CN109630546B - Magnetic suspension bearing system control method and device - Google Patents

Magnetic suspension bearing system control method and device Download PDF

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Publication number
CN109630546B
CN109630546B CN201910128601.3A CN201910128601A CN109630546B CN 109630546 B CN109630546 B CN 109630546B CN 201910128601 A CN201910128601 A CN 201910128601A CN 109630546 B CN109630546 B CN 109630546B
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bearing
floating
information
magnetic
suspension
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CN109630546A (en
Inventor
胡叨福
贺永玲
李雪
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16CSHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00Bearings not otherwise provided for
    • F16C32/04Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406Magnetic bearings
    • F16C32/044Active magnetic bearings
    • F16C32/0444Details of devices to control the actuation of the electromagnets
    • F16C32/0451Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16CSHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00Bearings not otherwise provided for
    • F16C32/04Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406Magnetic bearings
    • F16C32/044Active magnetic bearings
    • F16C32/0474Active magnetic bearings for rotary movement
    • F16C32/0489Active magnetic bearings for rotary movement with active support of five degrees of freedom, e.g. two radial magnetic bearings combined with an axial bearing

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

Abstract

The application relates to a magnetic suspension bearing system control method and device, comprising the following steps: receiving a floating shaft instruction; according to the floating shaft instruction, floating information is sent to each bearing of the magnetic suspension bearing system step by step, and the floating information is used for controlling each bearing to be electrified; when each bearing is powered on according to the floating information, a rotation control signal is sent to a rotating shaft of the magnetic suspension bearing system, and the rotation control signal is used for controlling the rotating shaft to rotate. The method effectively reduces the abrupt load change amplitude during each power-up step by step, ensures that the current change quantity is smaller under the condition of load change, avoids the condition that the overcurrent protection is triggered by overlarge current change and leads to failure of the floating shaft of the magnetic suspension bearing system, and has stronger working reliability compared with the traditional magnetic suspension bearing system control method.

Description

Magnetic suspension bearing system control method and device
Technical Field
The application relates to the technical field of bearings, in particular to a magnetic suspension bearing system control method and device.
Background
A Magnetic Bearing (Magnetic Bearing) system is a Bearing system that uses Magnetic force to suspend a rotor in the air so that there is no mechanical contact between the rotor and a stator. A set of magnetic suspension bearing system generally adopts two radial magnetic bearings and one axial magnetic bearing to carry out suspension support on the rotating shaft, so that the rotating shaft operates in an oil-free and friction-free environment and has the advantages of high speed, high and low energy, low noise and the like.
The magnetic suspension bearing system generally supplies power to the bearing controller through a direct current power supply, and in the high-power magnetic suspension bearing system, the rotating shaft is generally heavy. Therefore, in the process of powering on the bearing to realize the floating shaft through the traditional magnetic suspension bearing system control method, the output current of the direct current power supply is relatively large due to abrupt change of load, and the overcurrent protection of the power supply is easily triggered, so that the rotating shaft cannot float reliably. The traditional magnetic suspension bearing system control method has the defect of low working reliability.
Disclosure of Invention
Based on the above, it is necessary to provide a magnetic bearing system control method and device for solving the problem of low operational reliability of the conventional magnetic bearing system control method.
A method of controlling a magnetic bearing system, the method comprising: receiving a floating shaft instruction; according to the floating shaft instruction, floating information is sent to each bearing of the magnetic suspension bearing system step by step, and the floating information is used for controlling each bearing to be electrified; and when the bearings are electrified according to the floating information, sending a rotation control signal to a rotating shaft of the magnetic suspension bearing system, wherein the rotation control signal is used for controlling the rotating shaft to rotate.
A magnetic bearing system control device, the device comprising: the floating shaft instruction receiving module is used for receiving the floating shaft instruction; the power-on control module is used for sending floating information to each bearing of the magnetic suspension bearing system step by step according to the floating shaft instruction, and the floating information is used for controlling each bearing to be powered on; and the rotation control module is used for sending a rotation control signal to a rotating shaft of the magnetic suspension bearing system when each bearing is electrified according to the floating information, and the rotation control signal is used for controlling the rotating shaft to rotate.
