CN100432461C - AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same - Google Patents

AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same Download PDF

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CN100432461C
CN100432461C CNB2005100400664A CN200510040066A CN100432461C CN 100432461 C CN100432461 C CN 100432461C CN B2005100400664 A CNB2005100400664 A CN B2005100400664A CN 200510040066 A CN200510040066 A CN 200510040066A CN 100432461 C CN100432461 C CN 100432461C
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axial
radial
control
stator
freedom
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CN1737388A (en
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朱熀秋
谢志意
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Jiangsu University
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Jiangsu University
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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
    • F16C32/0461—Details of the magnetic circuit of stationary parts of the magnetic circuit
    • F16C32/0465—Details of the magnetic circuit of stationary parts of the magnetic circuit with permanent magnets provided in the magnetic circuit of the electromagnets
    • 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
    • F16C32/0474—Active magnetic bearings for rotary movement
    • F16C32/0485—Active magnetic bearings for rotary movement with active support of three degrees of freedom

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The present invention relates to an alternating current/direct current radial-axial mixed magnetic bearing at three degrees of freedom, which is suitable for an electric main shaft and a rotary main shaft system needing suspending support. The present invention is characterized in that a permanent magnet simultaneously provides radial-axial static biased magnetic flux so as to generate static bearing power, and a radial control coil and an axial control coil provide control magnetic flux to generate dynamic suspending power so as to overcome external disturbing power or loading power; the rotor is suspended in a balance position at radial-axial three degrees of freedom. A power amplification circuit is composed of an axial linear power amplifier and a radial CRPWM current tracing invertor, and a current vortex displacement sensor detects the displacement of the rotor at three degrees of freedom, and feeds the displacement back to a DSP controller; PID calculation and processing (2/3 radial transformation is needed) are carried out by the DSP so as to provide a control signal for the power amplification circuit, and the control signal is treated by the power amplifier so as to generate control current in a magnetic bearing coil; magnetic force is generated in an executing magnet by the control current so as to realize the stable axial suspension, the stable radial suspension and the real-time control of the high-speed rotor.

Description

Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing and controlling method thereof
Technical field
The invention belongs to Electrified Transmission (mechanical transmission) apparatus technology, refer in particular to a kind of novel Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing and controlling method thereof, be applicable to the Three Degree Of Freedom suspension supporting of all kinds of rotating machineries.
Background technique
Since nineteen seventies, the magnetic bearing technology developed rapidly, research direction mainly concentrates on and adopts direct current signal that the active magnetic bearing of static magnetic bias magnetic flux with the control magnetic flux is provided simultaneously, and concentrates on axial single-degree-of-freedom and the radially research of two degrees of freedom magnetic bearing.And arbitrary stable rotation system all need impose restriction on its five degree of freedom.So all be to adopt two two degrees of freedom radial direction magnetic bearings and an axial Simple Freedom Magnetic Bearing to constitute five degree of freedom suspension supporting system usually.On the one hand, radially two degrees of freedom magnetic bearing and axial Simple Freedom Magnetic Bearing all will take bigger axial space, cause the electric machine main shaft axial length of magnetic bearing supporting longer, and volume is bigger; Rotor critical speed descends simultaneously, and motor or all kinds of rotary main shaft are restricted to higher rotating speed and power development; On the other hand, adopt DC control, amplidyne price height, volume is big, a radial direction magnetic bearing needs four road power amplification circuits usually, thereby has directly caused the power amplifier volume big, the cost height, limited the application of magnetic bearing greatly, particularly in Aero-Space and Military Application field.
In the 7th international magnetic bearing meeting in 2000, the Redemann.C of the federal engineering college of Zurich, Switzerland (ETHZ) has delivered about 30kW does not have the report of bearing seal pump application testing, studied binary AC hybrid magnetic bearing, this magnetic bearing directly adopts industrial general three-phase inverter that the control electric current is provided, and adopt permanent magnet that static bias field is provided, reduced its power amplifier volume greatly, loss and cost of production have been reduced, but to could realize the suspension supporting of Three Degree Of Freedom with an axial active magnetic bearings, still fail the total system axial arrangement compact aspect and rotor critical speed raising aspect make progress.
