CN1106939A - Nerve Network controller for electromagnetic bearing of flexible rotor system - Google Patents
Nerve Network controller for electromagnetic bearing of flexible rotor system Download PDFInfo
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- CN1106939A CN1106939A CN 94118600 CN94118600A CN1106939A CN 1106939 A CN1106939 A CN 1106939A CN 94118600 CN94118600 CN 94118600 CN 94118600 A CN94118600 A CN 94118600A CN 1106939 A CN1106939 A CN 1106939A
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- nerve network
- rotating shaft
- electromagnetic bearing
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Abstract
In the flexible rotor system, vortex current sensor, signal amplifier, digital nerve network high-speed regulator, current amplifier and electromagnetic bearing are mounted separately in the X and Y directions of two ends of shaft and in the Z direction to constitute five feed back loops with five freedoms in X, Y and Z directions. This realizes real-time control of electromagnetic bearing, and owing to the control and regulation operation in microseconds of the said regulators, the said controller can eliminate effectively the vibrating displacement of rotating rotor to realize high-speed stable rotation of rotor system.
Description
The present invention relates to the ANN (Artificial Neural Network) Control device of flexible rotor system electromagnetic bearing.
Electromagnetic bearing is to utilize electromagnetic force to make rotor realize the bearing arrangement that contactless hypervelocity is rotated under suspended state, and the control of electromagnetic bearing is the key that realizes that rotor suspension hypervelocity is rotated.In rotation process,, can't prove effective based on the control method of the open-loop design formula of vibration analysis technology because rotor exists X, Y, the vibration of totally five degree of freedom of three directions of Z at all.And based on methods such as the adaptive control of software mode, Learning Control, because the restriction of computer hardware, software condition, the real-time of its control is very poor, can't obtain gratifying effect.Therefore, the real-time control of hypervelocity rotor-support-foundation system electromagnetic bearing is the problem that always all is not resolved.
The objective of the invention is: the real-time control apparatus that a kind of electromagnetic bearing that is made of the nerve network of digital type high-speed regulator with parallel signal processing capacity is provided, can apply the vibration that the several times control action suppresses rotor in one week in rotor rotation, thereby solve the real-time control of hypervelocity rotor-support-foundation system electromagnetic bearing.
The technical solution adopted in the present invention is: at the rotating shaft A of flexible rotor system end X and Y both direction eddy current sensor a, the b that can detect A end X, Y direction offset deviation is installed respectively, at rotating shaft B end X and Y both direction eddy current sensor c, the d that can detect B end X and Y direction offset deviation is installed respectively, installing in rotating shaft can be with a disk of rotating shaft rotation, can detect the eddy current sensor e of rotating shaft at Z direction offset deviation with respect to the installation of disk end face, each sensor a, b, c, d, its detection signal of e are delivered to the signal that is attached thereto respectively and are amplified A
AX, AAY, A
BX, A
BY, A
Z, amplifying, the signal after the amplification is respectively: V
1AX, V
1AY, V
1BX, V
1BY, V
1Z, send into nerve network of digital type high-speed regulator C separately
AX, C
AY, C
BX, C
BY, C
ZVoltage-frequency converter VFC
1, after the control law computing, by its digital to analog converter DAC output control signal V
3AX, V
3AY, V
3BX, V
3BY, V
3Z, through voltage/current conversion and current amplifier I
AX, I
AY, I
BX, I
BY, I
ZAfter carrying out power amplification, be added in rotating shaft A, B two ends electromagnetic bearing directions X stator winding F
AX, F
BX, Y direction stator winding F
AY, F
BY, the electromagnetic bearing Z direction stator winding F at A, B two ends
ZOn, form five independently feedback control loops respectively, at the voltage-frequency converter VFC of separately nerve network of digital type high-speed controller
2On, its value of the signal of added respectively representative setting value is zero.