A magnetic bearing control system comprising: the magnetic suspension bearing system comprises a magnetic suspension bearing system and a magnetic suspension bearing controller, wherein the magnetic suspension bearing controller is connected with the magnetic suspension bearing system and is used for receiving a floating shaft instruction and controlling the rotation of a rotating shaft of the magnetic suspension bearing system according to the method.
According to the control method and device for the magnetic suspension bearing system and the magnetic suspension bearing control system, when the floating shaft command is received, floating information is sent to each bearing of the magnetic suspension bearing system step by step, so that step power-up operation of each bearing is realized, and when each bearing is powered up according to the floating shaft command, the rotating shaft is controlled to rotate for working. The method effectively reduces the abrupt load change amplitude during each power-up step by step, ensures that the current change quantity is smaller under the condition of load change, avoids the condition that the overcurrent protection is triggered by overlarge current change and leads to failure of the floating shaft of the magnetic suspension bearing system, and has stronger working reliability compared with the traditional magnetic suspension bearing system control method.
Drawings
FIG. 1 is a schematic flow chart of a control method of a magnetic suspension bearing system according to an embodiment;
FIG. 2 is a schematic diagram of current waveforms of a magnetic bearing system control method according to an embodiment;
FIG. 3 is a schematic diagram of current waveforms of a magnetic bearing system control method according to another embodiment;
FIG. 4 is a flow chart of a method of controlling a magnetic bearing system according to another embodiment;
FIG. 5 is a flow chart of a method of controlling a magnetic bearing system according to yet another embodiment;
FIG. 6 is a flow chart illustrating a magnetic bearing system control in one embodiment;
FIG. 7 is a flow chart of a method of controlling a magnetic bearing system according to yet another embodiment;
FIG. 8 is a flow chart of a method of controlling a magnetic bearing system according to another embodiment;
FIG. 9 is a schematic diagram of a magnetic bearing system control device according to an embodiment;
FIG. 10 is a schematic diagram of a magnetic bearing system control device according to another embodiment;
FIG. 11 is a schematic diagram of a magnetic bearing control system according to an embodiment;
FIG. 12 is a schematic diagram of a magnetic bearing control system according to another embodiment;
FIG. 13 is a schematic diagram of a magnetic bearing system according to an embodiment;
FIG. 14 is a schematic diagram of a magnetic bearing control system according to another embodiment;
FIG. 15 is a schematic diagram of a magnetic bearing control system according to another embodiment.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a magnetic bearing system control method includes steps S100, S200, and S300.
Step S100, receiving a floating shaft instruction. Specifically, the floating shaft command is a command for controlling the magnetic bearing system to be electrified to work. The type of the floating shaft command is not unique, for example, in one embodiment, the magnetic bearing controller is provided with a start switch, when a user needs to work by using the magnetic bearing system, the start switch is directly turned on, in this embodiment, the floating shaft command is a start signal generated when the user turns on the start switch, and the magnetic bearing system receives the start signal to indicate that the corresponding floating shaft command is received. It will be appreciated that in other embodiments, since the magnetic bearing system is a device for controlling the levitation and rotation of the shaft by powering up the bearing, the corresponding levitation shaft command may also be a power signal sent by a power device connected to the magnetic bearing controller. When a user needs the magnetic suspension bearing system to work, the power switch arranged on the power supply device is started, and the power switch sends a power signal to the magnetic suspension bearing controller, namely a floating shaft instruction. It should be noted that the floating shaft command may be other types of signals, so long as the floating shaft command can inform the magnetic bearing controller to perform floating shaft control, so as to implement the operation of the magnetic bearing system.