In order to reduce magnetic bearing axial and radial dimension from structure, really reduce the power amplifier volume, reduce power loss, thereby reduce the cost of production of magnetic bearing, improve the service behaviour of magnetic bearing, enlarge the application of magnetic bearing, need to adopt some new mechanical structure and magnetic structures, new driving and controlling method.As it is compact more to develop the structure that the collection radial-axial is controlled in one, the three freedom degree mixed magnetic bearing that control and power amplifier are simplified more.
There are not relevant patent and document both at home and abroad.
Summary of the invention
The objective of the invention is to propose compact structure, the power amplification circuit volume is little, the efficient height, bearing capacity is big, control the permanent-magnet bias AC-DC hybrid magnetic bearing and the controlling method thereof of radial-axial three freedom degree simultaneously, thereby reduce electric main shaft or the various axial dimension that needs suspension supporting rotary main shaft, so that the critical speed of rotation of system is further enhanced, and reduce the volume and the cost of power amplifier greatly, make that this type of magnetic bearing can be at the ultra-high speed and ultraprecise numerical control machine tool, the magnetic suspension bearing-free motor, be used widely in suspension such as flywheel energy storage system and the man-made satellite supporting system.
The solution of the present invention is: at first make up brand-new Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing structure and magnetic circuit, make up the mathematical model of Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing according to the equivalent magnetic circuit method.Mathematical model is carried out formulism to the structural parameter of magnetic bearing and electric parameter and is calculated thus again, goes out a series of magnetic bearing that satisfies application request according to this formulae design.At last, according to mathematical model, according to each actual parameter, the PID controlling method or the fuzzy control strategy that adopt incomplete differential to separate with integration construct double closed-loop control system and power amplification circuit.
Concrete scheme is:
Taking is provided axially and radially static magnetic bias magnetic flux simultaneously by an annular permanent magnet, constitutes Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing by radial stator, annular permanent magnet and the coil of rotor, axial stator, three magnetic pole symmetric arrangement; It axially adopts the direct current power amplifier that the control electric current is provided; Radially adopt three-phase inverter that the control electric current is provided; Adopt the DSP digital controller simultaneously axial and radial displacement to be controlled in real time; By high-resolution current vortex sensor rotor axial and radial position are detected, sensor carry-out bit shifting signal is to dsp system, the linear closed-loop controller to its with compare with reference to the equilibrium position signal, and the PID or the fuzzy position controller that adopt incomplete differential to separate with integration are controlled, the output control signal realizes Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing closed loop control.
Wherein linear closed-loop controller, 2/3 conversion, Linear Power Amplifier, CRPWM current track inverter, displacement transducer, Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing are formed closed loop control system; Three road current vortex sensors are with magnetic bearing three degree of freedom x, y, the displacement signal of z direction feeds back to the linear closed-loop controller, through displacement controller, output shaft is to control signal, axially control signal converts axial control signal to axial control electric current through linear power amplifier, and the control electric current is producing magnetic force axially carrying out in the magnet, thereby it is constant to make rotor axial keep the neutral position of its suspension; Radially control signal through displacement controller output, after 2/3 conversion, offer CRPWM current track inverter control current signal, convert three-phase control electric current to through the CRPWM current track inverter, three-phase control electric current produces magnetic force radially carrying out in the magnet, thereby it is constant to make rotor radial keep the neutral position of its suspension; Dsp controller is by the calculation process of software programming realization to collection, linear closed-loop controller or 2/3 conversion of current vortex sensor signal, and the output corresponding control signal, realizes Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing closed loop control.
Wherein above-mentioned rotor is enclosed within the rotating shaft by circular silicon steel plate stacking, and axial stator adds a cirque body connection by two disks and forms, and air gap constitutes axial air-gap between axial stator and the rotor; Radial stator is in the middle of the axial stator, radial stator has circumferentially equally distributed three magnetic poles, and radial magnetizing permanent magnetism body ring set is on radial stator, and air gap constitutes three radial air gaps between three magnet radial poles and the rotor surface, axially the adjacent axial stator dish of control coil places the inboard; Three radially control coil be fixed on three magnetic poles of radial stator, radial and axial magnetic circuit has constituted complete flux circuit through corresponding stator, air gap and rotor respectively.
