CN105545955A - Magnetic bearing based on force feedback control - Google Patents

Magnetic bearing based on force feedback control Download PDF

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Publication number
CN105545955A
CN105545955A CN201610041091.2A CN201610041091A CN105545955A CN 105545955 A CN105545955 A CN 105545955A CN 201610041091 A CN201610041091 A CN 201610041091A CN 105545955 A CN105545955 A CN 105545955A
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force
power
rotating shaft
bearing
transmission frame
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CN105545955B (en
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薛祖瑞
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Beijing Huatian Haifeng Technology Co ltd
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Saint Coda (beijing) Technology Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • F16C32/044—Active magnetic bearings
    • F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown

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

Abstract

The invention provides a magnetic bearing based on force feedback control. By measuring the bearing force exerted on the magnetic bearing from auxiliary bearings and according to the principle that the stress on the auxiliary bearings is zero, the currents of electromagnetic bearing assemblies are controlled, and therefore the electromagnetic force exerted on a rotating shaft from the electromagnetic bearing assemblies can be adjusted, the supporting force exerted on the rotating shaft from the auxiliary bearings is approximate to zero when unknown disturbing force exists, and the possibility that uncertain damage force is generated between the auxiliary bearings and the rotating shaft is lowered. The use reliability of the magnetic bearing is improved.

Description

A kind of magnetic bearing based on force-feedback control
Technical field
The present invention relates to technical field of bearings, be specifically related to a kind of magnetic bearing based on force-feedback control.
Background technique
The circumference rotary motion of mechanism is very common, and bearing is used widely.Apply most often mechanical contact bearing, comprise radial ball bearing, angular contact bearing, sliding bearing etc., the maximum feature of kind of bearings has machinery directly contact, radial pressure is had each other during contact, thus have certain frictional force, therefore can cause larger heating and mechanical wear, need frequent lubricating maintenance etc.In high-speed motion occasion, in order to reduce wear, usually use filmatic bearing.Filmatic bearing is a kind of radial sliding bearing using lubricant oil as medium, its working principle is: in rotary course, the axle journal rotated brings region of convergence there being the lubricant oil of viscosity into from diverging region, form a kind of oil film wedge, make to produce pressure in lubricant oil, filmatic bearing and the complete lubricated oil of axle journal are separated, forms full fluid lubrication.Filmatic bearing technical sophistication, easy tile kilning damages, and needs complicated oil-way system and protective system.Magnetic bearing is a kind of new-type bearing, carrys out power transmission between the rotor of this bearing by electromagnetic force, therefore, does not have Mechanical Contact between rotor, can accomplish completely without wearing and tearing.
Electromagnetic type ACTIVE CONTROL bearing (abbreviation electromagnetic bearing) is a kind of important magnetic bearing.The electromagnetic force of this bearing is produced by electromagnet, and the size of this power and stability are controlled by suspension controller.Its working principle is, suspension controller constantly gathers the radial clearance data of running shaft, according to radial clearance, according to feedback control principle, and the electromagnetic force size of dynamic conditioning all directions, thus rotating shaft is stably suspended in the central position of axial circumference.In order in a non-operative state, realizing the support to rotor, simultaneously also in order to prevent in use magnetic bearing to lose efficacy, in this bearing, usually also auxiliary bearing will be installed.In working order, possess gap between rotor with auxiliary bearing and do not contact.Under the effect of suspension controller, be the equal of connected by invisible electromagnetic spring between the rotor of electromagnetic bearing, and the rigidity of electromagnetic spring can not infinitely improve, rotating shaft is made to have larger freedom of movement in its radial direction, there will be larger axle to jump when being disturbed, this will cause series of problems, seriously constrain the using scope of electromagnetic bearing.
Summary of the invention
The object of the present invention is to provide a kind of magnetic bearing based on force-feedback control, the rotor that this invention solves magnetic bearing in prior art has larger freedom of movement in radial direction, causes easily occurring the technical problem that axle is jumped when using.
