CN102011799B - High-reliability energy storage flywheel magnetic bearing digital control system - Google Patents
High-reliability energy storage flywheel magnetic bearing digital control system Download PDFInfo
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- CN102011799B CN102011799B CN201010567082XA CN201010567082A CN102011799B CN 102011799 B CN102011799 B CN 102011799B CN 201010567082X A CN201010567082X A CN 201010567082XA CN 201010567082 A CN201010567082 A CN 201010567082A CN 102011799 B CN102011799 B CN 102011799B
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Abstract
The invention provides a high-reliability energy storage flywheel magnetic bearing digital control system, which is a device capable of controlling an electromagnetic bearing of a magnetic suspension energy storage flywheel. The system mainly comprises an interface circuit, a DSP (digital signal processor) system, a magnetic bearing control power module, a magnetic suspension energy storage flywheel system and a sensor circuit, wherein the DSP system acquires a magnetic bearing rotor displacement signal, a speed signal and data such as magnetic bearing coil current through the interface circuit; and the DSP system actively controls the electromagnetic bearing according to the magnetic bearing rotor displacement signal, the magnetic bearing coil current and the speed signal. The invention realizes the integrated design of a magnetic bearing digital controller, so that the integration degree of a magnetic suspension energy storage flywheel system controller is greatly improved, the volume and weight are reduced, the power consumption of the controller is reduced and the reliability of the controller is improved.
Description
Technical field
The present invention relates to a kind of integrated, highly reliable magnetic suspension energy accumulation flywheel magnetic bearing numerical control device, be used for the magnetic suspension energy accumulation flywheel magnetic bearing system is carried out ACTIVE CONTROL, be specially adapted to occasions such as low power consumption, highly reliable, high integration.
Background technique
Magnetic levitation energy storage flywheel is a kind of physics energy storage device of a new generation; Has high-power, high energy storage density; Environmental protection; And have advantages such as very strong anti-interference and quick response, progressively be applied in the world, and will become the first-selected energy storage mode of the extensive energy storage device of China a new generation.
The Control in active magnetic bearings control of energy-storing flywheel system with magnetic suspension adopts the mode of core processor collocation peripheral chip to control at present.The advantage of this controlling schemes is: control hierarchy is clearly demarcated, and core processor mainly is used for running algorithm and peripheral processor mainly is used for the various interface and the generation of being responsible for the control pwm pulse of processes sensor signal.Core processor and peripheral chip can be arranged in pairs or groups to a certain extent flexibly like this, have very wide in range selection.It is not high that but the shortcoming of this scheme is exactly the level of integration of whole hardware system, and shared control panel area is big, thereby caused the rising of the complicated and power consumption of design.Be exactly that core processor carries out work in order to control peripheral components in addition, need frequently to communicate by letter, caused stable decline with peripheral chip.
Summary of the invention
Technology of the present invention is dealt with problems and is: main core processor is not high with the level of integrated system that the peripheral chip separation brings in the magnetic suspension energy accumulation flywheel magnetic bearing numerical control system, hardware control circuit is complicated with solving, the control panel volume is big and the high problem of control system power consumption, provides that a kind of hardware designs is succinct, level of integration and stable high magnetic suspension energy accumulation flywheel magnetic bearing use numerical control device.