Also can take axially to control magnetic circuit and radially control magnetic circuit and respectively occupy a side, rotor be shaped as the solid of rotation of tape spool to the suction dish, two axial stators are installed on axial suction dish both sides, and the gap between two sides of axial suction dish constitutes axial air-gap; Radial stator closely is connected with annular permanent magnnet and axial stator, is fixed in the shell of magnetic bearing, and the gap between its three magnet radial poles and the rotor surface constitutes three radial air gaps.Axial charging permanent magnet places between radial stator and the axial stator, and axially control coil (band drum) places between two axial stators.Three radially control coil be fixed on radial stator three magnetic poles.
Principle of the present invention is by constructing a kind of brand-new magnetic circuit and mechanical structure, the static magnetic bias magnetic flux that magnetic bearing is radially provided with the shared permanent magnet in ground that axially can have no to be coupled, thereby integrated axial freedom and radially jointly controlling of degrees of freedom, shortened the volume of rotor axial length and magnetic bearing, reduced magnetic bearing axial occupation space size greatly than the combination of two degrees of freedom magnetic bearing and Simple Freedom Magnetic Bearing; Adopt three-phase inverter to provide the control electric current to magnetic bearing radially simultaneously, reduced the quantity of power amplifier, control is simple, has reduced manufacturing and operating cost.
The invention has the advantages that:
1. realized dexterously that radial-axial three freedom degree jointly controls.Than being closed of two degrees of freedom radial direction magnetic bearing and single-degree-of-freedom axial magnetic bearing, under equal-wattage or supporting force, dwindled axial length greatly; Or making that system power can do more under the equal volume, suspending power can do more.
2. radially two degrees of freedom only adopts a three-phase power inverter to carry out drive controlling, radially two degrees of freedom magnetic bearing than routine needs 4 road power amplification circuits, reduced volume greatly, reduced cost, reduced power loss, and control is simplified more, and three-phase inverter employing dsp processor is controlled, and making only needs the programming by software just can like a cork industrial universal frequency converter be used for the magnetic bearing power amplifier with transplanting.
Axially with a radially shared dsp controller.Because DSP has high operational capability and abundant interface resource, the TMS320LF2407 individual instructions execution cycle only needs 33ns, so enough simultaneously to axially and radially control.
4. adopt the software composition closed loop control system that combines with hardware.DSP only needs the control current signal to be provided and to carry out the displacement closed loop control according to position offset, constitutes current track inverter by hardware hysteresis comparator and three-phase inverter, carries out current closed-loop control.
Description of drawings
Fig. 1 is Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing mechanical structure three-dimensional structure schematic representation of embodiment 1, by rotor (11), axial stator (12), with the radial stator (13) of three magnetic poles, control coil (14) radially, axial control coil (15), radial magnetizing permanent magnetism body (16), rotating shaft formations such as (3).
Fig. 2 and Fig. 3 are embodiment 1 structural representations, and Fig. 2 is the left view of D-D section among Fig. 3.The solid line of band arrow is represented the static bias field that permanent magnet produces among Fig. 2 and Fig. 3, it is from the N utmost point of permanent magnet (16), through axial stator (12), axial air-gap, rotor (11), radial air gap, radial stator (13), get back to the S utmost point of permanent magnet (16) at last; What the dotted line of band arrow (the control magnetic flux direction of arrow is determined by right hand rule by the control current direction) was represented is the control magnetic flux, axially controls magnetic flux and constitute the loop in axial stator (12), axial air-gap and rotor (11); Radially control magnetic flux and between radial stator (13), radial air gap and rotor (11), form the loop.
Fig. 4 and Fig. 5 are embodiment 2 structural representations, and Fig. 4 is the left view of E-E section among Fig. 5.The solid line of band arrow is represented the static bias field that permanent magnet produces among the figure, it is from the N utmost point of axial charging annular permanent magnet (26), through axial stator (22), axial air-gap, rotor (21), radial air gap, radial stator (23), get back to the S utmost point of axial charging annular permanent magnet (26) at last; What the dotted line of band arrow (the control magnetic flux direction of arrow is determined by right hand rule by the control current direction) was represented is the control magnetic flux, axially controls magnetic flux and constitute the loop in axial stator (22), axial air-gap and rotor (21); Radially control magnetic flux and between radial stator (23), radial air gap and rotor (21), form the loop.Structure difference with respect to example 1 is axial magnetic flux and radial flux are respectively occupied an end, though axial dimension extends to some extent, radially control coil (24) is not retrained by axial arrangement, can satisfy radially big suspending power requirement.