The present invention compares with background technology, the useful effect that has is: owing to the rotating shaft A at flexible rotor system, the X at B two ends, the Y both direction, rotating shaft Z direction adopts eddy current sensor respectively, signal amplifier, the nerve network of digital type high-speed regulator, current amplifier and electromagnetic bearing constitute X, Y, three directions of Z are the feedback control loop of totally five degree of freedom, realized the real-time control of electromagnetic bearing, because the nerve network of digital type high-speed regulator can be realized the computing of control law in the microsecond level, so can eliminate the vibration displacement that produces in the rotor rotation process in real time effectively, make rotor-support-foundation system reach the stable rotation of high speed.
Below in conjunction with accompanying drawing, provide details of the present invention by description to embodiment.
Fig. 1: structured flowchart of the present invention;
Fig. 2: rotor active magnetic bearing system structural representation;
Fig. 3: the wiring diagram of signal amplifier;
Fig. 4: the wiring diagram of current amplifier;
Fig. 5: the lag compensation circuit block diagram that increases on the nerve network of digital type high-speed regulator;
Fig. 6: another kind of parameter self-tuning optimal control structured flowchart of the present invention;
As shown in Figure 1 and Figure 2, flexible rotor system is R, rotating shaft 3 two ends of rotor 1 are called side a and b, utilize the stator of electromagnetic bearing and electromagnetic force that coil winding 11,12,5,6 produces with rotor 1 the rotor-support-foundation system of getting up that suspends at rotating shaft about 3 end, utilize the stator of electromagnetic bearing and the electromagnetic force of coil 13,14,7,8 generations to determine the position of rotor in the Z direction at rotating shaft 3 left and right sides end faces simultaneously, electromagnetic bearing support 10 is contained on the base plate 9.Eddy current sensor a, b, c, the d of the offset deviation that detects X, Y direction are housed respectively at A, the B of rotating shaft 3 end, be used for detecting the offset deviation of A, the B end of rotating shaft 3 in X, Y direction, positioning disc 4 is housed in rotating shaft 3, with respect to disk eddy current sensor e is housed in disk 4 sides, is used for detecting the offset deviation of the Z direction of rotating shaft 3.Eddy current sensor a, b, c, d, its detection signal of e are delivered to the signal amplifier A that is attached thereto respectively
AX, A
AY, A
BX, A
BY, A
ZAmplify, the signal after the amplification is respectively V
1AX, V
1AY, V
1BX, V
1BY, V
1Z, send into nerve network of digital type high-speed regulator C separately
AX, C
AY, C
BX, C
BY, C
ZVoltage-frequency converter VFC
1, after the control law computing, by its digital to analog converter DAC output control signal V
3AX, V
3AY, V
3BX, V
3BY, V
3Z, after voltage/current conversion and power amplification, be added in the A of rotating shaft 3, the electromagnetic bearing directions X winding 12 at B two ends and 5 F again
AXAnd F
BXOn, Y direction winding 12 and 5 F
AYAnd F
BYOn, Z direction winding 14 and 7 F
ZOn, forming five independently feedback control loops respectively, 2 is measure speed gears among Fig. 2, at the voltage-frequency converter VFC of nerve network of digital type high-speed regulator
2On, the V of the added representative duty setting signal of difference
2AX, V
2AY, V
2BX, V
2BY, V
2ZIts value is zero.
Above nerve network of digital type high-speed regulator C
AX, C
AY, C
BX, C
BY, C
ZCan adopt " nerve network of digital type high speed ratio, integration, the differential regulator " of having applied for patent of invention as the applicant, the applying date is: on September 10th, 1994, application number is: 94108684.4; Or " nerve network of digital type high speed incomplete differential ratio, integration, differential regulator ", the applying date is: on September 10th, 1994, application number is: 94108685.2.
