CN114593151B - Magnetic suspension bearing shutdown method and device, electronic equipment and storage medium - Google Patents
Magnetic suspension bearing shutdown method and device, electronic equipment and storage medium Download PDFInfo
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- CN114593151B CN114593151B CN202210417452.4A CN202210417452A CN114593151B CN 114593151 B CN114593151 B CN 114593151B CN 202210417452 A CN202210417452 A CN 202210417452A CN 114593151 B CN114593151 B CN 114593151B
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- 239000000725 suspension Substances 0.000 title claims abstract description 338
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000006073 displacement reaction Methods 0.000 claims description 67
- 238000005339 levitation Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The application discloses a magnetic suspension bearing shutdown method, a device, electronic equipment and a storage medium, wherein the magnetic suspension bearing shutdown method comprises the following steps: when a shutdown instruction is received, determining a suspension balance position corresponding to the magnetic suspension bearing rotor; controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area; and stopping the machine by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to carry out soft landing by the preset soft landing position area. The application solves the technical problem of the prior art that the service life of the mechanical bearing of the magnetic suspension motor is low.
Description
Technical Field
The present application relates to the field of magnetic suspension motors, and in particular, to a method and apparatus for stopping a magnetic suspension bearing, an electronic device, and a storage medium.
Background
At present, when the magnetic suspension bearing is stopped, the rotor falls down to directly shut off and control a stator current loop of the magnetic suspension bearing, so that the rotor can directly fall from a suspension balance position, and at the moment, the rotor of the permanent magnet magnetic suspension bearing bears the combined action of magnetic pulling force and gravity generated by a permanent magnet (the rotor of the electromagnetic magnetic suspension bearing bears the gravity), so that the rotor can directly collide with the mechanical bearing at a larger movement speed to influence the service life of the mechanical bearing.
Disclosure of Invention
The application mainly aims to provide a method and a device for stopping a magnetic suspension bearing, electronic equipment and a storage medium, and aims to solve the technical problem that a mechanical bearing of a magnetic suspension motor in the prior art is low in service life.
In order to achieve the above object, the present application provides a magnetic suspension bearing shutdown method, which includes:
when a shutdown instruction is received, determining a suspension balance position corresponding to the magnetic suspension bearing rotor;
Controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
And stopping the machine by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to carry out soft landing by the preset soft landing position area.
In order to achieve the above object, the present application also provides a magnetic bearing stopping device, including:
the suspension balance position determining module is used for determining a suspension balance position corresponding to the magnetic suspension bearing rotor when a shutdown instruction is received;
the movement control module is used for controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
and the shutdown control module is used for shutting down by closing a magnetic suspension bearing control loop so as to control the magnetic suspension bearing rotor to carry out soft landing by the preset soft landing position area.
The application also provides an electronic device, which is entity equipment, comprising: the magnetic bearing stopping method comprises a memory, a processor and a program of the magnetic bearing stopping method, wherein the program is stored in the memory and can run on the processor, and the program of the magnetic bearing stopping method can realize the steps of the magnetic bearing stopping method when being executed by the processor.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a program for realizing the magnetic bearing shutdown method, and the program for realizing the magnetic bearing shutdown method realizes the steps of the magnetic bearing shutdown method when being executed by a processor.
Compared with the technical means of stopping the magnetic bearing by directly switching off a stator current loop of the magnetic bearing, when a stopping instruction is received, the method and the device firstly determine the corresponding suspension balance position of the magnetic bearing rotor, then control the magnetic bearing rotor to move from the suspension balance position to a preset soft landing position area, and further control the magnetic bearing rotor to perform soft landing by closing the magnetic bearing control loop instead of directly landing the rotor from the initial suspension position, thereby reducing the speed of the magnetic bearing rotor in collision with an inner ring of the mechanical bearing, overcoming the technical defect that the rotor directly collides with the mechanical bearing at a larger movement speed when the magnetic bearing is stopped, influencing the service life of the mechanical bearing in the prior art, and improving the service life of the mechanical bearing of the motor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic flow chart of a first embodiment of a method for shutting down a magnetic bearing according to the present application;
FIG. 2 is a flow chart of a second embodiment of a method for shutting down a magnetic bearing according to the present application;
fig. 3 is a schematic diagram of an apparatus structure of a hardware operating environment related to a magnetic suspension bearing shutdown method in an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
The embodiment of the application provides a magnetic bearing stopping method, and in a first embodiment of the magnetic bearing stopping method, the magnetic bearing stopping method comprises the following steps:
step S10, when a shutdown instruction is received, determining a suspension balance position corresponding to the magnetic bearing rotor;
Step S20, controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
and S30, stopping the magnetic bearing by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to carry out soft landing by the preset soft landing position area.