Fig. 6 is Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing control system block diagram.Mainly by magnetic bearing (9), displacement transducer (5), linear closed-loop controller (4), axial linear power amplifier (6), 2/3 conversion (7), radially CRPWM current track inverter (8) constitutes.By displacement transducer (5) rotor-position is detected, compare with given reference position signal and realize PID control by software programming in DSP inside.
Fig. 7 adopts DSP to form schematic representation as apparatus of the present invention control system hardware of the controller CPU of Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing.Dsp controller 10 is wherein arranged.Dsp controller (10) is by the calculation process of software programming realization to collection, linear closed-loop controller (4) or 2/3 conversion (7) of current vortex sensor (51,52,53) signal, and the output corresponding control signal.
Fig. 8 is the realization systems soft ware block diagram of the present invention that adopts dsp controller 10.Software is made of main program and subroutine, adopts regularly break in service that displacement transducer signal (51,52,53) detection, position controller (41,42,43) computing, 2/3 conversion (7) and operation result are carried out data transfer etc.
Embodiment
The present invention specifically implements following 5 steps of branch:
1. mechanical structure.Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing magnetic circuit is provided axially and magnetic bias magnetic flux radially simultaneously by a permanent magnet, permanent-magnet material adopts high-performance rare-earth material neodymium iron boron, be divided into 6, be convenient to the processing of permanent magnet, be spliced into a whole ring form permanent magnet again; Axial control magnetic flux passes to axial control direct current by axial control coil and produces, and the coil Number of ampere turns will be determined according to the load capacity that reality requires to bear; Radially controlling magnetic flux passes to threephase AC by three-phase coil radially and produces.According to the magnetic loop requirement, construct overall mechanical structure and component structural.Magnetic circuit component requires magnetic property good, considers to reduce eddy current loss and hysteresis loss as far as possible, determines rotor and radial stator thus and adopts silicon steel plate stacking to form, and axial stator then adopts electrical pure iron to process.Three magnetic poles of radial stator will evenly be arranged along circumferential position.
As shown in Figures 2 and 3, embodiment 1 rotor (11) is enclosed within the rotating shaft (3) by circular silicon steel plate stacking, and axial stator (12) adds a cirque body connection by two disks and forms, and the gap constitutes axial air-gap between axial stator (12) and the rotor (11); Radial stator (13) has circumferentially equally distributed three magnetic poles, radial magnetizing permanent magnetism body (16) ring set on radial stator (13), formation three radial air gaps in gap between three magnet radial poles and rotor (11) surface.The axial adjacent axial stator dish of control coil (15) (band drum), by about two coils series connection, place the inboard; Three radially control coil (14) be fixed on three magnetic poles of radial stator, finally form Three Degree Of Freedom magnetic bearing erection drawing (Fig. 3).Radial and axial magnetic circuit passes through corresponding stator, air gap and rotor (11) respectively and has constituted complete flux circuit.Can change radially or axial suspending power size with the resultant flux variation of controlling magnetic flux at axial air-gap and radial air gap place permanent-magnet bias magnetic flux.Radial stator (13) is in the middle of the axial stator (12), and radially control coil (14) and axially control coil (15) are placed in the inner space that has made full use of axial stator (12), makes the magnetic bearing axial volume very compact.