The invention provides a kind of magnetic bearing based on force-feedback control, comprise and be sequentially sheathed on aiding support dynamometry assembly on rotating shaft one end and electromagnetism bearing assembly, in aiding support dynamometry assembly, hold the multiple load cells being provided with auxiliary bearing and being arranged at auxiliary bearing periphery; Auxiliary bearing is sheathed in rotating shaft; Aiding support dynamometry assembly acts on the power along auxiliary bearing radial direction on auxiliary bearing for measuring rotating shaft, and this power is decomposed into orthogonal X to power and Y-direction power by aiding support dynamometry assembly; Electromagnetism supporting component, for generation of the electromagnetic force acting on rotating shaft; According to rotating shaft stress balance principle, adopt the formula (6) that integral control obtains, to control to power or Y-direction power X:
F s F d = s s + K m · K C I - - - ( 6 )
Wherein, F sfor the supporting force of auxiliary bearing outer ring countershaft, F dfor unknown disturbances power, s is Laplace operator, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish, i c=i u+ i d, i ufor upper electromagnet current, i dfor lower electromagnet electric current, i cit is a constant value remained unchanged; According to formula (6) control K cI, make electromagnetism bearing assembly produce one and F sthe power that direction is contrary, acts in rotating shaft, makes X be approximately 0 to power or Y-direction power.
Further, aiding support dynamometry assembly also comprises the slip force-transmitting block be sheathed on auxiliary bearing outer wall, for measuring the X power transmission frame of slip force-transmitting block transverse force, outer seat and the Y power transmission frame for measuring slip force-transmitting block longitudinal force, X power transmission frame and Y power transmission frame are contained in outer seat, and X power transmission frame and Y power transmission frame are sheathed on the outer wall of slip force-transmitting block side by side.
Further, X power transmission frame be transversely provided with the load cell that multiple and outer seat and X power transmission frame dynamometry be connected; The longitudinal direction of Y power transmission frame is arranged the load cell that multiple and outer seat and Y power transmission frame dynamometry are connected.
Further, gap is provided with in a longitudinal direction thereof between the inwall of X power transmission frame and slip force-transmitting block; Gap is provided with in its transverse direction between the inwall of Y power transmission frame and slip force-transmitting block.
Further, electromagnetism bearing assembly comprise the suction dish be sheathed in rotating shaft, with suction dish just to the electromagnet stator iron core arranged and the electromagnetic coil be set around on electromagnet stator iron core outer wall, suction dish and electromagnet stator iron core interval are arranged.
Further, also comprise the electric machine assembly for drive shaft, electric machine assembly comprise be sheathed on rotor in rotating shaft and with rotor just to the motor stator component arranged, motor stator component drive motor rotor turns.
Another aspect of the present invention additionally provides a kind of auxiliary bearing support force controlling method as the above-mentioned magnetic bearing based on force-feedback control, comprises the following steps:
Step S100: power radially suffered by the auxiliary bearing measuring magnetic bearing;
Step S200: according to rotating shaft stress balance principle, the power Orthogonal Decomposition along auxiliary bearing radial direction rotating shaft acted on auxiliary bearing be X to power and Y-direction power, the formula (6) adopting integral control to obtain, controls to power or Y-direction power X:
F s F d = s s + K m · K C I - - - ( 6 )
Wherein, F sfor the supporting force of auxiliary bearing outer ring countershaft, F dfor unknown disturbances power, s is Laplace operator, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish, i c=i u+ i d, i ufor upper electromagnet current, i dlower electromagnet electric current, i cit is a constant value remained unchanged;
Step S300: according to formula (6) control K cI, make electromagnetism bearing assembly produce one and F sthe power that direction is contrary, acts in rotating shaft, makes X be approximately 0 to power or Y-direction power.
Technique effect of the present invention:
The magnetic bearing that the invention provides based on force-feedback control goes out by the supplemental support dynamometry component detection with pressure detecting function the radial pressure value that rotating shaft applies auxiliary bearing, according to direction and the size of this force value, control electromagnetic structure countershaft and produce opposite force, thus make do not have radial pressure between auxiliary bearing and rotating shaft, thus the axle decreased in magnetic bearing using process jumps problem.
Specifically please refer to the following description of the various embodiment proposed according to the magnetic bearing based on force-feedback control of the present invention, above and other aspect of the present invention will be made apparent.