In this embodiment, it should be noted that, in the current shutdown mode of the magnetic levitation motor, since the rotor falls directly from the initial levitation equilibrium position, the rotor directly collides with the inner ring of the mechanical bearing at a relatively high movement speed, and the inner ring of the mechanical bearing deforms long time, thereby affecting the service life of the mechanical bearing.
The preset soft landing position area is a preset position area for soft landing, if the magnetic suspension bearing rotor starts to fall onto the inner ring of the mechanical bearing from the preset soft landing position area, the magnetic suspension bearing rotor can be ensured to fall onto the inner ring of the mechanical bearing at a small movement speed, or the magnetic suspension bearing rotor can be ensured to fall onto the inner ring of the mechanical bearing at a movement speed smaller than a preset movement speed threshold value, so that the inner ring of the mechanical bearing cannot deform due to collision with the magnetic suspension bearing rotor, and the service life of the mechanical bearing can be prolonged.
As an example, steps S10 to S30 include: when a shutdown instruction is received, determining a corresponding suspension balance position according to the position reference value of the magnetic suspension bearing rotor in the direction of the free degree; controlling the magnetic suspension bearing rotor to slowly fall to a new suspension balance position in the preset soft landing position area; and stopping the magnetic bearing by closing a magnetic bearing control loop so that the magnetic bearing rotor is in soft landing to the inner ring of the mechanical bearing from a new suspension balance position in the preset soft landing position area.
The step of determining the suspension balance position corresponding to the magnetic suspension bearing rotor comprises the following steps:
s11, acquiring position reference values of the magnetic suspension bearing rotor in the respective freedom directions during suspension balance;
and step S12, determining the suspension balance position according to each position reference value.
In this embodiment, the respective degrees of freedom include a radial degree of freedom and an axial degree of freedom, where the axial degree of freedom may be a vertical direction, the radial degree of freedom may be determined by a degree of freedom direction plane of front and rear ends of the rotor, and the degree of freedom direction plane is determined by 2 degrees of freedom directions perpendicular to each other. As an example, the respective degrees of freedom directions may be an X direction, a Y direction, a U direction, a V direction, and a Z direction 5 degrees of freedom directions, respectively, wherein the Z direction may be a vertical direction, the X direction and the Y direction determine a degree of freedom direction plane of the front end of the rotor, and the U direction and the V direction determine a degree of freedom direction plane of the rear end of the rotor. As an example, the degree-of-freedom direction plane may be a horizontal plane perpendicular to the vertical direction.
As an example, steps S11 to S12 include: acquiring position coordinate values of the magnetic suspension bearing rotor in the respective free degree direction during suspension balance as position reference values; and positioning the suspension balance position according to each position reference value. As an example, the initial levitation balance position may be taken as the origin, that is, the coordinate values in the respective directions of freedom are all 0.
Compared with the technical means of stopping the magnetic bearing by directly switching off a stator current loop of the magnetic bearing, the method provided by the embodiment of the application has the advantages that when a stopping instruction is received, the corresponding suspension balance position of the rotor of the magnetic bearing is firstly determined, then the rotor of the magnetic bearing is controlled to move from the suspension balance position to a preset soft landing position area, and further, the magnetic bearing is stopped by switching off the magnetic bearing control loop, so that the rotor of the magnetic bearing is controlled to carry out soft landing from the preset soft landing position area, and the rotor is not directly dropped from the original suspension position, so that the collision speed of the rotor of the magnetic bearing and the inner ring of the mechanical bearing is reduced, the technical defect that the service life of the mechanical bearing is influenced by the fact that the rotor of the magnetic bearing directly collides with the inner ring of the mechanical bearing at a larger movement speed when the magnetic bearing is stopped in the prior art is overcome, and the service life of the mechanical bearing of the magnetic bearing is prolonged.
