CN105351357B - The control method of hybrid magnetic suspension bearing, apparatus and system - Google Patents
The control method of hybrid magnetic suspension bearing, apparatus and system Download PDFInfo
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- CN105351357B CN105351357B CN201510801632.2A CN201510801632A CN105351357B CN 105351357 B CN105351357 B CN 105351357B CN 201510801632 A CN201510801632 A CN 201510801632A CN 105351357 B CN105351357 B CN 105351357B
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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
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- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of control method of hybrid magnetic suspension bearing, apparatus and system.Wherein, this method includes：The offset deviation amount of the rotor of magnetic suspension bearing is detected, and determines the voltage control signal of offset deviation amount；Positive feedback processing is made to voltage control signal by power controller, the voltage control signal after being handled；The driving current of power amplifier output is determined using the voltage control signal after processing；Magnet coil is driven by driving current, so that rotor suspension.The present invention solves hybrid magnetic levitation bearing system big technical problem of power consumption when load or external interference power be present.
Description
Technical field
The present invention relates to bearing control field, in particular to a kind of control method of hybrid magnetic suspension bearing, dress
Put and system.
Background technology
Magnetic suspension bearing is a kind of contactless novel high-performance electromechanical integration bearing, is had without friction, without abrasion, nothing
The advantages that need to lubricating.Hybrid magnetic suspension bearing as one kind in magnetic suspension bearing, its mechanism part exist permanent magnet with
Electromagnet, permanent magnet provide bias magnetic field, can avoid active magnetic system because of power consumption caused by bias current, electromagnet
Control magnetic field is produced, is merely provided for the control electric current of balanced load or external interference power.Hybrid magnetic suspension bearing and master
Dynamic formula magnetic suspension bearing is compared, although having reduced power consumption, how further to reduce the power consumption of hybrid magnetic suspension bearing
It is magnetically suspended bearing design problem encountered.
Using air gap control method is determined, its operation principle is conventional hybrid magnetically suspended bearing：Displacement sensing
Device monitors the displacement signal of magnetic suspension rotor in real time, and compared with reference to displacement signal, calculates departure, controller handle
The departure is changed into control signal, is changed into control electric current by power amplifier, and control circuit produces control magnetic field, and inclined
Put that magnetic field is superimposed, and then change the size of electromagnetic force in real time, rotor stability is suspended in equilbrium position.
When hybrid magnetic suspension bearing rotor is non-loaded or without any external interference power in the case of, rotor will be stable outstanding
Float on equilbrium position, now, rotor keeps stable suspersion state mainly by the bias magnetic field that permanent magnet provides, magnet coil
Control electric current is substantially zeroed.But when load or external interference power be present, magnet coil needs to produce certain control electricity
Stream keeps rotor stability to be suspended in equilbrium position, and loads or perturbed force increase, and control electric current will be with increase, power consumption
Also corresponding increase.
In the prior art, when there is load or external interference power in hybrid magnetically suspended bearing, magnet coil
All the time certain control electric current is flowed through, and as load or perturbed force increase, control electric current increase, power consumption increase.
The problem of power consumption is big when load or external interference power be present for existing hybrid magnetic levitation bearing system,
Not yet propose effective solution at present.
The content of the invention
The embodiments of the invention provide a kind of control method of hybrid magnetic suspension bearing, apparatus and system, at least to solve
Certainly hybrid magnetic levitation bearing system big technical problem of power consumption when load or external interference power be present.
One side according to embodiments of the present invention, there is provided a kind of control method of hybrid magnetic suspension bearing, the control
Method processed includes：The offset deviation amount of the rotor of magnetic suspension bearing is detected, and determines the voltage control letter of the offset deviation amount
Number；Positive feedback processing is made to the voltage control signal by power controller, the voltage control signal after being handled；Utilize
Voltage control signal after the processing determines the driving current of power amplifier output；Electromagnetism is driven by the driving current
Coil, so that the rotor suspension.
Further, positive feedback processing is made to the voltage control signal by power controller, the electricity after being handled
Pressure control signal includes：Input using the voltage control signal as the power controller, to the voltage control signal
Make Integral Processing, obtain feedback signal；The feedback signal is superimposed with the voltage control signal, after exporting the processing
Voltage control signal.
Further, Integral Processing is made to the voltage control signal, obtaining feedback signal includes：The voltage is controlled
Signal makees k/s Integral Processings, obtains the feedback signal, wherein, the k represents the proportionality coefficient of the power controller, 1/s
Represent integration.