Accompanying drawing explanation
Fig. 1 is that the magnetic bearing master based on force-feedback control provided by the invention looks cross-sectional schematic;
Fig. 2 is the decomposition explosion schematic diagram of aiding support dynamometry assembly provided by the invention;
Fig. 3 is that the X of aiding support dynamometry assembly provided by the invention assembles schematic perspective view to sensor;
Fig. 4 is that the X of aiding support dynamometry assembly provided by the invention is to sensor schematic diagram;
Fig. 5 is that the X of aiding support dynamometry assembly provided by the invention is to power transmission schematic diagram;
Fig. 6 is the Y-direction sensor assembling schematic perspective view of aiding support dynamometry assembly provided by the invention;
Fig. 7 is the Y-direction sensor schematic diagram of aiding support dynamometry assembly provided by the invention;
Fig. 8 is the Y-direction power transmission schematic diagram of aiding support dynamometry assembly provided by the invention;
Fig. 9 is the stator and rotor sructure schematic diagram of electromagnetism bearing assembly provided by the invention;
Figure 10 is the structural representation of the integrator be made up of operational amplifier.
Marginal data:
1, aiding support dynamometry assembly; 11, auxiliary bearing; 12, slip force-transmitting block; 13, X power transmission frame; 131, an X is to force snesor; 132, the 2nd X is to force snesor; 133, the 3rd X is to force snesor; 134, the 4th X is to force snesor; 14, Y power transmission frame; 141, the first Y-direction force snesor; 142, the second Y-direction force snesor; 143, the 3rd Y-direction force snesor; 144, the 4th Y-direction force snesor; 15, outer seat; 2, electromagnetism bearing assembly; 21, suction dish; 22, electromagnet stator iron core; 23, electromagnetic coil; 24, electromagnetic controller; 3, rotating shaft; 4, electric machine assembly; 41, rotor; 42, motor stator component.
Embodiment
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.
See Fig. 1, the magnetic bearing based on force-feedback control provided by the invention is sheathed in rotating shaft 3, comprises for supporting revolving shaft 3 and measures the stressed aiding support dynamometry assembly 1 of rotating shaft 3, electromagnetism bearing assembly 2 and the electric machine assembly 4 for drive shaft 3.Two opposite ends of rotating shaft 3 are provided with two groups of aiding support dynamometry assemblies 1 and two groups of electromagnetism bearing assemblies 2 respectively symmetrically.Thus realize countershaft 3 dynamometry evenly.If when certainly needing countershaft 3 to carry out axial force detection and balance, only corresponding aiding support dynamometry assembly 1 and electromagnetism bearing assembly 2 need be arranged on two opposing end surfaces of rotating shaft 3.Below be described as easy, be only described with the side device of radial force measuring structure.Electric machine assembly 4 comprise be sheathed on rotor 41 in rotating shaft 3 and with rotor 41 just to the motor stator component 42 arranged.This structure can be conventional structure.
See Fig. 2, aiding support dynamometry assembly 1 comprises the auxiliary bearing 11 be sheathed on rotating shaft 3 outer wall, the slip force-transmitting block 12 be sheathed on auxiliary bearing 11 outer wall, is sequentially sheathed on X power transmission frame 13 on slip power transmission outer wall and Y power transmission frame 14, X power transmission frame 13 and Y power transmission frame 14 are contained in outer seat 15.See Fig. 3 ~ 4, on X power transmission frame 13 outer wall, interval arranges an X to force snesor 131, the 2nd X to force snesor 132, the 3rd X to force snesor 133 and the 4th X to force snesor 134.One X is relatively arranged on the both lateral sides of X power transmission frame 13 to force snesor 133 and the 4th X to force snesor 134 to force snesor 132, the 3rd X to force snesor 131, the 2nd X.Each X is fixed on X power transmission frame 13 outer wall to one end of force snesor, and each X is fixed on the inwall of outer seat 15 to the other end of force snesor.X power transmission frame 13 arranges air gap with the longitudinal direction of slip force-transmitting block 12, and the inwall of X power transmission frame 13 and the outer wall of slip force-transmitting block 12 laterally contact and arrange.Obvious aiding support dynamometry assembly also can adopt other structures, only needs realization can measure rotating shaft and acts on auxiliary bearing radial force.Rotating shaft herein acts on the radial force along auxiliary bearing on auxiliary bearing, can Orthogonal Decomposition be that X is to power and Y-direction power on the one hand, this X all can at the inner ring of auxiliary bearing, transmit between outer ring and rotating shaft to power and Y-direction power simultaneously, and have an effect and reaction according to newton the 3rd theorem, X herein had both comprised above all kinds of radial force to power and Y-direction power.