Step S200, according to the floating shaft instruction, floating information is sent to each bearing of the magnetic suspension bearing system step by step. Specifically, the float information is used to control the powering up of the individual bearings. The step of sending the floating information to each bearing of the magnetic suspension bearing system step by step, that is, sending the floating information to each bearing respectively in different batches, for example, sending the floating information to each bearing of the magnetic suspension bearing system step by step (that is, sending the floating information to each bearing in two batches) may be that first, the floating information is sent to a part of the bearings, and when the part of the bearings complete power-up according to the floating information, the floating information is sent to another part of the bearings, so that the other part of the bearings are controlled to power-up. When the magnetic suspension bearing controller receives a floating shaft instruction, floating information is firstly sent to a part of bearings of the magnetic suspension bearing system according to the floating shaft instruction, and the part of bearings are controlled to be electrified to work. After the partial bearings are electrified, the magnetic suspension bearing controller sends floating information to other bearings to finish the electrification operation of the other bearings, and after all the bearings are electrified, the rotating shaft of the magnetic suspension bearing system is in a suspension state under the action of electromagnetic force.
It can be understood that according to the number of bearings in a set of magnetic suspension bearing system, the requirement of users and the like, floating information can be sent to each bearing according to different steps, and the power-on operation of all the bearings is completed. It will be appreciated that in one embodiment, the floating information is a current signal, and when the magnetic bearing controller receives a floating shaft command, a portion of the bearings are first energized, and then the other bearings are energized, so that the step-by-step floating shaft operation of the magnetic bearing system can be achieved. Referring to fig. 2, a current waveform diagram of a magnetic bearing system control method in an embodiment is shown, where it can be seen that when a magnetic bearing controller controls each bearing to be powered on simultaneously to realize floating shaft control of a rotating shaft, due to an excessive load, an instantaneous current generated can exceed a current value corresponding to an over-current early warning, so that over-current protection is easy to start, and the floating shaft control of the magnetic bearing system fails. Referring to fig. 3, a current waveform diagram corresponding to the step control strategy in the present embodiment is shown, and it can be seen from the diagram that the current change is smaller and does not exceed the current value corresponding to the over-current warning under the step floating axis control.
And step S300, when each bearing is powered on according to the floating information, a rotation control signal is sent to the rotating shaft of the magnetic suspension bearing system. Specifically, the rotation control signal is used to control the spindle to rotate. After the magnetic bearing controller finishes electrifies the bearings step by step according to the floating shaft instruction, under the action of electromagnetic force, the rotating shaft of the magnetic bearing system is in a suspension state, so that the rotating shaft of the magnetic bearing system rotates to finish corresponding work, and at the moment, the magnetic bearing controller sends a rotation control signal to the rotating shaft to control the rotating shaft to rotate. It can be understood that the judgment of the powering up of each bearing is completed according to the floating information, and the judgment can be performed by the magnetic bearing controller according to the collected data, or the data collection and judgment can be performed by an external device, and a signal for completing the powering up is given to the magnetic bearing controller after the information of completing the powering up is obtained.
It should be noted that in an embodiment, when the magnetic bearing controller sends the levitation information to each bearing of the magnetic bearing system step by step, the judgment whether the power-up is completed or not may be performed once after each time of sending the levitation information, specifically, the judgment method is that after the magnetic bearing controller sends the levitation information to the corresponding bearing, the levitation precision of the rotating shaft of the magnetic bearing system is obtained to perform the judgment, and when the levitation precision of the rotating shaft meets the corresponding preset levitation precision, the corresponding rotating shaft can be indicated to complete the power-up. In another embodiment, when the magnetic suspension bearing controller sends the floating information to each bearing of the magnetic suspension bearing system step by step, the judgment of whether each bearing is powered up according to the floating information is performed only after the last step of sending the floating information. That is, when the floating information is sent to each bearing step by step, the floating information sending of the bearing corresponding to the last step is directly continued until all the bearings receive the floating information, and the magnetic suspension bearing controller can acquire the floating precision of the rotating shaft and judge whether the power-on is completed according to the floating precision and the preset floating precision.