Because the vibration displacement of rotor-support-foundation system rotating shaft is simultaneous at X, Y and three directions of Z, its displacement at any one time all is synthetic at the vector of X, Y, the displacement of Z direction, so the vibration displacement in its arbitrary moment all can be decomposed into the displacement of directions X displacement, the displacement of Y direction and Z direction.Now the control loop with directions X (being the directions X of A end or B end) is an example: by eddy current sensor a(or c) record rotating shaft behind the displacement signal of directions X, as shown in Figure 3, via the signal amplifier A of LM741C formation
AX(or A
BX) after the amplification, can obtain the displacement signal V of directions X
1AX(or V
1BX), this signal is sent to nerve network of digital type high-speed regulator C
AX(or C
BX) voltage-frequency converter VFC
1, and another input end of nerve network of digital type high-speed regulator, promptly the setting value input end then should be set V herein
2AX(or V
2BX) be zero, after the computing of regulator control law, send into analog to digital converter DAC and be output as control action voltage signal V
3AX(or V
3BX).Voltage signal V
3AX(or V
3BX) give voltage/current as shown in Figure 4 to change and current amplifier I
AX(or I
BX) carry out power amplification, at first V
3AX(or V
3BX) be converted to current signal via the voltage of dual operational amplifier RC4558 and triode 2SC945 formation, then the Darlington formula that constitutes via 2SC2333,2S2336A and four 2SD555 step by step amplifying circuit carry out power amplification, electric current through power amplification is added on the directions X stator winding of electromagnetic bearing, has so just constituted the feedback control loop of directions X.In such loop, when eddy current sensor detects offset deviation when non-vanishing (the corresponding eddy current sensor of desired location of establishing the rotor normal rotation is output as zero), this signal is through amplification, control law computing and output, generation control action and eliminate this offset deviation by electromagnetic bearing stator coil generation electromagnetic force after power amplification, and the feedback control loop of other Y directions and Z direction roughly the same.
Consider nerve network of digital type high-speed regulator output control voltage signal, be converted to electromagnetic force through processes such as amplifications, can produce certain time-lag effect, so need the nerve network of digital type high-speed regulator that is adopted is carried out lag compensation, as shown in Figure 5, at nerve network of digital type high-speed regulator C
AX, C
AY, C
BX, C
BY, C
ZIn data interlock device SS
1Output end signal, the one tunnel through data interlock device SS
aSend subtracter JF, subtracter JF is directly sent on another road, and multiplier CF, totalizer A are sent in subtracter JF output, with the data interlock device SS in the nerve network of digital type high-speed regulator
3Connect, that link to each other with another input end of multiplier CF is data interlock device SS
b, SS
bIn what deposit is coefficient
Kb, that link to each other with another input end of totalizer A is the subtracter JF of nerve network of digital type high-speed regulator
1, promptly utilize the differential of offset deviation to compensate, get the poor of this cycle pulse number corresponding with last cycle offset deviation, this difference multiply by a coefficient
KbAfter be added on the difference of the displacement detecting value of nerve network of digital type high-speed regulator and the pairing pulse number of setting value.
Still can reply fast under external interference steadily in order to advance an assurance rotor, the present invention increases by one again on five feedback control loops be the microprocessor system of core with 8098, and its input signal is V
1AX, V
1AY, V
1BX, V
1BY, V
1Z, V
3AX, V
3AY, V
3BX, V
3BY, V
3Z, in microprocessor, be solidified with program with the compilation language compilation, be used to optimize ratio, integration, the differential parameter of each regulator, and output downloads on five regulators.
The voltage-frequency converter that the present invention adopts is AD650, and analog to digital converter is DAC-08H, and the data interlock device is SN74LS75, and totalizer is SN74LS283, and multiplier is 16 * 16 multipliers, and subtracter is made up of totalizer and former radix-minus-one complement selector switch SN74H87.