As shown in Figure 4 and Figure 5, embodiment 2 rotor (21) be shaped as the solid of rotation of tape spool to the suction dish, two axial stators (22) are installed on axial suction dish both sides, and air gap constitutes axial air-gap between two sides of axial suction dish; Radial stator (23) closely is connected with axial charging annular permanent magnet (26) and axial stator (22), be fixed in the shell of magnetic bearing, its radial stator (23) has circumferentially equally distributed three magnet radial poles, three radial air gaps of air gap formation between three magnet radial poles and rotor (21) surface.Axial charging annular permanent magnet (26) places between radial stator (23) and the axial stator (22), provides axial magnetic bias magnetic flux to reach radially magnetic bias magnetic flux simultaneously.Axially control coil (25) is placed on the drum, places between two axial stators (22).Three radially control coil (24) be fixed on radial stator (23) three magnetic poles.Final formation Three Degree Of Freedom AC-DC radial-axial magnetic bearing erection drawing (Fig. 5).Radial and axial magnetic circuit passes through corresponding stator, air gap and rotor (21) respectively and has constituted complete flux circuit.Can change radially or axial suspending power size with the resultant flux variation of controlling magnetic flux at axial air-gap and radial air gap place permanent-magnet bias magnetic flux.Axially the control magnetic circuit with radially control magnetic circuit and respectively occupy an end, can reduce the phase mutual interference of radial-axial, and make radial coil not be subjected to spatial constraints, can increase radially controllable suspension power according to actual needs.
2. displacement detecting.Adopt eddy current displacement sensor that axial and radial displacement are detected.Axially adopt a current vortex sensor, and radially adopt four current vortex sensors to carry out the differential type detection respectively in x direction and y direction, to obtain position signal accurately, and, it is carried out signal acquisition process by the built-in sample/hold circuit of DSP through making it after the linear conversion within the A/D of DSP input reference signal.
3. axial power amplifier.Adopt traditional analog linearity power amplifier, characteristics such as it is fast to have speed of response, simple in structure.Directly as the linear power amplifier drive signal, produce control electric current through amplifying by the control signal of DSP output, the control electric current produces the active magnetic suspending power in carrying out magnet makes rotor remain on the longitudinal balance position.
4. power amplifier radially.Adopt the CRPWM current track inverter, wherein main circuit adopts Intelligent Power Module IPM.Current vortex sensor is two degrees of freedom x radially, the displacement signal of y direction feeds back to the linear closed-loop controller, through PID displacement controller computing and processing, after 2/3 conversion, the outputting radial control signal offers CRPWM current track inverter control signal, converts three-phase control electric current to through the CRPWM current track inverter, three-phase control electric current produces magnetic force radially carrying out in the magnet, thereby it is constant to make rotor radial keep the neutral position of its suspension.
5. structure control system.Linear closed-loop controller, Linear Power Amplifier, CRPWM current track inverter, displacement transducer, 2/3 conversion, Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing constitute closed loop control system.Three road current vortex sensors are with magnetic bearing three degree of freedom x, y, the displacement signal of z direction feeds back to the linear closed-loop controller, through displacement controller computing and processing, output shaft is to control signal, axially control signal converts axial control signal to axial control electric current through linear power amplifier, and the control electric current is producing magnetic force axially carrying out in the magnet, thereby it is constant to make rotor axial keep the neutral position of its suspension; Through displacement controller computing and processing, after 2/3 conversion, the radially control signal of output, offer CRPWM current track inverter control current signal, convert three-phase control electric current to through the CRPWM current track inverter, three-phase control electric current produces magnetic force radially carrying out in the magnet, thereby it is constant to make rotor radial keep the neutral position of its suspension.Adopt the CPU of the TMSLF2407DSP DSP digital signal processor of TI company as dsp controller.This CPU has fast operation, and individual instructions only needs the 33ns time, carries 10 high-speed a/d converters of built-in sample/hold circuit, and the pwm signal event manager module can satisfy the magnetic bearings control requirement.Dsp controller is by the calculation process of software programming realization to collection, linear closed-loop controller and 2/3 conversion of current vortex sensor signal, and the output corresponding control signal, realizes the closed loop control to Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing.Pid control algorithm that position controller employing incomplete differential separates with integration or Fuzzy PID etc., PID transfer function among the present invention:
G c ( s ) = K p ( 1 + T d S ) ( 1 + ϵ T d S ) ( 1 + 1 T 1 S ) | e | ≤ c K p ( 1 + T d S ) ( 1 + ϵ T d S ) | e | > c
K in the formula p---the ratio power gain;
T 1---integration time constant;
T d---derivative time constant;
ε---DG Differential Gain;
E---input static difference;
C---set threshold values.
PID position controller parameter area is at K p=100, T 1=0.02s, ε=0.01, C=0.65, T dNear=the 0.00045s,, realize the Three Degree Of Freedom stable suspersion of magnetic bearing, obtain good static suspension and dynamic suspension performance index by adjusting the parameter of position controller PID in the dsp controller.