Further, detecting the offset deviation amount of the rotor of magnetic suspension bearing includes：The current of the rotor is detected in real time
Position；The equilbrium position of the rotor and the difference of the current location are calculated, obtains the offset deviation amount.
Further, magnet coil is being driven by the driving current, so that after the rotor suspension, the control
Method also includes：The current location of the rotor is defined as the equilbrium position after the rotor renewal.
One side according to embodiments of the present invention, there is provided a kind of control system of hybrid magnetic suspension bearing, the control
System processed includes：Processor, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determine the offset deviation amount
Voltage control signal；Power controller, for making positive feedback processing to the voltage control signal, the voltage control after being handled
Signal processed；Power amplifier, for determining the drive of the power amplifier output using the voltage control signal after the processing
Streaming current, and magnet coil is driven by the driving current, so that the rotor suspension.
Further, the control system also includes：Integrator, the voltage control signal is as the power controller
Input, Integral Processing is made to the voltage control signal by the integrator, obtains feedback signal, by the feedback signal
It is superimposed with the voltage control signal, exports the voltage control signal after the processing.
Further, the processor includes：Displacement transducer, for detecting the current location of the rotor in real time；Than
Compared with device, for calculating the equilbrium position of the rotor and the difference of the current location, the offset deviation amount is obtained；Voltage control
Device processed, for determining the voltage control signal of the offset deviation amount.
One side according to embodiments of the present invention, there is provided a kind of control device of hybrid magnetic suspension bearing, the control
Device processed includes：Processing unit, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determine the offset deviation amount
Voltage control signal；Feedback unit, for making positive feedback processing to the voltage control signal by power controller, obtain
Voltage control signal after processing；Determining unit, for determining power amplifier using the voltage control signal after the processing
The driving current of output；Driver element, for driving magnet coil by the driving current, so that the rotor suspension.
Further, the feedback unit includes：Integral feedback module, for using the voltage control signal as described in
The input of power controller, Integral Processing is made to the voltage control signal, obtains feedback signal；Laminating module, for by institute
State feedback signal to be superimposed with the voltage control signal, export the voltage control signal after the processing.
Using above-described embodiment, positive feedback processing is made to voltage control signal by power controller, can be to voltage control
Signal processed plays a part of promoting or strengthened, and the drive signal determined based on the voltage control signal after obtained processing drives electricity
Magnetic coil, rotor can be not only returned to original equilbrium position, and opposite direction of the rotor to load forces can be made
Motion, so as to when loading increase, drive rotor motion without driving current, reduce the power consumption of bearing, solve existing skill
In art there is load or power consumption is big during external interference power the problem of in hybrid magnetic levitation bearing system.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the control method of hybrid magnetic suspension bearing according to embodiments of the present invention；
Fig. 2 is illustrated according to a kind of flow of the control method of optional hybrid magnetic suspension bearing of the prior art
Figure；
Fig. 3 is the schematic flow sheet of the control method of hybrid magnetic suspension bearing according to embodiments of the present invention；
Fig. 4 is the schematic diagram of the control system of hybrid magnetic suspension bearing according to embodiments of the present invention；
Fig. 5 is a kind of schematic diagram of the control system of optional hybrid magnetic suspension bearing according to embodiments of the present invention；
Fig. 6 is the schematic diagram of the control device of hybrid magnetic suspension bearing according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
According to embodiments of the present invention, there is provided a kind of embodiment of the method for the control method of hybrid magnetic suspension bearing, need
It is noted that can be in the computer system of such as one group computer executable instructions the flow of accompanying drawing illustrates the step of
Middle execution, although also, show logical order in flow charts, in some cases, can be with different from herein
Order performs shown or described step.
Fig. 1 is the flow chart of the control method of hybrid magnetic suspension bearing according to embodiments of the present invention, as shown in figure 1,
This method comprises the following steps：
Step S102, detects the offset deviation amount of the rotor of magnetic suspension bearing, and determines the voltage control of offset deviation amount
Signal.
Step S104, positive feedback processing is made to voltage control signal by power controller, the voltage control after being handled
Signal processed.
Step S106, the driving current of power amplifier output is determined using the voltage control signal after processing.
Step S108, magnet coil is driven by driving current, so that rotor suspension.