Example two
Further, referring to fig. 2, in another embodiment of the present application, the same or similar contents as those of the above embodiment may be referred to the above description, and will not be repeated. On the basis, the step of controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area comprises the following steps of:
s21, controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain a moved suspension balance position;
step S22, judging whether the magnetic bearing rotor reaches the preset soft landing position area according to the moved suspension balance position;
Step S23, if yes, executing the steps of: stopping the machine by closing a magnetic suspension bearing control loop;
Step S24, if not, returning to the execution step: and controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position.
As an example, steps S21 to S24 include: controlling the magnetic suspension bearing rotor to move corresponding preset displacements in the respective free-degree directions from the suspension balance positions until the magnetic suspension bearing keeps new suspension balance to obtain the moved suspension balance positions, wherein the corresponding preset displacements in the respective free-degree directions can be the same or different; judging whether the moved suspension balance positions are in the preset soft landing position areas in the respective clearance directions, if so, judging that the magnetic suspension bearing rotor reaches the preset soft landing position areas, and executing the steps: stopping the machine by closing a magnetic suspension bearing control loop; if the magnetic suspension bearing rotors are not in the preset soft landing position area, judging that the magnetic suspension bearing rotors do not reach the preset soft landing position area, and executing the steps: and controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain a moved suspension balance position until the magnetic suspension bearing rotor reaches a preset soft landing position area. According to the embodiment of the application, the movement of the magnetic bearing rotor is slowly carried out from the initial suspension position to the preset soft landing area in a stepwise movement mode, so that the movement speed of the magnetic bearing rotor is not excessive all the time, the mechanical bearing is not deformed even if the magnetic bearing rotor touches the inner ring of the mechanical bearing during movement, and the safety of the magnetic bearing during shutdown and the service life of the mechanical bearing are further improved.
The step of judging whether the magnetic bearing rotor reaches the preset soft landing position area according to the moved suspension balance position comprises the following steps:
step S221, acquiring position reference values of the moved suspension equilibrium positions in the direction of the degrees of freedom;
Step S222, if each of the position reference values is not greater than a preset position threshold value in the corresponding degree of freedom direction, determining that the magnetic bearing rotor reaches the preset soft landing position region;
In step S223, if each of the position reference values is not greater than the preset position threshold value in the corresponding degree of freedom direction, it is determined that the magnetic bearing rotor does not reach the preset soft landing position region.
In this embodiment, it should be noted that, when the magnetic suspension motor is running, the magnetic suspension bearing rotor is suspended in a relatively stable position area, so that the distances between the suspension equilibrium positions of the magnetic suspension bearing rotor will not differ too much each time a shutdown command is received. Therefore, in the embodiment of the application, corresponding preset position thresholds can be set in the respective freedom directions, the preset position thresholds can be position coordinate thresholds, and if the position reference value of the magnetic bearing rotor in the freedom direction is not greater than the preset position threshold corresponding to the freedom direction when the magnetic bearing rotor is in suspension balance, the magnetic bearing rotor is judged to be relatively close to the inner ring of the mechanical bearing in the freedom direction, namely the magnetic bearing rotor reaches a preset soft landing position area in the freedom direction.
As an example, step S221 to step S223 include: acquiring position coordinate values of the moved suspension equilibrium position in the direction of the free degrees as position reference values, wherein the position coordinate values can be obtained by measuring a displacement sensor; if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor reaches the preset soft landing position area, and at the moment, the magnetic suspension bearing rotor can be landed on the inner ring of the mechanical bearing in a soft way; if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic bearing rotor does not reach the preset soft landing position area, and at the moment, the magnetic bearing rotor cannot be landed on the inner ring of the mechanical bearing in a soft mode.
The preset displacement comprises preset radial displacement and preset axial displacement, and the suspension balance position comprises a radial suspension balance position in the radial freedom degree and an axial suspension balance position in the axial freedom degree.