Technical solution of the present invention is: a kind of integrated, highly reliable magnetic suspension energy accumulation flywheel magnetic bearing numerical control device comprises interface circuit, communication interface, dsp system, magnetic bearing power model, sensor circuit, energy-storing flywheel system with magnetic suspension.Wherein interface circuit comprises displacement transducer interface circuit, tach signal interface circuit, magnetic bearing current sensor interface circuit; The magnetic bearing power model comprises magnetic bearing high speed optoelectronic buffer circuit, magnetic bearing pulse protection drive circuit, magnetic bearing full-bridge type transducing circuit; The magnetic suspension energy accumulation flywheel magnetic bearing system comprises magnetic bearing coil, magnetic bearing rotor; Sensor circuit comprises magnetic bearing current sensor, rotor-position sensor, rotor displacement sensor.Sensor circuit obtains magnetic bearing rotor displacement signal, flywheel tach signal, magnetic bearing coil current signal respectively; The magnetic bearing rotor displacement signal of interface circuit receiving sensor electric circuit inspection, flywheel tach signal, magnetic bearing coil current signal are transferred to dsp system with the signal that these signals carry out after filtering and scaling are handled and will be handled, and dsp system receives the ACTIVE CONTROL that magnetic bearing rotor displacement signal, flywheel tach signal, magnetic bearing coil current signal after the interface circuit processing carries out electromagnetic bearing.Wherein the electric current of magnetic bearing coil, energy-storing flywheel system with magnetic suspension rotor-position and magnetic bearing rotor displacement signal are used to realize the ACTIVE CONTROL to electromagnetic bearing.Dsp system is according to electric current, energy-storing flywheel system with magnetic suspension rotor-position and the magnetic bearing rotor displacement signal of magnetic bearing coil; Generate rotor Suspension Control amount and it is carried out the PWM modulation through control algorithm; To modulate the magnetic bearing pwm signal of accomplishing again and directly send magnetic bearing full-bridge type transducing circuit to, generate the required control electric current of magnetic bearing coil through magnetic bearing high speed optoelectronic buffer circuit, magnetic bearing pulsed drive protective circuit.Dsp system can carry out the flywheel rotor Suspension Control respectively according to the flywheel rotor position signal that rotor-position sensor detects; Control system rotor position transducer is used to obtain the tach signal of magnetic levitation energy storage flywheel, and the rotor displacement sensor is used to obtain the levitation position signal of magnetic levitation energy storage flywheel rotor.
Dsp system adopts a slice dsp chip as processor, accomplishes the control of 5 degrees of freedom of magnetic bearing rotor, and dsp chip can be TMS320F28335 or TMS320F28346.
On the dsp system communication interface can be arranged; Be used to be connected to control computer; The convenient on-line debugging of realizing the magnetic levitation energy storage flywheel control system is transferred to the running state information of energy-storing flywheel system with magnetic suspension control computer and through communication interface the control command of control computer is transferred to the flywheel control system through communication interface.
Dsp system receives control command through communication interface; And the magnetic levitation energy storage flywheel running state parameter is uploaded to control computer; Dsp system is found the solution suspending power according to the rotor displacement signal of electromagnetic bearing buy stop order and feedback, and also relatively electromagnetic bearing coil winding current-order and tickler electric current pass through control algorithm output electromagnetic bearing coil current controlled quentity controlled variable to resolve electromagnetic bearing coil winding current-order.Electromagnetic bearing coil current controlled quentity controlled variable is used for the driving control system power amplifier, makes the magnetic levitation energy storage flywheel rotor suspend.Dsp system is adjusted the Suspension Control parameter in real time according to the current tachometer value of flywheel in resolving process.The control algorithm that adopts is for intersecting pid control algorithm.
Principle of the present invention is: the present invention adopts a slice dsp chip to realize the control of magnetic levitation energy storage flywheel.Carry out that major component is the collection of flywheel control system status parameter and the realization of control algorithm in the ACTIVE CONTROL of magnetic levitation energy storage flywheel electromagnetic bearing.Wherein the collection of flywheel control system status parameter mainly is divided into the collection of analog amount and the collection of digital quantity; Like magnetic bearing coil current signal, rotor displacement signal is that analogue signal can realize through the AD modular converter that DSP carries, and rotor-position signal is that digital signal can realize that position and speed detect through the capture module that DSP carries in addition.The control algorithm that the present invention adopts is for intersecting increment type PID algorithm.The ACTIVE CONTROL of visible magnetic suspension energy accumulation flywheel magnetic bearing can realize on a slice dsp chip in sum.
The invention provides the magnetic suspension energy accumulation flywheel magnetic bearing control system and carry out the input interface of the analog amount of Control in active magnetic bearings control, digital quantity and pulse signal, electric current output interface and input link through power amplification are provided.On the one hand, directly convert digital quantity by the current signal in the magnetic bearing coil of the displacement signal of five degrees of freedom of displacement transducer output and current sensor senses into through the AD modular converter that DSP carries; The EPWM module control signal that utilizes DSP to carry simultaneously carries out the PWM modulation, exports magnetic bearing PWM modulation signal with control magnetic bearing device for power switching, thereby carries the stable suspersion of realizing the magnetic bearing flywheel rotor to electromagnetic bearing coil control electric current through interface.