Claims (3)
1, a kind of ANN (Artificial Neural Network) Control device of flexible rotor system electromagnetic bearing, it is characterized in that: the eddy current sensor [a] that can detect A end X and Y both direction offset deviation is installed respectively at rotating shaft [3] A of flexible rotor system [R] end X and Y both direction, [b], at rotating shaft [3] B end X and Y both direction the eddy current sensor [c] that can detect B end X and Y both direction offset deviation is installed respectively, [d], going up installation in rotating shaft [3] can be with a disk [4] of rotating shaft rotation, can detect the eddy current sensor [e] of rotating shaft [3] at Z direction offset deviation, each sensor [a] with respect to the installation of disk [4] end face, [b], [c], [d], [e] its detection signal is delivered to the signal amplifier A that is attached thereto respectively
AX, A
AY, A
BX, A
BY, A
ZAmplify, the signal after the amplification is respectively V
1AX, V
1AY, V
1BX, V
1BY, V
1Z, send into nerve network of digital type high-speed regulator C separately
AX, C
AY, C
BX, C
BY, C
ZVoltage-frequency converter VFC
1, after the control law computing, by its digital to analog converter DAC output control signal V
3AX, V
3AY, V
3BX, V
3BY, V
3Z, through voltage/current conversion and current amplifier I
AX, I
AY, I
BX, I
BY, I
ZAfter carrying out power amplification, be added in rotating shaft A, B two ends electromagnetic bearing directions X stator winding F
AX, F
BX, Y direction stator winding F
AY, F
BY, the electromagnetic bearing Z direction stator winding F of A, B both ends of the surface
ZOn, form five independently feedback control loops respectively, at nerve network of digital type high-speed regulator C separately
AX, C
AY, C
BX, C
BY, C
ZVoltage-frequency converter VFC
2On, the signal V of the added representative setting value of difference
2AX, V
2AY, V
2BX, V
2BY, V
2Z, its value is zero.
2, the ANN (Artificial Neural Network) Control device of flexible rotor system electromagnetic bearing according to claim 1 is characterized in that: respectively at nerve network of digital type high-speed regulator C
AX, C
AY, C
BX, C
BY, C
ZIn data interlock device SS
1Output end signal, the one tunnel through data interlock device SS
aSend subtracter JF, subtracter JF is sent on another road, and multiplier CF, totalizer A are sent in subtracter JF output, with the data interlock device SS in the nerve network of digital type high-speed regulator
3Connect, that link to each other with multiplier CF other end input end is data interlock device SS
b, that link to each other with another input end of totalizer A is the subtracter JF of nerve network of digital type high-speed regulator
1
3, the ANN (Artificial Neural Network) Control device of flexible rotor system electromagnetic bearing according to claim 1 is characterized in that: on five feedback control loops, increase by one 8098 microprocessor system, its input signal is V
1AX, V
1AY, V
1BX, V
1BY, V
1Z; V
3AX, V
3AY, V
3BX, V
3BY, V
3Z, its output signal is respectively the PID parameters of five nerve network of digital type high-speed regulators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN94118600A CN1034613C (en) | 1994-12-09 | 1994-12-09 | Nerve network controller for electromagnetic bearing of flexible rotor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN94118600A CN1034613C (en) | 1994-12-09 | 1994-12-09 | Nerve network controller for electromagnetic bearing of flexible rotor system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1106939A true CN1106939A (en) | 1995-08-16 |
| CN1034613C CN1034613C (en) | 1997-04-16 |
Family
ID=5038935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94118600A Expired - Fee Related CN1034613C (en) | 1994-12-09 | 1994-12-09 | Nerve network controller for electromagnetic bearing of flexible rotor system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1034613C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100430706C (en) * | 2003-09-24 | 2008-11-05 | Skf股份公司 | Method and sensor arrangement for load measurement on rolling element bearing based on model deformation |
| US11399153B2 (en) | 2009-08-26 | 2022-07-26 | Teladoc Health, Inc. | Portable telepresence apparatus |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2336603A1 (en) * | 1975-12-24 | 1977-07-22 | Europ Propulsion | CRITICAL FREQUENCY DAMPING DEVICE OF A MAGNETICALLY SUSPENDED ROTOR |
| US4159445A (en) * | 1976-10-13 | 1979-06-26 | Lee Yu Kuang | Multiple purpose feedback control system |
| FR2561738B1 (en) * | 1984-03-26 | 1986-08-22 | Europ Propulsion | METHOD AND DEVICE FOR REDUCING THE VIBRATION OF ROTATING MACHINES EQUIPPED WITH AN ACTIVE MAGNETIC SUSPENSION |
-
1994
- 1994-12-09 CN CN94118600A patent/CN1034613C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100430706C (en) * | 2003-09-24 | 2008-11-05 | Skf股份公司 | Method and sensor arrangement for load measurement on rolling element bearing based on model deformation |
| US11399153B2 (en) | 2009-08-26 | 2022-07-26 | Teladoc Health, Inc. | Portable telepresence apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1034613C (en) | 1997-04-16 |
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