According to the above, just can realize the present invention.

Claims (4)

1, Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing, it is characterized in that rotor (11) is enclosed within the rotating shaft (3) by circular silicon steel plate stacking, axial stator (12) adds a cirque body connection by two disks and forms, and air gap constitutes axial air-gap between axial stator (12) and the rotor (11); Radial stator (13) is in the middle of the axial stator (12), radial stator (13) has circumferentially equally distributed three magnetic poles, radial magnetizing permanent magnetism body (16) ring set is on radial stator (13), air gap between three magnet radial poles and rotor (11) surface constitutes three radial air gaps, axially the adjacent axial stator dish of control coil (15) places the inboard; Three radially control coil (14) be fixed on three magnetic poles of radial stator, radial and axial magnetic circuit passes through corresponding stator, air gap and rotor (11) respectively and has constituted complete flux circuit.
2, Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing, it is characterized in that axially controlling magnetic circuit and radially control magnetic circuit and respectively occupy a side, rotor (21) be shaped as the solid of rotation of tape spool to the suction dish, two axial stators (22) are installed on axial suction dish both sides, and the gap between two sides of axial suction dish constitutes axial air-gap; Radial stator (23) closely is connected with axial charging annular permanent magnet (26) and axial stator (22), be fixed in the shell of magnetic bearing, radial stator (23) has circumferentially equally distributed three magnet radial poles, three radial air gaps of air gap formation between three magnet radial poles and rotor (21) surface; Axial charging annular permanent magnet (26) places between radial stator (23) and the axial stator (22), and axially control coil (25) places between two axial stators (22); Three radially control coil (24) be fixed on (23) three magnetic poles of radial stator.
3, the controlling method of Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing according to claim 1 and 2, it is characterized in that taking being provided simultaneously axially and radially static magnetic bias magnetic flux by an annular permanent magnet, Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing comprises rotor, axial stator, three radial stator, annular permanent magnet and coils that magnetic pole is symmetrically distributed; It axially adopts direct current Linear Power Amplifier (6) that the control electric current is provided; Radially adopt CRPWM current track inverter (8) that the control electric current is provided; Adopt dsp controller (10) simultaneously axial and radial displacement to be controlled in real time; By high-resolution eddy current displacement sensor (5) rotor axial and radial position are detected, displacement transducer (5) carry-out bit shifting signal is to dsp system, linear closed-loop controller (4) to its with compare with reference to the equilibrium position signal, and the PID or the fuzzy position controller that adopt incomplete differential to separate with integration are controlled, the output control signal, drive inverter through 2/3 conversion (7), realize Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing closed loop control.
4. the controlling method of Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing according to claim 3 is characterized in that linear closed-loop controller (4), 2/3 conversion (7), Linear Power Amplifier (6), CRPWM current track inverter (8), Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing (9), displacement transducer (5) composition closed loop control system; Three road current vortex sensors (51,52,53) are with magnetic bearing three degree of freedom x, and y, the displacement signal of z direction feed back to linear closed-loop controller (4), and through displacement controller (41), output shaft is to control signal i z *, axial control signal i z *Convert axial control signal to axial control current i through linear power amplifier (6) z, the control current i zProducing magnetic force axially carrying out in the electromagnet, thereby it is constant to make rotor axial keep the neutral position of its suspension; Radially control signal f through displacement controller (42,43) output y *And f x *, after 2/3 conversion (7), offer CRPWM current track inverter (8) control current signal i u *, i v *And i w *, i u *, i v *And i w *Convert three-phase control current i to through CRPWM current track inverter (8) u, i vAnd i w, three-phase control electric current produces magnetic force radially carrying out in the electromagnet, thus it is constant to make the rotor radial position keep the neutral position of its suspension; Dsp controller (10) is by the calculation process of software programming realization to collection, linear closed-loop controller (4) and 2/3 conversion (7) of current vortex sensor (51,52,53) signal, and the output corresponding control signal, realize Three Degree Of Freedom AC-DC radial-axial mixed magnetic bearing closed loop control.
CNB2005100400664A 2005-05-18 2005-05-18 AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same Expired - Fee Related CN100432461C (en)

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