See Fig. 5, when the pressure of X-direction is applied to the inner ring of auxiliary bearing 11 by rotating shaft 33, this power is delivered to the outer ring of auxiliary bearing 11 by ball, so, be just delivered on the slip force-transmitting block 12 that is connected with it.Slip force-transmitting block 12 is very close to each other in X-direction with X power transmission frame 13, and this power will be had an effect to X power transmission frame 13.Slip force-transmitting block 12 and Y power transmission frame 14 have gap in X-direction, and therefore, this power can not be had an effect to Y power transmission frame 14.Now, slip force-transmitting block 12 just by the pressure (FX1 ~ FX4) of the X-direction of the outer ring of suffered auxiliary bearing 11, is entirely delivered to X power transmission frame 13.This power is subject to an X and supports to force snesor 133 and the 4th X to the reaction force of force snesor 134 to force snesor 131, the 2nd X to force snesor 132, the 3rd X, and measured by them, sends electromagnetic controller 24 to.Thus the X of auxiliary bearing 11 is to power to make X power transmission frame 13 only can detect.
See Fig. 6 ~ 7, Y power transmission frame 14 and X power transmission frame 13 are arranged at intervals in outer seat 15, and Fig. 6 ~ 7 are the schematic diagram after being removed by X power transmission frame 13.On Y power transmission frame 14 outer wall, interval arranges the first Y-direction force snesor 141, second Y-direction force snesor 142, the 3rd Y-direction force snesor 143 and the 4th Y-direction force snesor 144.First Y-direction force snesor 141, second Y-direction force snesor 142, the 3rd Y-direction force snesor 143 and the 4th Y-direction force snesor 144 are relatively arranged on longitudinal both sides of Y power transmission frame 14.One end of each Y-direction force snesor is fixed on Y power transmission frame 14 outer wall, and the other end of each Y-direction force snesor is fixed on the inwall of outer seat 15.The cross setting air gap of Y power transmission frame 14 and slip force-transmitting block 12, the inwall of Y power transmission frame 14 and the outer wall of slip force-transmitting block 12 longitudinally contact and arrange.
See Fig. 8, its principle is identical with X-direction, can record the pressure (FY1 ~ FY4) of Y-direction equally, is only orthogonal on direction.Known see Fig. 3 and Fig. 5, Y power transmission frame 14 can be seen from left to right, X power transmission frame 13 can be seen from right to left.
Outer seat 15 in aiding support dynamometry assembly 1 is fixedly mounted on static larger application base usually.Be connected by the power sensor of the X-direction being arranged on left and right between X power transmission frame 13 with outer seat 15, by being connected at the power sensor of the Y-direction of installing up and down between Y power transmission frame 14 with outer seat 15.Slip force-transmitting block 12 is enclosed within X power transmission frame 13 and Y power transmission frame 14.Slip force-transmitting block 12 and X power transmission frame 13 only have sliding contact in the X direction, and leaving gap in the Y direction can unrestricted motion.Slip force-transmitting block 12 and Y power transmission frame 14 only have sliding contact in the Y direction, and leaving gap in the X direction can unrestricted motion.Like this, when slip force-transmitting block 12 is subject to the radial force of any direction, it can decompose X power transmission frame 13 and Y power transmission frame 14 respectively this radial force, thus realizes the Orthogonal Decomposition of rotating shaft 3 radial force.