The step of controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain the moved suspension balance position comprises the following steps:
step A10, controlling the magnetic suspension bearing rotor to move a preset radial displacement on the radial degree of freedom from the radial suspension balance position to obtain a moved radial suspension balance position;
a20, controlling the magnetic suspension bearing rotor to move a preset axial displacement on the axial degree of freedom from the axial suspension balance position to obtain a moved axial suspension balance position;
and step A30, determining the moved suspension balance position according to the moved radial suspension balance position and the moved axial suspension balance position.
In this embodiment, the preset displacement includes a preset radial displacement and a preset axial displacement, and the suspension balance position includes a radial suspension balance position in a radial degree of freedom and an axial suspension balance position in an axial degree of freedom. In the embodiment of the application, the magnetic bearing rotor is required to reach a preset soft landing position area in the axial freedom degree and the radial freedom degree.
As an example, steps a10 to a30 include: controlling the magnetic suspension bearing rotor to move corresponding preset radial displacement in the radial degree-of-freedom direction from the radial suspension balance position until the magnetic suspension bearing rotor keeps suspension balance again, and obtaining a moved radial suspension balance position; controlling the magnetic suspension bearing rotor to move a preset axial displacement on the axial degree of freedom from the axial suspension balance position until the magnetic suspension bearing rotor keeps suspension balance again, and obtaining a moved axial suspension balance position; and positioning the moved suspension balance position according to the radial position reference value corresponding to the moved radial suspension balance position and the axial position reference value corresponding to the moved axial suspension balance position.
As an example, the radial degree of freedom direction is determined by 4 preset degree of freedom control directions, which may be, for example, an X direction, a Y direction, a U direction, and a V direction, and the controlling the magnetic bearing rotor to move in the radial degree of freedom direction by the radial levitation balance position by a corresponding preset radial displacement includes:
Acquiring initial position reference values of the magnetic suspension bearing rotor in each preset degree of freedom control direction before moving, determining each target position reference value which is not more than the preset radial position reference value in each initial position reference value, and taking the preset degree of freedom control direction corresponding to each target position reference value as a target degree of freedom control direction; and controlling the magnetic suspension bearing rotor to move by preset radial displacement in each target degree-of-freedom control direction respectively by the radial suspension balance position. In the embodiment of the application, whether the magnetic bearing rotor reaches a preset soft landing position area in each preset degree-of-freedom control direction is detected in advance, and if the magnetic bearing rotor reaches the preset soft landing position area in one preset degree-of-freedom control direction, the magnetic bearing rotor is not moved in the preset degree-of-freedom control direction; if the magnetic bearing rotor does not reach the preset soft landing position area in the control direction of the preset degree of freedom, the magnetic bearing rotor is moved in the control direction of the preset degree of freedom, so that the magnetic bearing rotor can accurately fall into the preset soft landing position area, and the accuracy of controlling the magnetic bearing rotor to move is improved.
The step of controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain a moved suspension balance position comprises the following steps of:
Step B10, acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
step B20, if the radial position reference value is not greater than a preset radial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset axial displacement on the axial degree of freedom from the axial suspension balance position, and obtaining a moved axial suspension balance position;
And step B30, determining the floating balance position after the movement according to the radial floating balance position before the movement and the axial floating balance position after the movement.
In the present embodiment, it is to be noted that, when the magnetic bearing rotor is moved stepwise into the predetermined soft landing position region, there is a case where the predetermined soft landing position region has been reached in the radial degree of freedom direction, but the predetermined soft landing position region has not been reached in the axial degree of freedom direction, and at this time, it is necessary to move the magnetic bearing rotor in the axial degree of freedom direction.
