, calculating the middle suspension position of the rotor in the suspension stopping process through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdi _ x and Pdi _ y are judgment parameters in the gravity direction, the preset stop-float step length comprises an x-direction step length and a y-direction step length, N is the current stop-float frequency, and N is equal to N +1 every stop-float time.
4. A control device for a magnetic bearing system, comprising:
the acquiring unit is used for acquiring an initial position and a target suspension position of a rotor of the magnetic suspension bearing system;
the judging unit is used for judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the initial position and the target suspension position; wherein the set X, Y coordinates are fixed relative to the magnetic bearing system;
a determining unit, configured to determine an intermediate levitation position during the rotor levitation process according to a gravity direction of the rotor in a set X, Y coordinate of the magnetic levitation bearing system, so as to control the rotor levitation based on the intermediate levitation position;
the determination unit, which determines the intermediate levitation position during the levitation process of the rotor according to the gravity direction of the rotor in the set X, Y coordinates of the magnetic levitation bearing system, comprises:
and determining the middle suspension position of the rotor in the suspension process according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times.
5. The apparatus according to claim 4, wherein the determining unit determines the gravity direction of the rotor from the initial position and the target levitation position, includes:
respectively comparing the size relationship between the abscissa and the ordinate of the target suspension position and the abscissa and the ordinate of the initial position;
and judging the gravity direction of the rotor in a set X, Y coordinate of the magnetic suspension bearing system according to the magnitude relation of the abscissa and the ordinate.
6. The apparatus of claim 4, wherein the determining unit determines the intermediate levitation position during the levitation process of the rotor according to the gravity direction, the initial position and the target levitation position of the rotor, a preset levitation step length, and a preset number of times, and comprises:
according to the gravity direction, the initial position and the target suspension position of the rotor, a preset suspension stopping step length and preset times, calculating the middle suspension position of the rotor in the suspension stopping process through a preset formula as follows:
wherein Px _ ref and Py _ ref are intermediate suspension position coordinates; pdi _ x and Pdi _ y are judgment parameters in the gravity direction, the preset stop-float step length comprises an x-direction step length and a y-direction step length, N is the current stop-float frequency, and N is equal to N +1 every stop-float time.
7. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.
8. A magnetic bearing system comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of claims 1 to 3 when executing the program.
9. Magnetic bearing system, characterized in that it comprises a control device for a magnetic bearing system according to any of claims 4-6.
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