The present invention's advantage compared with prior art is: the present invention has utilized a slice dsp chip to make up the magnetic suspension energy accumulation flywheel magnetic bearing digital controller, compares with existing magnetic suspension energy accumulation flywheel magnetic bearing control system to have following characteristics:
(1) than the digital controller of conventional magnetic levitation energy accumulation flywheel magnetic bearing control system employing core processor collocation peripheral chip, the present invention has the advantage of integrated digital controller: hardware circuit is simple, volume is little, low in energy consumption, stability height.
(2) adopt the digital controller of core processor collocation peripheral chip than conventional magnetic levitation energy accumulation flywheel magnetic bearing control system, the arrange in pairs or groups design proposal of Peripheral Controller of core processor is replaced with the high-speed dsp chip that a slice has the SOC(system on a chip) function.Thereby saved the interface circuit design of processor and peripheral chip, reduced power consumption, improved the global stability of system.
(3) adopt the digital controller of core processor collocation peripheral chip than conventional magnetic levitation energy accumulation flywheel magnetic bearing control system; The all functions of magnetic bearing control system peripheral chip have in the past been comprised owing to have the dsp chip of SOC(system on a chip) function; This control system has saved core processor and the frequent traffic operation of peripheral chip, and with this operation transform for DSP inside to operation registers.Thereby make processor more simple, saved size of code the control of peripheral module.
Description of drawings
Fig. 1 is a structure composition frame chart of the present invention;
Fig. 2 is a Control in active magnetic bearings control theory diagram of the present invention;
Fig. 3 is a dsp system circuit block diagram of the present invention;
Fig. 4 is a flywheel rotor structural representation of the present invention;
Fig. 5 is the algorithm routine figure of dsp system of the present invention;
Fig. 6 is magnetic bearings control algorithm routine figure of the present invention;
Fig. 7 is the circuit diagram of single passage high speed optoelectronic buffer circuit of the present invention, pulse protection drive circuit and full-bridge type transducing circuit;
Fig. 8 is the displacement transducer interface circuit of single passage of the present invention;
Fig. 9 is the current sensor interface circuit of single passage of the present invention;
Figure 10 is a tach signal interface circuit of the present invention.
Embodiment
As shown in Figure 1, the present invention includes interface circuit 5, dsp system 1, magnetic bearing power model 2, sensor circuit 4, energy-storing flywheel system with magnetic suspension 3.Wherein interface circuit 5 comprises displacement transducer interface circuit 12, magnetic bearing current sensor interface circuit 11, rotor-position signal interface circuit 16; Magnetic bearing power model 2 comprises magnetic bearing high speed optoelectronic buffer circuit 6, magnetic bearing pulse protection drive circuit 7, magnetic bearing full-bridge type transducing circuit 8; Sensor circuit 4 comprises magnetic bearing current sensor 9, rotor displacement sensor 10, magnetic suspension rotor position transducer 15.Sensor circuit 4 is connected to dsp system 1 through interface circuit 5; Dsp system 1 obtains data such as magnetic bearing rotor displacement signal, magnetic bearing coil current signal through displacement transducer interface circuit 12, magnetic bearing current sensor interface circuit 11; Generate the magnetic bearing pwm signal through certain control algorithm; Thereby magnetic bearing power model 2 receives the electric current of magnetic bearing PWM control magnetic bearing coil, realizes the ACTIVE CONTROL to electromagnetic bearing.Be connected to communication interface 13 on the dsp system 1 of the present invention; Said communication interface 13 is connected on the control computer, and the magnetic levitation energy storage flywheel control system is transferred to the running state information of energy-storing flywheel system with magnetic suspension control computer and through communication interface 13 control command of control computer is transferred to the flywheel control system through communication interface 13.
As shown in Figure 2; Be Control in active magnetic bearings control theory diagram of the present invention; Send magnetic bearing levitation position control command by control computer to dsp system; The difference of the rotor displacement signal of more given control command of dsp system and feedback is through PID computing output magnetic bearing coil current control command, the difference of the coil current value of instruction of control system comparator coil Current Control and feedback; Through PID computing output magnetic bearing coil current controlled quentity controlled variable; Magnetic bearing coil current controlled quentity controlled variable is modulated generation control signal (PWM) with driven magnetic bearing power model, and control program is through the electromagnetic force size of magnetic bearing coil current control electromagnet, thus control rotor levitation position.