As an example, steps B10 to B30 include: acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving; if the radial position reference value is not greater than a preset radial position threshold value and the axial position reference value is greater than a preset axial position threshold value, controlling the magnetic suspension bearing rotor to move in the axial degree of freedom by a preset axial displacement from the axial suspension balance position, and keeping the position of the magnetic suspension bearing rotor unchanged in the radial degree of freedom direction until the magnetic suspension bearing rotor reaches a new suspension balance state, so as to obtain a moved axial suspension balance position; and positioning the moved suspension balance position according to the radial position reference value corresponding to the radial suspension balance position before movement and the axial position reference value corresponding to the axial suspension balance position after movement. The embodiment of the application realizes the purpose of controlling the radial movement of the magnetic bearing rotor when the radial degree of freedom direction reaches the preset soft landing position area, and can ensure that the magnetic bearing rotor accurately reaches the preset soft landing position area.
The step of controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position comprises the following steps of:
Step C10, acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
Step C20, if the axial position reference value is not greater than a preset axial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset radial displacement on the radial degree of freedom from the radial suspension balance position, and obtaining a moved radial suspension balance position;
and C30, determining the floating balance position after the movement according to the axial floating balance position before the movement and the radial floating balance position after the movement.
In the present embodiment, it is to be noted that, when the magnetic bearing rotor is moved stepwise into the predetermined soft landing position region, there is a case where the predetermined soft landing position region has been reached in the axial degree of freedom direction, but the predetermined soft landing position region has not been reached in the radial degree of freedom direction, and at this time, it is necessary to move the magnetic bearing rotor in the radial degree of freedom direction.
As an example, steps C10 to C30 include: acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving; if the axial position reference value is not greater than a preset axial position threshold value and the radial position reference value is greater than a preset radial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset radial displacement in the radial degree of freedom from the radial suspension balance position, and keeping the position of the magnetic suspension bearing rotor unchanged in the axial degree of freedom until the magnetic suspension bearing rotor reaches a new suspension balance state, so as to obtain a moved radial suspension balance position; and positioning the moved suspension balance position according to the axial position reference value corresponding to the axial suspension balance position before movement and the radial position reference value corresponding to the radial suspension balance position after movement. The embodiment of the application realizes the purpose of controlling the axial movement of the magnetic bearing rotor when the axial degree of freedom direction reaches the preset soft landing position area, and can ensure that the magnetic bearing rotor accurately reaches the preset soft landing position area.
The embodiment of the application provides a method for controlling the movement of a magnetic suspension bearing rotor, namely controlling the magnetic suspension bearing rotor to move from a suspension balance position by preset displacement to obtain a moved suspension balance position; judging whether the magnetic suspension bearing rotor reaches the preset soft landing position area according to the moved suspension balance position; if yes, executing the steps of: stopping the machine by closing a magnetic suspension bearing control loop; if not, returning to the execution step: and controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position. The magnetic bearing rotor is slowly moved to the preset soft landing area from the initial suspension position in a stepwise moving mode, so that the movement speed of the magnetic bearing rotor is not overlarge all the time, even if the magnetic bearing rotor touches the inner ring of the mechanical bearing during moving, the deformation of the mechanical bearing is not caused, the safety of the magnetic bearing during shutdown and the service life of the mechanical bearing are improved, the magnetic bearing rotor can be accurately controlled to slowly move to the preset soft landing position area, the magnetic bearing rotor can be ensured to fall on the inner ring of the mechanical bearing at a smaller movement speed after the magnetic bearing control loop is closed, the possibility that the inner ring of the mechanical bearing is deformed due to collision between the magnetic bearing rotor and the inner ring of the mechanical bearing is reduced, and the service life of the mechanical bearing can be prolonged.
Example III
The application also provides a magnetic suspension bearing stopping device, which comprises:
the suspension balance position determining module is used for determining a suspension balance position corresponding to the magnetic suspension bearing rotor when a shutdown instruction is received;
the movement control module is used for controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
and the shutdown control module is used for shutting down by closing a magnetic suspension bearing control loop so as to control the magnetic suspension bearing rotor to carry out soft landing by the preset soft landing position area.
Optionally, the movement control module is further configured to:
controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position;
judging whether the magnetic suspension bearing rotor reaches the preset soft landing position area according to the moved suspension balance position;
if yes, executing the steps of: stopping the machine by closing a magnetic suspension bearing control loop;
If not, returning to the execution step: and controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position.