The technique effect that aiding support dynamometry assembly 1 can reach is: (1) in a non-operative state, countershaft 3 play supporting role.Aiding support dynamometry assembly 1 rigidity is much larger than conventional resilient member, and avoid because rigidity is not enough, the axle occurred during the rotating shaft 3 caused uses jumps problem.(2) countershaft 3 supports and effect of contraction in working order, and can measure the radial pressure of rotating shaft 3 in real time.
Electromagnetic Control algorithm, by force-feedback control, make electromagnetism bearing assembly 2 just in time provide maintenance rotating shaft 3 to balance required radial force, thus the pressure that the outer ring of auxiliary bearing 11 is subject to is zero.For Y-direction, control algorithm is discussed below.X-direction and Y-direction similar, in X-direction, the control algorithm of power is omitted.
See Fig. 8, rotating shaft 3 is subject to 4 power in the Y direction: (1) gravity.Gravity is constant force, and size is mg, and direction is downward.(2) electromagnetic force.Electromagnetic force is provided by electromagnetism bearing assembly 2, is variable, if size is F m, postive direction upwards.(3) supporting force of auxiliary bearing 11 outer ring countershaft 3.If size is F s, detected by the detection device in device and obtain, postive direction upwards.This supporting force is provided by the force-transmitting block 12 that slides, and can be measured by power sensor, can be used for feedback.(4) perturbed force, normally unknown quantity.If size is F d, postive direction is downward.When the size of the arbitrarily power in above each power is actual be negative value time, the direction of expression power is contrary with set postive direction.
Because the motion of rotating shaft 3 in radial direction suffers restraints, therefore, the acceleration of its Y-direction motion is zero.So have:
F m+F s＝mg+F d(1)
The formula of electromagnetic force is approximately:
F m＝F mu-F md＝K FI(i u 2-i d 2)(2)
Wherein, F muand i uthe suction of upper electromagnet and upper electromagnet current respectively, F mdand i dbe respectively suction and the lower electromagnet electric current of lower electromagnet.K fIbeing carry-over factor from electric current to electromagnetic force is wherein, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish.
Further, the linearization near equinoctial point of (2) formula, is variablely changed to:
F m＝K FI(i u 2-i d 2)
＝K FI(i u+i d)(i u-i d)
＝K FII(i u-i d)(3)
＝K FII·i
＝K FII(i 0+△i)
Wherein, if (i u+ i d) remain unchanged, be a constant i c, i.e. (i u+ i d)=i c.That is, current i is worked as uduring increase, current i dthe value that just corresponding reduction is identical, vice versa, namely works as current i uduring reduction, current i dthe value that just corresponding increase is identical.If COEFFICIENT K fII=K fIi c.Current i=i u-i d.If i=i 0+ △ i, it is made up of two-part, and wherein, constant static part is i 0, this part, for offsetting gravity, namely has K fIIi 0=mg; △ i is dynamic part electric current.
(3) formula is substituted into (1) formula, and notices K fIIi 0=mg, can obtain:
F s+K m·△i＝F d(4)
Wherein, K m=K fII.Here change a symbol and can simplify mark.
The present invention adopts integral control, and the modes such as partial differential control also can be adopted to control.Due to F scan measure, therefore, can control electric current △ i be elected as F sintegration, so have: △ i=K cI∫ F sdt, wherein, K cIfor integration power gain.Laplace transform is:
Δ i = K C I s · F s - - - ( 5 )
Wherein, s is Laplace operator.For the purpose of simple, the variable after relevant variable and laplace transformation thereof have employed identical symbol, is based on context not difficult to distinguish, not impact analysis result.
(5) formula is substituted into (4) formula, after abbreviation, can the closed loop transfer function from perturbed force to support force be:
F s F d = s s + K m · K C I - - - ( 6 )
From (6) formula, as long as K mk cI>0, according to control theory, the limit of system is just at the Left half-plane of complex plane, and system is exactly stable.Accurately choose controling parameters K cI, in case the excessive axle that causes of this numerical value is jumped.Make K mk cI>>|s|, notices | s|=ω=6.28 × f, f is the frequency of perturbed force, and ω is angular frequency, so just has F s≈ 0.Visible, only need control K cIthis parameter, can realize the supporting force F to auxiliary bearing 11 outer ring countershaft 3 scontrol, make it be approximately 0, thus realize in magnetic bearing using process, the control of other collapsing force such as auxiliary bearing 11 countershaft 3 frictional force, achieves the protection to magnetic bearing.