Using above-described embodiment, positive feedback processing is made to voltage control signal by power controller, can be to voltage control
Signal processed plays a part of promoting or strengthened, and the drive signal determined based on the voltage control signal after obtained processing drives electricity
Magnetic coil, rotor can be not only returned to original equilbrium position, and opposite direction of the rotor to load forces can be made
Motion, so as to when loading increase, drive rotor motion without driving current, reduce the power consumption of bearing, solve existing skill
In art there is load or power consumption is big during external interference power the problem of in hybrid magnetic levitation bearing system.
According to the abovementioned embodiments of the present invention, positive feedback processing is made to voltage control signal by power controller, obtained
Voltage control signal after processing includes：Input using voltage control signal as power controller, voltage control signal is made
Integral Processing, obtain feedback signal；Feedback signal is superimposed with voltage control signal, the voltage control signal after output processing.
Further, Integral Processing is made to voltage control signal, obtaining feedback signal includes：Voltage control signal is made into k/
S Integral Processings, obtain feedback signal, wherein, k represents the proportionality coefficient of power controller, and 1/s represents integration.
By the control method of hybrid magnetic suspension bearing in above-described embodiment, hybrid magnetic suspension bearing control can be reduced
The power consumption of device processed.When hybrid magnetic suspension bearing normal work, electric current is approximately zero in magnet coil, even if load or dry
Disturb power to increase, the electric current in magnet coil is almost nil, i.e., power consumption is about zero.
Specifically, detecting the offset deviation amount of the rotor of magnetic suspension bearing includes：The current location of detection rotor in real time；Meter
The equilbrium position of rotor and the difference of current location are calculated, obtains offset deviation amount.
Further, magnet coil is being driven by driving current, so that after rotor suspension, control method also includes：
The current location of rotor is defined as the equilbrium position after rotor renewal.
By above-described embodiment, the power consumption of hybrid magnetically suspended bearing is reduced, system is more saved.
With reference to Fig. 2 and Fig. 3, illustrate so that the external world increases a constant load as an example.
Parameter declaration in Fig. 2 and Fig. 3 is as follows：xref：Reference displacement values (i.e. above-mentioned equilbrium position)；Gc(s)：Voltage
Controller transfer function；Gp(s)：Power amplifier transmission function；Gs(s)：Power sensor transmission function；ki：Current coefficient；
kx：Displacement coefficient；m：Rotor quality；Fd：Load or perturbed force；x：Actual displacement value (i.e. above-mentioned current location)；k：Zero power
The proportionality coefficient of rate controller and k ≠ 0.
Use as shown in Figure 2 is determined in air gap control method, and displacement transducer monitors the displacement letter of magnetic suspension rotor in real time
Number, and compared with reference to displacement signal, departure is calculated, the departure is changed into control signal by controller, is passed through
Power amplifier is changed into control electric current, and control circuit produces control magnetic field, superimposed with bias magnetic field, and then changes in real time
The size of electromagnetic force, makes rotor stability be suspended in equilbrium position.
Specifically, when the external world increases a constant load F to rotordWhen, it is assumed that rotor will deviate from original equilbrium position
xrefMove downward, then the increase of top air gap, magnetic flux ΦOnReduce；Lower section air gap reduces, magnetic flux ΦOnIncrease, now suffered by rotor
Electromagnetic force FOn＜ FUnder.Now, displacement transducer detects that rotor deviates the displacement of equilbrium position, and controller believes this displacement
Number being transformed into control signal is transmitted to power amplifier, and the control signal is transformed into control electric current i by power amplifierx, the control
Electric current produces the electromagnetism magnetic flux Φ of a balance external interference by magnet coild, it is superimposed with the magnetic flux of original permanent magnet, finally
Make the electromagnetic force F suffered by rotorOn≥FUnder, so as to which rotor comes back to original equilbrium position.
In embodiments of the invention as shown in Figure 3, displacement transducer monitors the displacement signal of magnetic suspension rotor (i.e. in real time
Current location), and compared with reference to displacement signal (i.e. equilbrium position), calculate offset deviation amount, voltage controller handle
The departure is changed into voltage control signal, voltage control signal input zero energy controller (i.e. above-mentioned Power Control
Device), zero energy controller carries out integral positive feed-back processing to it, the voltage control signal after being handled, the electricity after the processing
Pressure control signal is changed into driving current through power amplifier, and magnet coil produces magnetic field under the driving of the driving current, with
Bias magnetic field is superimposed, and then changes the size of electromagnetic force in real time, rotor stability is suspended in equilbrium position.