Optionally, the movement control module is further configured to:
acquiring position reference values of the moved suspension equilibrium positions in the directions of the degrees of freedom;
if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor reaches the preset soft landing position area;
and if the position reference values are not larger than the preset position threshold value in the corresponding freedom degree direction, judging that the magnetic suspension bearing rotor does not reach the preset soft landing position area.
Optionally, the preset displacement includes a preset radial displacement and a preset axial displacement, the levitation balance position includes a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom, and the movement control module is further configured to:
controlling the magnetic suspension bearing rotor to move a preset radial displacement on the radial degree of freedom from the radial suspension balance position to obtain a moved radial suspension balance position;
Controlling the magnetic suspension bearing rotor to move a preset axial displacement on the axial degree of freedom from the axial suspension balance position to obtain a moved axial suspension balance position;
And determining the moved suspension balance position according to the moved radial suspension balance position and the moved axial suspension balance position.
Optionally, the preset displacement includes a preset axial displacement, the levitation balance position includes a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom, and the movement control module is further configured to:
acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
If the radial position reference value is not greater than a preset radial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset axial displacement on the axial degree of freedom from the axial suspension balance position to obtain a moved axial suspension balance position;
And determining the floating balance position after the movement according to the radial floating balance position before the movement and the axial floating balance position after the movement.
Optionally, the preset displacement includes a preset radial displacement, the levitation balance position includes a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom, and the movement control module is further configured to:
acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
if the axial position reference value is not greater than a preset axial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset radial displacement on the radial degree of freedom from the radial suspension balance position to obtain a moved radial suspension balance position;
And determining the floating balance position after the movement according to the axial floating balance position before the movement and the radial floating balance position after the movement.
Optionally, the movement control module is further configured to:
Acquiring position reference values of the magnetic suspension bearing rotor in the respective freedom directions during suspension balance;
and determining the suspension balance position according to each position reference value.
The magnetic suspension bearing stopping device provided by the application solves the technical problem of low service life of a mechanical bearing of a magnetic suspension motor by adopting the magnetic suspension bearing stopping method in the embodiment. Compared with the prior art, the magnetic suspension bearing stopping device provided by the embodiment of the application has the same beneficial effects as the magnetic suspension bearing stopping method provided by the embodiment, and other technical features in the magnetic suspension bearing stopping device are the same as the features disclosed by the method of the embodiment, and are not repeated herein.
Example IV
The embodiment of the application provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the magnetic bearing shutdown method of the first embodiment.
Referring now to fig. 3, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 3, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.) that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
In general, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disk, etc.; a communication device. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by a processing device.
The electronic equipment provided by the application adopts the magnetic suspension bearing shutdown method in the embodiment, so that the technical problem of low service life of a mechanical bearing of a magnetic suspension motor is solved. Compared with the prior art, the electronic equipment provided by the embodiment of the application has the same beneficial effects as the magnetic suspension bearing shutdown method provided by the first embodiment, and other technical features in the electronic equipment are the same as the features disclosed by the method of the first embodiment, and are not repeated herein.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Example five
The present embodiment provides a computer readable storage medium having computer readable program instructions stored thereon for performing the method of magnetic bearing shutdown in the first embodiment described above.
The computer readable storage medium according to the embodiments of the present application may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.
The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: when a shutdown instruction is received, determining a suspension balance position corresponding to the magnetic suspension bearing rotor; controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area; and stopping the machine by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to carry out soft landing by the preset soft landing position area.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium provided by the application stores the computer readable program instructions for executing the magnetic suspension bearing stopping method, and solves the technical problem of low service life of the mechanical bearing of the magnetic suspension motor. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the application are the same as those of the magnetic suspension bearing shutdown method provided by the embodiment, and are not repeated here.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, within the scope of the application.