As shown in Figure 3, be dsp system circuit block diagram of the present invention, 5 road displacement transducer signals (four radial passage AX, AY, BX, BY.An axial passage Z) and current sensor signal amplify through interface circuit; Be complementary with the A/D input range behind the level deviation (0V～3.3V); Send into the AD modular converter that dsp system carries after passing through preposition anti-aliasing lower pass-filter (cutoff frequency can be regulated according to the sample frequency of being taked) then; Dsp system 1 carries out calculation process according to numerically controlled control algorithm then, produces the controlled quentity controlled variable of 5 degrees of freedom.Through 1 software programming can produce independently 3 to (i.e. six outputs) magnetic bearing pwm signal to dsp system; The magnetic bearing pwm signal directly sends magnetic bearing full-bridge type transducing circuit 8 to through magnetic bearing high speed optoelectronic buffer circuit 6, magnetic bearing pulsed drive protective circuit 7; The magnetic bearing full-bridge type transducing circuit of forming with the power controlling switching device 8 generates the required control electric current of magnetic bearing coil, thereby realizes the ACTIVE CONTROL of magnetic bearing.
As shown in Figure 4; Be flywheel rotor structural representation of the present invention; Flywheel rotor is suspended by two radial direction magnetic bearings, and an end is called A end magnetic bearing, and the other end is a B end magnetic bearing; A, B end constitute radially AX, AY, BX, BY four-way along the coil of X axle, Y direction respectively, and rotor also has an axial passage Z in addition.
As shown in Figure 5; Be control algorithm flow chart of the present invention; Dsp system receives control command through communication interface; And the magnetic suspension energy accumulation flywheel magnetic bearing running state parameter is uploaded to control computer, dsp system is found the solution suspending power according to the rotor displacement signal of electromagnetic bearing buy stop order and feedback, resolve electromagnetic bearing coil winding current-order and relatively electromagnetic bearing coil winding current-order pass through control algorithm output electromagnetic bearing coil current controlled quentity controlled variable with the tickler electric current.Electromagnetic bearing coil current controlled quentity controlled variable is used for the driving control system power amplifier, makes the magnetic levitation energy storage flywheel rotor stability suspend.Dsp system is adjusted the Suspension Control parameter in real time according to the current tachometer value of flywheel in resolving process.The control algorithm that adopts is for intersecting pid control algorithm.
As shown in Figure 6; Be magnetic bearings control algorithm routine figure of the present invention; Magnetic bearings control of the present invention has adopted PID to add the control algorithm of intersection feedback, can effectively suppress other various whirling motion modal vibrations relevant with rotating speed, realizes the high speed steady running of magnetic bearing rotor.The rotor shaft two ends are defined as side a and b respectively.Sax, Say represent the rotor radial displacement signal of A end movement sensors X, two orthogonal directions of Y respectively; Sbx, Sby represent the rotor radial displacement signal of B end movement sensors X, two orthogonal directions of Y respectively; Sz representes the axial displacement signal of axial sensor output.Iax, Iay represent the magnetic bearing coil current signal of A end current sensor X, Y direction respectively; Ibx, Iby represent the magnetic bearing coil current signal of B end current sensor X, Y direction respectively; Iz representes the axial magnetic bearing coil current signal of axial current sensor output.
PWMax+, PWMax-are that the A of DSP output holds a pair of PWM modulation signal of the controlled quentity controlled variable of directions X; PWMay+, PWMay-are that the A of DSP output holds a pair of PWM modulation signal of the controlled quentity controlled variable of Y direction; PWMbx+, PWMbx-are that the B of DSP output holds a pair of PWM modulation signal of the controlled quentity controlled variable of directions X; PWMby+, PWMby-are that the B of DSP output holds a pair of PWM modulation signal of the controlled quentity controlled variable of Y direction; PWMz+, PWMz-are a pair of PWM modulation signal of the axial controlled quentity controlled variable of DSP output.The controlled quentity controlled variable formula of five degrees of freedom of output is:
OUTax＝PIDSax(k)+(Say(k)-Sby(k))Kc
OUTbx＝PIDSbx(k)-(Say(k)-Sby(k))Kc
OUTay＝PIDSay(k)+(Sax(k)-Sbx(k))Kc
OUTby＝PIDSby(k)-(Sax(k)-Sbx(k))Kc
OUTz＝PIDSz(k)
PIDSax is the PID operation result of the offset deviation of A end directions X, and PIDSbx, PIDSay, PIDSby implication are analogized.Kc has introduced the intersection feedback channel gain behind the rotating speed.For the current-responsive speed that improves control is done the PD computing with the controlled quentity controlled variable of output and the deviation of current feedback signal, then this result is carried out PWM modulation and output modulation waveform.Concrete sequential operation flow process is seen Fig. 5.