According to the control method of the magnetic suspension bearing system, the load abrupt change amplitude during each power-on is effectively reduced in a step-by-step power-on mode, so that the current change amount is small under the condition of load change, the situation that the floating shaft of the magnetic suspension bearing system fails due to overcurrent protection triggered by overlarge current change is avoided, and the control method has stronger working reliability compared with the traditional control method of the magnetic suspension bearing system.
In one embodiment, the magnetic bearing system is a five degree of freedom magnetic bearing system, i.e. the bearings of the magnetic bearing system comprise a first radial bearing, a second radial bearing and an axial bearing, step S200 comprises sending the levitation information to the first radial bearing, the second radial bearing and the axial bearing in two steps according to a levitation shaft command or in three steps according to a levitation shaft command.
Specifically, in this embodiment, the magnetic suspension bearing system includes two radial bearings and one axial bearing, where the two radial bearings are located at opposite ends of the rotating shaft, respectively, the first radial bearing and the second radial bearing. For the magnetic bearing system in this embodiment, it is divided into 5 degrees of freedom according to the degrees of freedom of the different bearings, that is, the X and Y degrees of freedom of the first radial bearing, the X and Y degrees of freedom of the second radial bearing, and one degree of freedom of the axial bearing. When floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in two steps according to a floating shaft instruction, the floating information can be sent to the first radial bearing or the second radial bearing first, after the first radial bearing or the second radial bearing finishes the power-on operation according to the floating information, the power-on information is sent to the other radial bearing and the axial bearing, so that the power-on of the other radial bearing and the axial bearing is realized, namely, the floating control of two degrees of freedom is realized first, then the floating control of three degrees of freedom is realized, the step-by-step floating control is realized, the instant current value is reduced, and the purpose of stable floating control of the magnetic suspension bearing system is realized. In another embodiment, the floating information can be sent to the axial bearing first to realize the floating operation of one degree of freedom, then the floating information is sent to the first radial bearing and the second radial bearing simultaneously, the first radial bearing and the second radial bearing are controlled to be electrified, the floating control of four degrees of freedom is realized, and the floating control device also has the functions of reducing the instantaneous current value and realizing the stable floating control of the magnetic suspension bearing system. It will be appreciated that in other embodiments, the above-described method may be used to implement two-step power-up control of different bearings for other types of magnetic bearing systems having different numbers of bearings, so as to reduce the instantaneous current value and implement the function of stable levitation control of the magnetic bearing system.
And sending floating information to the first radial bearing, the second radial bearing and the axial bearing in three steps, namely realizing the power-on operation of the magnetic suspension bearing system in three steps, wherein the power-on operation of the first radial bearing, the second radial bearing and the axial bearing is respectively and independently carried out so as to realize the function of reducing the instantaneous current value and stabilizing the magnetic suspension bearing system to float. It will be appreciated that the step of the magnetic bearing controller sending the levitation information to the first radial bearing, the second radial bearing and the axial bearing is not unique, as long as it is capable of sending the levitation information to the next bearing after the powering up of the previous bearing is completed, so as to achieve the respective powering up control of the first radial bearing, the second radial bearing and the axial bearing. The method can be that firstly, the floating of one degree of freedom corresponding to the axial bearing is realized, then the floating of two degrees of freedom corresponding to the first radial bearing is realized, and finally the floating of two degrees of freedom corresponding to the second radial bearing is realized. In other embodiments, the method can realize the power-on control of different bearings in three steps by using the similar method for other types of magnetic bearing systems with different bearing numbers so as to reduce the instantaneous current value and realize the function of stable floating control of the magnetic bearing system. Further, for the magnetic suspension bearing system with a large number of bearings, the control can be performed in other steps, for example, four steps, five steps and the like, so long as the instant current value can be reduced, and the stable floating control effect of the magnetic suspension bearing system can be realized.
In one embodiment, referring to fig. 4, step S200 includes step S210 and step S220.