Claims (7)
1. A method of stopping a magnetic bearing, the method comprising:
when a shutdown instruction is received, determining a suspension balance position corresponding to the magnetic suspension bearing rotor;
Controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
stopping the machine by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to carry out soft landing by the preset soft landing position area;
The step of determining the corresponding suspension balance position of the magnetic suspension bearing rotor comprises the following steps:
Acquiring position reference values of the magnetic suspension bearing rotor in the respective freedom directions during suspension balance; determining the suspension balance position according to each position reference value; wherein,
The position reference value is a position coordinate value of the magnetic suspension bearing rotor in each free degree direction during suspension balance, each free degree direction comprises a radial free degree and an axial free degree, the axial free degree is a vertical direction, the radial free degree is determined by a free degree direction plane at the front end and the rear end of the rotor, and the free degree direction plane is determined by 2 mutually perpendicular free degree directions;
the 5 degrees of freedom directions are an X direction, a Y direction, a U direction, a V direction and a Z direction, the Z direction is the vertical direction, the X direction and the Y direction are mutually perpendicular to form a degree of freedom direction plane at the front end of the rotor, and the U direction and the V direction are mutually perpendicular to form a degree of freedom direction plane at the rear end of the rotor;
the step of controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area comprises the following steps:
Controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position; judging whether the magnetic suspension bearing rotor reaches the preset soft landing position area according to the moved suspension balance position;
if yes, executing the steps of: stopping the machine by closing a magnetic suspension bearing control loop;
if not, returning to the execution step: controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position;
the step of judging whether the magnetic bearing rotor reaches the preset soft landing position area according to the moved suspension balance position comprises the following steps:
acquiring position reference values of the moved suspension equilibrium positions in the directions of the degrees of freedom;
if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor reaches the preset soft landing position area;
if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor does not reach the preset soft landing position area;
The step of controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain the moved suspension balance position comprises the following steps:
acquiring initial position reference values in a radial degree-of-freedom direction before the magnetic suspension bearing rotor moves, wherein the radial degree-of-freedom direction is determined by 4 preset degree-of-freedom control directions, and the 4 preset degree-of-freedom control directions are the X direction, the Y direction, the U direction and the V direction respectively;
Determining each target position reference value which is not greater than a preset radial position reference value in each initial position reference value, taking a preset degree-of-freedom control direction corresponding to each target position reference value as a target degree-of-freedom control direction, and controlling the magnetic suspension bearing rotor to move a preset radial displacement in the preset displacement in each target degree-of-freedom control direction from a radial suspension balance position in the suspension balance position respectively until the magnetic suspension bearing rotor keeps suspension balance again, so as to obtain a moved radial suspension balance position;
Controlling the magnetic suspension bearing rotor to move preset axial displacement in the preset displacement on the axial degree of freedom from the axial suspension balance position in the suspension balance positions until the magnetic suspension bearing rotor keeps suspension balance again, and obtaining the moved axial suspension balance position;
And positioning the moved suspension balance position according to the radial position reference value corresponding to the moved radial suspension balance position and the axial position reference value corresponding to the moved axial suspension balance position.
2. The method of claim 1, wherein the predetermined displacement comprises a predetermined radial displacement and a predetermined axial displacement, the levitation balance position comprises a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom,
The step of controlling the magnetic suspension bearing rotor to move from the suspension balance position by a preset displacement to obtain the moved suspension balance position comprises the following steps:
controlling the magnetic suspension bearing rotor to move a preset radial displacement on the radial degree of freedom from the radial suspension balance position to obtain a moved radial suspension balance position;
Controlling the magnetic suspension bearing rotor to move a preset axial displacement on the axial degree of freedom from the axial suspension balance position to obtain a moved axial suspension balance position;
And determining the moved suspension balance position according to the moved radial suspension balance position and the moved axial suspension balance position.
3. The method of claim 1, wherein the predetermined displacement comprises a predetermined axial displacement, the levitation balance position comprises a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom, and the step of controlling the magnetic bearing rotor to move from the levitation balance position by the predetermined displacement to obtain the moved levitation balance position comprises:
acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
If the radial position reference value is not greater than a preset radial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset axial displacement on the axial degree of freedom from the axial suspension balance position to obtain a moved axial suspension balance position;
And determining the floating balance position after the movement according to the radial floating balance position before the movement and the axial floating balance position after the movement.