As shown in Figure 7, be the circuit diagram of the single passage high speed optoelectronic of magnetic bearing power model of the present invention buffer circuit, pulse protection drive circuit and full-bridge type transducing circuit, five channel types are like (four radial passage AX, AY, BX, BY, an axial passage Z).High speed photo coupling TLP2630 has realized the pwm signal of DSP output and the isolation of forceful electric power pulse.Pwm signal is through IR2110 driving power pipe IRF3710.The circuit that comparator LM339 and 6N137,4001,4025 constitute can prevent that the MOSFET mains side is straight-through and overcurrent protection can be provided.Can the threshold value be set through regulator potentiometer W1 and W2.When overall height appears in a pair of pwm signal that surpasses a passage of setting value or DSP output when magnetic bearing or motor windings electric current, 4025 output low levels all, thus prevent that direct current from surveying the straight-through and magnetic bearing coil of power supply, motor windings excess current.
As shown in Figure 8; Displacement transducer interface circuit for single passage of the present invention; The displacement transducer interface circuit is made difference to the displacement signal of displacement transducer output, amplifies then and level deviation, with A/D input range be complementary (0V-3.3V); Pass through the one-level second-order low-pass filter again, the filter away high frequency noise signal prevents to produce Aliasing.
As shown in Figure 9; Current sensor interface circuit for single passage of the present invention; Current sensor detects the magnetic bearing coil current in real time, and the current sensor interface circuit amplifies and level deviation current sensor signal, with A/D input range be complementary (0V-3.3V); Pass through the one-level second-order low-pass filter again, the filter away high frequency noise signal prevents to produce Aliasing.
Shown in figure 10, be tach signal interface circuit of the present invention.Rotor-position (hall position) sensor rotor speed, and produce rotational speed pulse signal.The speed probe interface circuit is isolated rotational speed pulse signal with high speed photo coupling 6N137, and its amplitude is adjusted into 0-3.3V, carries out sending into DSP after the shaping pulse with 74HC14, through measuring the measurement of pulse interval realization rotor speed.
The present invention can be used as a kind of general magnetic suspension energy accumulation flywheel magnetic bearing system hardware platform, and enough hardware resources are provided.Application person can come to realize flexibly and easily its function through revising software according to its special application.
Claims (4)
1. highly reliable energy accumulation flywheel magnetic bearing numerical control system; It is characterized in that: comprise interface circuit (5), communication interface (13), dsp system (1), magnetic bearing power model (2), sensor circuit (4), accumulated energy flywheel magnetic suspension bearing body (3), it is characterized in that: interface circuit (5) comprises magnetic bearing rotor displacement signal interface circuit (12), magnetic bearing current sensor interface circuit (11), magnetic bearing rotor-position signal interface circuit (16); Magnetic bearing power model (2) comprises magnetic bearing high speed photo coupling buffer circuit (6), magnetic bearing pulse protection drive circuit (7), magnetic bearing full-bridge type transducing circuit (8); Accumulated energy flywheel magnetic suspension bearing body (3) comprises two magnetic bearing coils and rotor; Sensor circuit (4) comprises magnetic bearing winding current sensor (9), magnetic bearing rotor displacement sensor (10) and magnetic bearing rotor-position sensor (15); Magnetic bearing rotor displacement sensor (10) obtains the levitation position signal of rotor, and magnetic bearing rotor-position sensor (15) obtains the tach signal of rotor, and said current sensor (9) obtains the magnetic bearing coil current signal; The levitation position signal of the rotor that interface circuit (5) receiving sensor circuit (4) detects, the tach signal of rotor and magnetic bearing coil current signal and with these signals carry out filtering with the scaling processing and the signal after will handling be transferred to dsp system (1); Dsp system (1) receives levitation position signal, the tach signal of rotor and the ACTIVE CONTROL that the magnetic bearing coil current signal carries out electromagnetic bearing of the rotor after interface circuit (5) is handled; Dsp system (1) is according to the levitation position signal of rotor, the tach signal and the magnetic bearing coil current signal of rotor; Generate rotor Suspension Control amount and it is carried out the PWM modulation through control algorithm; The magnetic bearing pwm signal that to modulate completion again directly passes through magnetic bearing high speed photo coupling buffer circuit (6), magnetic bearing pulse protection drive circuit (7) sends magnetic bearing full-bridge type transducing circuit (8) to, generates the required control electric current of magnetic bearing coil.