Adopt this controlling method, reached unknown disturbances power and deposited in case, only need to adjust K cIf can be made s≈ 0.The supporting force of auxiliary bearing 11 countershaft 3 is approximately the effect of zero.K cIas an amplifier gain, can set up the adjustment of these parts realization to it on the controller, concrete adjustment mode is tired to be stated.
In numerical control system, this control algorithm can by software simulating; In analog control system, this control algorithm can by circuit realiration.The method of the software simulating of core algorithm and step are: the 1st step, obtains power F according to load cell signal measurement s, it is an amount having sign; 2nd step, by F sbe multiplied by an integral coefficient K cI, then divided by employing control cycle T s, become accumulation amount; 3rd step, be added to by this accumulation amount on current control electric current △ i, for adjusting the electric current of electromagnet, namely core algorithm has accused.If with circuit realiration, available operational amplifier such as Figure 10 realizes, and in figure, R is resistance, and C is electric capacity.The transfer function of this circuit is this formula is more known with (5) formula, only need choose and add one-level phase inverter again, just achieve the algorithm needed for formula (5).
See Fig. 1 and 9, electromagnetism bearing assembly 2 comprise the suction dish 21 be sheathed on rotating shaft 3 sidewall, with suction dish 21 just to the electromagnet stator iron core 22 arranged and the electromagnetic coil 23 be set around on electromagnet stator iron core 22 outer wall.Suction dish 21 and electromagnet stator iron core 22 interval are arranged.By controlling can realize by the size of current of electromagnetic coil 23 control electromagnetic coil 23 being produced to magnetic force size.Thus realize countershaft 3 radial force and control.Be sheathed on suction dish 21 in rotating shaft 3 for be formed by silicon steel plate stacking, be fixedly mounted in rotating shaft 3.Electromagnet stator is made up of stator iron core and electromagnetic coil 23.Stator iron core can be silicon steel plate, may also be other ferromagnetism soft magnetic materials.Electromagnetic coil 23 is arranged on the magnetic pole of stator iron core.Electromagnetic coil 23 is powered by electromagnetic controller 24.
Electromagnetic controller 24 can be used to receive from an X to force snesor 131, the 2nd X to force snesor 132, the 3rd X to force snesor 133, the 4th X to the signal of force snesor 134, first Y-direction force snesor 141, second Y-direction force snesor 142, the 3rd Y-direction force snesor 143 and the 4th Y-direction force snesor 144, after the computing of Electromagnetic Control algorithm, generate current-order, after power amplification, drive electromagnetic coil 23.
See Fig. 9, in order to increase the stability of control, gap sensor can be adopted to measure the gap between rotor, provide supplementary to suspension controller.Suction dish 21 is disk, but in pole slow-speed of revolution occasion, also can be manufactured by common ferromagnetism soft magnetic material.Radial electromagnet assembly includes but not limited to 8 electrode structures commonly used, and only needs to guarantee to provide controlled electromagnetic force in X-direction and Y-direction.The signal source that electromagnetic controller 24 receives, includes but not limited to power sensor.Electromagnetic controller 24 provides controllable current to electromagnetic coil 23, thus controls the size of its electromagnetic force.Under the cooperation of Electromagnetic Control algorithm, auxiliary bearing 11 is made not bear the radial pressure of the axis of rotation 3.
Electromagnetism bearing assembly 2 can reach technique effect: (1) can produce enough electromagnetic forces, can compensate for the gravity of rotating shaft 3 and other parts mounted thereto.(2) when magnetic bearing is used for the rotor of supporting motor, due to installation deviation, may there is static uncompensated unbalanced electromagnetic force between the rotor of motor, electromagnetism bearing assembly 2 controls the setoff that can realize this unbalanced force according to aforementioned algorism.(3) electromagnetism bearing assembly 2 can compensate the perturbed force allowable within the scope of allowed frequency.(4) electromagnetism bearing assembly 2 can also ensure the stable support of countershaft 3 simultaneously.