4. The method of claim 1, wherein the predetermined displacement comprises a predetermined radial displacement, the levitation balance position comprises a radial levitation balance position in a radial degree of freedom and an axial levitation balance position in an axial degree of freedom, and the step of controlling the magnetic bearing rotor to move from the levitation balance position by the predetermined displacement to obtain the moved levitation balance position comprises:
acquiring a radial position reference value corresponding to a radial suspension balance position before moving and an axial position reference value corresponding to an axial suspension balance position before moving;
if the axial position reference value is not greater than a preset axial position threshold value, controlling the magnetic suspension bearing rotor to move by a preset radial displacement on the radial degree of freedom from the radial suspension balance position to obtain a moved radial suspension balance position;
And determining the floating balance position after the movement according to the axial floating balance position before the movement and the radial floating balance position after the movement.
5. A magnetic bearing shutdown device, characterized in that the magnetic bearing shutdown device comprises:
the suspension balance position determining module is used for determining a suspension balance position corresponding to the magnetic suspension bearing rotor when a shutdown instruction is received;
the movement control module is used for controlling the magnetic suspension bearing rotor to move from the suspension balance position to a preset soft landing position area;
The stopping control module is used for stopping by closing a magnetic bearing control loop so as to control the magnetic bearing rotor to perform soft landing by the preset soft landing position area;
The movement control module is used for controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position; judging whether the magnetic suspension bearing rotor reaches the preset soft landing position area according to the moved suspension balance position; if yes, executing the steps of: stopping the machine by closing a magnetic suspension bearing control loop; if not, returning to the execution step: controlling the magnetic suspension bearing rotor to move from the suspension balance position by preset displacement to obtain a moved suspension balance position;
the mobile control module is also used for acquiring the position reference value of the floating balance position after the movement in the direction of the free degree; if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor reaches the preset soft landing position area; if the position reference values are not larger than the preset position threshold value in the corresponding degree of freedom direction, judging that the magnetic suspension bearing rotor does not reach the preset soft landing position area;
The suspension balance position determining module is further used for obtaining position reference values of the magnetic suspension bearing rotor in the respective freedom directions during suspension balance; determining the suspension balance position according to each position reference value; the position reference value is a position coordinate value of the magnetic suspension bearing rotor in each free degree direction during suspension balance, each free degree direction comprises a radial free degree and an axial free degree, the axial free degree is a vertical direction, the radial free degree is determined by a free degree direction plane at the front end and the rear end of the rotor, and the free degree direction plane is determined by 2 mutually perpendicular free degree directions; the 5 degrees of freedom directions are an X direction, a Y direction, a U direction, a V direction and a Z direction, the Z direction is the vertical direction, the X direction and the Y direction are mutually perpendicular to form a degree of freedom direction plane at the front end of the rotor, and the U direction and the V direction are mutually perpendicular to form a degree of freedom direction plane at the rear end of the rotor;
The movement control module is further used for acquiring an initial position reference value in a radial degree-of-freedom direction before the magnetic suspension bearing rotor moves, wherein the radial degree-of-freedom direction is determined by 4 preset degree-of-freedom control directions, and the 4 preset degree-of-freedom control directions are the X direction, the Y direction, the U direction and the V direction respectively; determining each target position reference value which is not greater than a preset radial position reference value in each initial position reference value, taking a preset degree-of-freedom control direction corresponding to each target position reference value as a target degree-of-freedom control direction, and controlling the magnetic suspension bearing rotor to move a preset radial displacement in the preset displacement in each target degree-of-freedom control direction from a radial suspension balance position in the suspension balance position respectively until the magnetic suspension bearing rotor keeps suspension balance again, so as to obtain a moved radial suspension balance position; controlling the magnetic suspension bearing rotor to move preset axial displacement in the preset displacement on the axial degree of freedom from the axial suspension balance position in the suspension balance positions until the magnetic suspension bearing rotor keeps suspension balance again, and obtaining the moved axial suspension balance position; and positioning the moved suspension balance position according to the radial position reference value corresponding to the moved radial suspension balance position and the axial position reference value corresponding to the moved axial suspension balance position.
6. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the magnetic bearing shutdown method of any of claims 1 to 4.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program for realizing a magnetic bearing shutdown method, which program is executed by a processor for realizing the steps of the magnetic bearing shutdown method according to any one of claims 1 to 4.
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