2. a kind of highly reliable energy accumulation flywheel magnetic bearing numerical control system according to claim 1; It is characterized in that: described dsp system (1) adopts a slice dsp chip as processor; Accomplish the control of 5 degrees of freedom of rotor, dsp chip is TMS320F28335 or TMS320F28346.
3. a kind of highly reliable energy accumulation flywheel magnetic bearing numerical control system according to claim 1; It is characterized in that: said dsp system (1) is connected with communication interface (13); Dsp system is connected on the control computer through communication interface; The convenient on-line debugging of realizing said flywheel magnetic bearing numerical control system is transferred to the running state information of accumulated energy flywheel magnetic suspension bearing body (3) control computer and through communication interface (13) control command of control computer is transferred to said flywheel magnetic bearing numerical control system through communication interface (13).
4. a kind of highly reliable energy accumulation flywheel magnetic bearing numerical control system according to claim 1 is characterized in that: described control algorithm is the pid control algorithm of band intersection feedback.
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| CN103019128A (en) * | 2011-09-27 | 2013-04-03 | 上海航天控制工程研究所 | Microminiature flywheel control circuit |
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| CN102829081B (en) * | 2012-08-28 | 2015-07-15 | 清华大学 | Method for diminishing iso-frequency vibration amplitude in rotation of rotor in magnetic bearing system |
| CN103883621A (en) * | 2012-12-21 | 2014-06-25 | 北京奇峰聚能科技有限公司 | Magnetic bearing control circuit for magnetic suspension energy-storage flywheel and control method thereof |
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| CN103939485B (en) * | 2013-10-30 | 2017-02-01 | 南京航空航天大学 | Magnetic suspension bearing digital controller with displacement sensor automatic calibration function |
| CN105202023B (en) * | 2014-05-26 | 2017-10-10 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic levitation bearing system and its control method and device |
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| CN108427347B (en) * | 2018-04-04 | 2023-08-15 | 肇庆学院 | Control system of internal stable electromagnetic suspension micromirror |
| CN110905920A (en) * | 2018-09-18 | 2020-03-24 | 北京亚之捷环保科技有限责任公司 | Magnetic bearing control device suitable for different offset combinations of each degree of freedom of magnetic bearing |
| CN110030264A (en) * | 2019-05-08 | 2019-07-19 | 珠海格力电器股份有限公司 | Magnetic suspension bearing displacement detection device and magnetic suspension system |
| CN110345158B (en) * | 2019-07-22 | 2020-08-11 | 珠海格力电器股份有限公司 | Bearing control method and device, storage medium and processor |
| CN110657159B (en) * | 2019-09-24 | 2021-02-19 | 东北大学 | Magnetic suspension bearing stability control method |
| CN111077801A (en) * | 2019-12-18 | 2020-04-28 | 上海航天控制技术研究所 | Magnetic bearing control method and control platform thereof |
| CN112211909B (en) * | 2020-10-10 | 2021-11-30 | 珠海格力电器股份有限公司 | Current control method, device and system for magnetic bearing |
| CN113489228B (en) * | 2021-07-01 | 2023-07-21 | 北京奇峰聚能科技有限公司 | Self-adaptive control method for axial position of magnetic suspension flywheel rotor |
| CN113700739B (en) * | 2021-08-18 | 2023-02-03 | 北京奇峰聚能科技有限公司 | Method for calculating variable modal frequency of magnetic suspension flywheel and self-adaptive notch filter set |
| CN113794420A (en) * | 2021-09-14 | 2021-12-14 | 北京泓慧国际能源技术发展有限公司 | Flywheel operation monitoring system and method |
| CN114251358A (en) * | 2021-11-22 | 2022-03-29 | 北京高孚动力科技有限公司 | Active magnetic bearing rotor drop protection method |
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