The present invention additionally provides a kind of auxiliary bearing support force controlling method as the aforementioned magnetic bearing based on force-feedback control on the other hand, comprises the following steps:
Step S100: power radially suffered by the auxiliary bearing measuring magnetic bearing;
Step S200: according to rotating shaft stress balance principle, the power Orthogonal Decomposition along auxiliary bearing radial direction rotating shaft acted on auxiliary bearing be X to power and Y-direction power, the formula (6) adopting integral control to obtain, controls to power or Y-direction power X:
F s F d = s s + K m · K C I - - - ( 6 )
Wherein, F sfor the supporting force of auxiliary bearing outer ring countershaft, F dfor unknown disturbances power, s is Laplace operator, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish, i c=i u+ i d, i ufor upper electromagnet current, i dlower electromagnet electric current, i cit is a constant value remained unchanged;
Step S300: according to formula (6) control K cI, make electromagnetism bearing assembly produce one and F sthe power that direction is contrary, acts in rotating shaft, makes X be approximately 0 to power or Y-direction power.
The adjustment that this controlling method only needs adjustment amplifier gain can realize auxiliary bearing 11 support force, improves Adjustment precision and accuracy, avoids departure.The method may be used for the control rotating shaft that auxiliary bearing is subject to being acted on to the power in its radial direction, thus makes auxiliary bearing radial direction is approximately zero with the active force of rotating shaft, thus reduces axle jumping, increases the service life.The method can adopt can obtain rotating shaft act on the power of auxiliary bearing radial direction load cell realize to required measurement of force.
Clear scope of the present invention is not restricted to example discussed above by those skilled in the art, likely carries out some changes and amendment to it, and does not depart from the scope of the present invention of appended claims restriction.Although oneself is through detailed icon in the accompanying drawings and the description and describe the present invention, such explanation and to describe be only to illustrate or schematically, and nonrestrictive.The present invention is not limited to the disclosed embodiments.
By to accompanying drawing, the research of specification and claims, it will be appreciated by those skilled in the art that when implementing of the present invention and realize the distortion of the disclosed embodiments.In detail in the claims, term " comprises " does not get rid of other steps or element, and indefinite article " " or " one " are not got rid of multiple.The fact of some measure of quoting in mutually different dependent claims does not mean that the combination of these measures can not be advantageously used.Any reference mark in claims does not form the restriction to scope of the present invention.

Claims (7)

1. the magnetic bearing based on force-feedback control, it is characterized in that, comprise and be sequentially sheathed on aiding support dynamometry assembly on rotating shaft one end and electromagnetism bearing assembly, in described aiding support dynamometry assembly, hold the multiple load cells being provided with auxiliary bearing and being arranged at described auxiliary bearing periphery;
Described auxiliary bearing is sheathed in described rotating shaft;
Described aiding support dynamometry assembly acts on the power along described auxiliary bearing radial direction on described auxiliary bearing for measuring described rotating shaft, and this power is decomposed into orthogonal X to power and Y-direction power by described aiding support dynamometry assembly;
Described electromagnetism supporting component, for generation of the electromagnetic force acting on described rotating shaft;
According to described rotating shaft stress balance principle, adopt the formula (6) that integral control obtains, to control to power or described Y-direction power described X:
F s F d = s s + K m · K C I - - - ( 6 )
Wherein, F sfor the supporting force of auxiliary bearing outer ring countershaft, F dfor unknown disturbances power, s is Laplace operator, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish, i c=i u+ i d, i ufor upper electromagnet current, i dfor lower electromagnet electric current, i cit is a constant value remained unchanged;
According to described formula (6) control K cI, make described electromagnetism bearing assembly produce one and described F sthe power that direction is contrary, acts in described rotating shaft, makes described X be approximately 0 to power or described Y-direction power.
2. the magnetic bearing based on force-feedback control according to claim 1, it is characterized in that, described aiding support dynamometry assembly also comprises the slip force-transmitting block be sheathed on described auxiliary bearing outer wall, for measuring the X power transmission frame of described slip force-transmitting block transverse force, outer seat and the Y power transmission frame for measuring described slip force-transmitting block longitudinal force, described X power transmission frame and described Y power transmission frame are contained in described outer seat, and described X power transmission frame and described Y power transmission frame are sheathed on the outer wall of described slip force-transmitting block side by side.