And step S210, according to the floating shaft command, floating information is sent to the first radial bearing and the axial bearing at the same time. Specifically, for a magnetic bearing system with 5 degrees of freedom, when floating information is sent to the magnetic bearing system in two steps, the floating information can be sent to the first radial bearing and the axial bearing through the magnetic bearing controller, and after the first radial bearing and the axial bearing receive the floating information, the power-on operation of the radial bearing and the axial bearing is respectively realized, namely, the floating control of three degrees of freedom is realized.
And step S220, after the first radial bearing and the axial bearing are powered up according to the floating information, the floating information is sent to the second radial bearing. After the first radial bearing and the axial bearing finish electrification according to the floating information, the magnetic suspension bearing controller sends the floating information to the second radial bearing, and the second radial bearing realizes the electrification operation of the second radial bearing according to the floating information, and realizes the floating control of two degrees of freedom. When the second radial bearing is powered on, the magnetic bearing controller is used for controlling the floating of the magnetic bearing system, and the rotating control operation of the rotating shaft can be finished by sending corresponding control signals to the rotating shaft of the magnetic bearing system through the magnetic bearing controller. In the embodiment, the floating control of three degrees of freedom is realized firstly, then the floating control of two degrees of freedom is realized, the load during the floating control of the magnetic bearing system is effectively reduced, so that the stable floating of the magnetic bearing system is realized, and the advantage of the simplest operation is realized.
Referring to fig. 5, in one embodiment, step S220 includes step S221, step S222, and step S223.
Step S221, obtaining a first suspension precision of the rotating shaft of the magnetic suspension bearing system. Specifically, after the first radial bearing and the axial bearing are electrified according to the floating information, the magnetic suspension bearing system is correspondingly suspended under the action of electromagnetic force. The magnetic suspension bearing system is further provided with a displacement sensor, when the rotating shaft is suspended under the action of electromagnetic force, the displacement sensor can acquire displacement information of the rotating shaft and record the displacement information as first suspension precision, and the displacement sensor can send the acquired first suspension precision to the magnetic suspension bearing controller for analysis, so that whether the rotating shaft floats to a corresponding position or not is judged when the first radial bearing and the axial bearing are electrified. In other embodiments, the sensor may detect distance information of the rotating shaft shifted from the reference balance position, record the distance information as a first suspension precision, and send the obtained first suspension precision to the magnetic suspension bearing controller for analysis, so as to determine whether the first suspension precision meets a first preset suspension precision (i.e. determine whether the acquired distance information is smaller than the first preset suspension precision). It should be noted that the method for collecting and judging the suspension accuracy is not the only method, and is not limited to the method shown in the above two embodiments, as long as the situation of the position change of the rotating shaft phase before and after the first radial bearing and the axial bearing are powered on can be reasonably represented. It is understood that the type of the displacement sensor is not the only type, and may be an eddy current sensor, an inductance sensor, a capacitance sensor, a photoelectric sensor, or the like, as long as the position change of the rotating shaft can be reasonably represented.
And step S222, when the first suspension precision meets the first preset suspension precision, sending the floating information to the second radial bearing. Specifically, when the first suspension precision meets the first preset suspension precision, the fact that the power-on is completed is indicated, namely the first radial bearing and the axial bearing are successfully powered on under the action of the floating information, and normal work can be performed. The magnetic suspension bearing controller is preset with a numerical value corresponding to the first preset suspension precision, when the first radial bearing and the axial bearing are electrified, the sensor acquires the first suspension precision corresponding to the rotating shaft, and the corresponding first suspension precision is sent to the magnetic suspension bearing controller to be compared and analyzed with the first preset suspension precision, so that whether the rotating shaft is suspended stably is judged. Taking the first preset suspension precision as the distance of the rotating shaft shifting reference balance position and taking the first preset suspension precision as an example, when the acquired distance information of the rotating shaft shifting reference balance position is smaller than 10um, the first suspension precision meets the first preset suspension precision, and at the moment, the magnetic suspension bearing controller sends the floating information to the second radial bearing to control the second radial bearing to be electrified for working.