Specifically, when the external world increases a constant load F to rotordWhen, assume initially that rotor will deviate from original balance
Position xrefMove downward a segment distance, then the actual displacement of rotor changes, and detects that rotor is inclined by displacement transducer
From the displacement of equilbrium position, produce a positive electricity by backfeed loop and be pressed onto zero energy controller front end, because zero energy controls
There is integral positive feed-back effect in device, now zero energy controller will export a very big control positive voltage, by power amplification
Rotor is not only withdrawn into equilbrium position but also rotor is moved a segment distance upwards by electromagnetic force caused by device and magnet coil, this
Individual upward displacement produces a negative electricity after backfeed loop and is pressed onto zero energy controller front end, because integrator has memory work(
Can, the negative voltage offsets with the original positive voltage of integrator, therefore the output of zero energy controller is zero, therefore, power amplification
The output current of device, the electromagnetic force of magnet coil will be zero.Now the equilbrium position of system has been shifted up, and the position is exactly to turn
The new equilbrium position of son, so zero energy control method is by suitably adjusting suspension air gap, rotor stability is suspended, and makes electricity
Magnet-wire loop current is approximately zero control method all the time.
Pass through above-described embodiment, the result (i.e. feedback signal) and the electricity of Gc (s) outputs of power controller K/S feedback outputs
Voltage-controlled Signal averaging processed, the voltage control signal after processing is recently entered to Gp (s), it may be said that it is that K/S feeds back to Gp (s), and
The final output for realizing zero energy controller is zero, i.e. input signal before Gp (S) is zero.
One side according to embodiments of the present invention, there is provided a kind of control system of hybrid magnetic suspension bearing, the control
System processed includes processor 10 as shown in Figure 4, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determines displacement
The voltage control signal of departure；Power controller 30, for making positive feedback processing to voltage control signal, after being handled
Voltage control signal；Power amplifier 50, for determining the drive of power amplifier output using the voltage control signal after processing
Streaming current, and magnet coil 70 is driven by driving current, so that rotor suspension.
Using above-described embodiment, positive feedback processing is made to voltage control signal by power controller, can be to voltage control
Signal processed plays a part of promoting or strengthened, and the drive signal determined based on the voltage control signal after obtained processing drives electricity
Magnetic coil, rotor can be not only returned to original equilbrium position, and opposite direction of the rotor to load forces can be made
Motion, so as to when loading increase, drive rotor motion without driving current, reduce the power consumption of bearing, solve existing skill
In art there is load or power consumption is big during external interference power the problem of in hybrid magnetic levitation bearing system.
Further, control system also includes：Integrator, input of the voltage control signal as power controller, passes through
Integrator makees Integral Processing to voltage control signal, obtains feedback signal, and feedback signal is superimposed with voltage control signal, output
Voltage control signal after processing.
Further, processor is included as shown in Figure 5：Displacement transducer 11, for detecting the present bit of rotor in real time
Put；Comparator (not shown in Fig. 5), for calculating the equilbrium position of rotor and the difference of current location, obtain offset deviation amount；
Voltage controller 13, for determining the voltage control signal of offset deviation amount.
By the control method of hybrid magnetic suspension bearing in above-described embodiment, hybrid magnetic suspension bearing control can be reduced
The power consumption of device processed.When hybrid magnetic suspension bearing normal work, electric current is approximately zero in magnet coil, even if load or dry
Disturb power to increase, the electric current in magnet coil is almost nil, i.e., power consumption is about zero.
One side according to embodiments of the present invention, there is provided a kind of control device of hybrid magnetic suspension bearing, the control
Device processed includes as shown in Figure 6：Processing unit 20, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determine
The voltage control signal of offset deviation amount；Feedback unit 40, for making positive feedback to voltage control signal by power controller
Processing, the voltage control signal after being handled；Determining unit 60, for determining power using the voltage control signal after processing
The driving current of amplifier output；Driver element 80, for driving magnet coil by driving current, so that rotor suspension.
Using above-described embodiment, positive feedback processing is made to voltage control signal by power controller, can be to voltage control
Signal processed plays a part of promoting or strengthened, and the drive signal determined based on the voltage control signal after obtained processing drives electricity
Magnetic coil, rotor can be not only returned to original equilbrium position, and opposite direction of the rotor to load forces can be made
Motion, so as to when loading increase, drive rotor motion without driving current, reduce the power consumption of bearing, solve existing skill
In art there is load or power consumption is big during external interference power the problem of in hybrid magnetic levitation bearing system.