3. the magnetic bearing based on force-feedback control according to claim 2, is characterized in that, described X power transmission frame be transversely provided with the load cell that multiple and described outer seat and described X power transmission frame dynamometry be connected;
The longitudinal direction of described Y power transmission frame is arranged the load cell that multiple and described outer seat and described Y power transmission frame dynamometry are connected.
4. the magnetic bearing based on force-feedback control according to claim 3, is characterized in that,
Gap is provided with in a longitudinal direction thereof between the inwall of described X power transmission frame and described slip force-transmitting block;
Gap is provided with in its transverse direction between the inwall of described Y power transmission frame and described slip force-transmitting block.
5. the magnetic bearing based on force-feedback control according to claim 4, it is characterized in that, described electromagnetism bearing assembly comprise the suction dish be sheathed in described rotating shaft, with described suction dish just to the electromagnet stator iron core arranged and the electromagnetic coil be set around on described electromagnet stator iron core outer wall, described suction dish and described electromagnet stator iron core interval are arranged.
6. the magnetic bearing based on force-feedback control according to any one of Claims 1 to 5, it is characterized in that, also comprise the electric machine assembly for driving described rotating shaft, described electric machine assembly comprise be sheathed on rotor in described rotating shaft and with described rotor just to the motor stator component arranged, described motor stator component drives described rotor to rotate.
7. according to any one of claim 1 ~ 6 based on an auxiliary bearing support force controlling method for the magnetic bearing of force-feedback control, it is characterized in that, comprise the following steps:
Step S100: power radially suffered by the auxiliary bearing measuring described magnetic bearing;
Step S200: according to described rotating shaft stress balance principle, the power Orthogonal Decomposition along described auxiliary bearing radial direction described rotating shaft acted on described auxiliary bearing is that X is to power and Y-direction power, the formula (6) adopting integral control to obtain, controls to power or described Y-direction power described X:
F s F d = s s + K m · K C I - - - ( 6 )
Wherein, F sfor the supporting force of auxiliary bearing outer ring countershaft, F dfor unknown disturbances power, s is Laplace operator, μ 0be the permeability in vacuum, A is magnetic pole area, and N is coil turn, and δ is the length of the air gap between electromagnet pole and suction dish, i c=i u+ i d, i ufor upper electromagnet current, i dlower electromagnet electric current, i cit is a constant value remained unchanged;
Step S300: according to described formula (6) control K cI, make described electromagnetism bearing assembly produce one and described F sthe power that direction is contrary, acts in described rotating shaft, makes described X be approximately 0 to power or Y-direction power.
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CN106402157A (en) * 2016-11-16 2017-02-15 常州工学院 Magnetic suspension bearing control system capable of realizing resuspension after destabilization and control method thereof
CN108869541A (en) * 2018-01-12 2018-11-23 至玥腾风科技投资集团有限公司 A kind of control method of transverse bearing, rotor-support-foundation system and transverse bearing
CN110848256A (en) * 2019-12-16 2020-02-28 常州工学院 Method for compensating interference force borne by rotor in magnetic suspension bearing system in real time
CN112196898A (en) * 2020-10-14 2021-01-08 珠海格力电器股份有限公司 Magnetic suspension rotor locking device, magnetic suspension system and control method
CN112460146A (en) * 2019-09-06 2021-03-09 北京亚之捷环保科技有限责任公司 Active magnetic suspension rotor falling protection system

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CN106402157A (en) * 2016-11-16 2017-02-15 常州工学院 Magnetic suspension bearing control system capable of realizing resuspension after destabilization and control method thereof
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CN112196898A (en) * 2020-10-14 2021-01-08 珠海格力电器股份有限公司 Magnetic suspension rotor locking device, magnetic suspension system and control method
CN112196898B (en) * 2020-10-14 2021-10-08 珠海格力电器股份有限公司 Magnetic suspension rotor locking device, magnetic suspension system and control method

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