In step S223, when the first suspension precision does not meet the first preset suspension precision, an alarm message is sent. Specifically, the first suspension precision does not meet the first preset suspension precision, namely the first radial bearing and the axial bearing are failed to be electrified, namely the electrification is not completed. When the first suspension precision sent by the sensor does not meet the first preset suspension precision, the condition that the first radial bearing and the axial bearing are electrified is indicated that the rotating shaft is not suspended to the corresponding position. If the magnetic bearing controller continues to send a floating shaft instruction to the second radial bearing, the subsequent operation is executed, the safe and stable operation of the magnetic bearing system cannot be ensured, and the magnetic bearing controller can control the alarm to send alarm information to inform a user, so that the user can take corresponding solving measures in time. Similarly, taking the first preset suspension precision as the distance of the rotating shaft shifting reference balance position and taking the first preset suspension precision as 10um as an example, when the acquired distance information of the rotating shaft shifting reference balance position is greater than or equal to 10um, the magnetic suspension bearing controller will send alarm information to inform a user. It will be appreciated that in other embodiments, when the first suspension precision does not meet the first preset suspension precision, the magnetic bearing controller may directly cut off the power supply and interrupt the operation of the magnetic bearing system, so as to ensure the safety of the magnetic bearing system. Through analyzing and judging the position of the rotating shaft after the magnetic suspension bearing system is electrified, when the rotating shaft is not suspended to the corresponding position, the reaction can be timely made, and the operation reliability of the magnetic suspension bearing system is effectively improved. It should be noted that the type of alarm is not exclusive and may be a voice alarm or other type of alarm as long as the user can be informed that the spindle is not suspended to the corresponding position. Furthermore, the setting position of the alarm is not unique, and the alarm can be arranged in the magnetic suspension bearing system or can be an independent alarm device, so long as the information that the rotating shaft is not suspended to the corresponding position can be notified to a user.
Further, in one embodiment, referring to fig. 5, step S300 includes step S310, step S320 and step S330.
Step S310, obtaining the second suspension precision of the rotating shaft. Specifically, after the first radial bearing and the axial bearing are electrified, the first suspension precision is similar to that obtained, the suspension precision of the rotating shaft is obtained through the sensor, and then the comparison analysis is carried out with the second preset suspension precision, so that whether the rotating shaft can reach the corresponding suspension position or not can be judged after the second radial bearing is electrified. The specific process is similar to the above embodiment, and will not be described again.
Step S320, when the second suspension precision meets the second preset suspension precision, a rotation control signal is sent to the rotating shaft. Similarly, similar to the above embodiment, when the second suspension precision meets the second preset suspension precision, the magnetic suspension bearing controller directly sends a rotation signal to the rotating shaft to control the rotating shaft to rotate, which is not described herein again. It should be noted that, in one embodiment, the second preset levitation accuracy is a higher value than the first levitation accuracy, and taking the case that the judgment criterion is that the rotation axis deviates from the reference equilibrium position, the first preset levitation accuracy is set to 10um, and the second preset levitation accuracy may be set to less than 10um, for example, 8um, or the like.
And step S330, when the second suspension precision does not meet the second preset suspension precision, sending out alarm information.
Similarly, when the second suspension precision sent by the sensor does not meet the second preset suspension precision, it is indicated that the rotating shaft is not suspended to the corresponding position under the condition that the second radial bearing is electrified. At this time, the magnetic bearing controller will send alarm information to inform the user to ensure the safe and stable operation of the magnetic bearing system. In this embodiment, when the second radial bearing is controlled to be electrified in the second step, the suspension precision of the rotating shaft is also detected, and whether the rotating shaft is suspended stably is judged, so that the operation reliability of the magnetic suspension bearing system is further improved. Referring to fig. 6, in the embodiment shown in fig. 6, in the first step, floating information is sent to an axial bearing and a first radial bearing at the same time, so as to realize floating with three degrees of freedom, and after the floating information is sent, it is further determined that power-up is successful (i.e. whether a floating shaft is stable); and after the power-on is successful, floating information is sent to the second radial bearing, so that the floating of the continuous degrees of freedom is realized, whether the floating shaft is stable or not is judged again after the floating information is sent, and the rotation information is sent after the floating shaft is stable. And when judging for two times, if the floating shaft is unstable, sending out alarm information to remind the user.