Further, feedback unit includes：Integral feedback module, for using voltage control signal as power controller
Input, makees Integral Processing to voltage control signal, obtains feedback signal；Laminating module, for feedback signal and voltage to be controlled
Signal averaging, the voltage control signal after output processing.
By the control method of hybrid magnetic suspension bearing in above-described embodiment, hybrid magnetic suspension bearing control can be reduced
The power consumption of device processed.When hybrid magnetic suspension bearing normal work, electric current is approximately zero in magnet coil, even if load or dry
Disturb power to increase, the electric current in magnet coil is almost nil, i.e., power consumption is about zero.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. control method of hybrid magnetic suspension bearing, it is characterised in that including：The offset deviation amount of the rotor of magnetic suspension bearing is detected, and determines the voltage control signal of the offset deviation amount；Positive feedback processing is made to the voltage control signal by power controller, the voltage control signal after being handled；The driving current of power amplifier output is determined using the voltage control signal after the processing；Magnet coil is driven by the driving current, so that the rotor suspension；Wherein, the offset deviation amount is the current location of the rotor relative to the departure of the equilbrium position of the rotor.
- 2. control method according to claim 1, it is characterised in that by power controller to the voltage control signal Make positive feedback processing, the voltage control signal after being handled includes：Input using the voltage control signal as the power controller, Integral Processing is made to the voltage control signal, Obtain feedback signal；The feedback signal is superimposed with the voltage control signal, exports the voltage control signal after the processing.
- 3. control method according to claim 2, it is characterised in that Integral Processing is made to the voltage control signal, obtained Include to feedback signal：The voltage control signal is made into k/s Integral Processings, obtains the feedback signal, wherein, the k represents the power control The proportionality coefficient of device processed, 1/s represent integration.
- 4. control method as claimed in any of claims 1 to 3, it is characterised in that detect turning for magnetic suspension bearing The offset deviation amount of son includes：The current location of the rotor is detected in real time；The equilbrium position of the rotor and the difference of the current location are calculated, obtains the offset deviation amount.
- 5. control method according to claim 4, it is characterised in that magnet coil is being driven by the driving current, So that after the rotor suspension, the control method also includes：The current location of the rotor is defined as the equilbrium position after the rotor renewal.
- A kind of 6. control system of hybrid magnetic suspension bearing, it is characterised in that including：Processor, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determine the voltage control of the offset deviation amount Signal processed；Power controller, for making positive feedback processing to the voltage control signal, the voltage control signal after being handled；Power amplifier, for determining the driving electricity of the power amplifier output using the voltage control signal after the processing Stream, and magnet coil is driven by the driving current, so that the rotor suspension；Wherein, the offset deviation amount is the current location of the rotor relative to the departure of the equilbrium position of the rotor.
- 7. control system according to claim 6, it is characterised in that the control system also includes：Integrator, input of the voltage control signal as the power controller, by the integrator to the voltage Control signal makees Integral Processing, obtains feedback signal, the feedback signal is superimposed with the voltage control signal, described in output Voltage control signal after processing.
- 8. the control system according to claim 6 or 7, it is characterised in that the processor includes：Displacement transducer, for detecting the current location of the rotor in real time；Comparator, for calculating the equilbrium position of the rotor and the difference of the current location, obtain the offset deviation amount；Voltage controller, for determining the voltage control signal of the offset deviation amount.
- A kind of 9. control device of hybrid magnetic suspension bearing, it is characterised in that including：Processing unit, the offset deviation amount of the rotor for detecting magnetic suspension bearing, and determine the voltage of the offset deviation amount Control signal；Feedback unit, for making positive feedback processing to the voltage control signal by power controller, the electricity after being handled Press control signal；Determining unit, for determining the driving current of power amplifier output using the voltage control signal after the processing；Driver element, for driving magnet coil by the driving current, so that the rotor suspension；Wherein, the offset deviation amount is the current location of the rotor relative to the departure of the equilbrium position of the rotor.
- 10. control device according to claim 9, it is characterised in that the feedback unit includes：Integral feedback module, for the input using the voltage control signal as the power controller, to the voltage control Signal processed makees Integral Processing, obtains feedback signal；Laminating module, for the feedback signal to be superimposed with the voltage control signal, export the voltage control after the processing Signal processed.
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| CN201510801632.2A CN105351357B (en) | 2015-11-18 | 2015-11-18 | The control method of hybrid magnetic suspension bearing, apparatus and system |
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| CN107387563B (en) * | 2017-09-09 | 2019-01-22 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control method and device |
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