In one embodiment, referring to fig. 7, step S200 further includes step S230 and step S240.
And step S230, according to the floating shaft command, floating information is sent to the first radial bearing and the second radial bearing at the same time. In this embodiment, the magnetic bearing controller firstly transmits the floating information to the first radial bearing and the second radial bearing at the same time, and controls the first radial bearing and the second radial bearing to be powered on. It should be noted that, similar to the two-step implementation of the floating shaft control in the above embodiment, after the first radial bearing and the second radial bearing are powered on, the sensor also collects the suspension precision of the rotating shaft, and performs a comparison analysis on the collected suspension precision and the corresponding preset suspension precision, and when the suspension precision does not meet the corresponding preset suspension precision, the sensor also sends out alarm information.
And step S240, after the first radial bearing and the second radial bearing are powered on according to the floating information, the floating information is sent to the axial bearing.
Specifically, after the first radial bearing and the second radial bearing realize the power-on operation according to the floating information, the floating information is sent to the axial bearing to control the power-on of the axial bearing, so that the floating shaft control operation of the magnetic suspension bearing system is realized. That is, in the present embodiment, first, the floating shaft control of the two degrees of freedom corresponding to the first radial bearing and the two degrees of freedom corresponding to the second radial bearing is realized, and then the floating shaft control of the degrees of freedom corresponding to the axial bearings is realized. Similarly, in an embodiment, similar to the implementation of the floating shaft control in two steps in the above embodiment, after the axial bearing is electrified, a detection operation of the suspension precision of the rotating shaft is also performed once to determine whether the electrification is successful, and specific operations are not repeated here, so that the operation reliability of the magnetic suspension bearing system is further improved.
In one embodiment, referring to fig. 8, step S200 further includes step S250, step S260, and step S270.
And step S250, according to the floating shaft instruction, floating information is sent to the first radial bearing. Specifically, in this embodiment, the floating shaft control of the magnetic bearing system is performed in three steps, and first, the magnetic bearing controller controls the floating operation of the first radial bearing according to the floating information, that is, the floating control of two degrees of freedom corresponding to the first radial bearing is implemented. Similarly, in an embodiment, after the first radial bearing is electrified, the sensor is used to collect the suspension precision of the rotating shaft and perform a comparison analysis with the preset suspension precision, so as to realize the next control operation or send out alarm information, and the specific operation process is similar to the two-step implementation of the floating shaft control in the above embodiment, and is not repeated here.
Step S260, when the first radial bearing is powered up according to the floating information, the floating information is sent to the axial bearing. Specifically, after the first radial bearing is electrified, the magnetic suspension bearing controller sends floating information to the axial bearing to control the axial bearing to finish the electrified operation, namely realizing the floating shaft control of one degree of freedom corresponding to the axial bearing. It should be noted that, in an embodiment, after the axial bearing is powered up, the sensor is further used to collect the suspension precision of the rotating shaft and perform a comparison analysis with the preset suspension precision, so as to realize the next control operation or send out alarm information, and the specific operation process is similar to the implementation of the floating shaft control in two steps in the above embodiment, which is not repeated here.
Step S270, after the axial bearing is powered up according to the floating information, the floating information is sent to the second radial bearing. Specifically, after the axial bearing is electrified, the magnetic suspension bearing controller sends floating information to the axial bearing to control the second radial bearing to finish the electrifying operation, namely realizing the floating shaft control of two degrees of freedom corresponding to the second radial bearing. It should be noted that, in an embodiment, after the second radial bearing is powered on, the sensor is further used to collect the suspension precision of the rotating shaft and perform a comparison analysis with the preset suspension precision, so as to realize the next control operation or send out alarm information, and the specific operation process is similar to the implementation of the floating shaft control in two steps in the above embodiment, which is not repeated here. The first radial bearing, the second radial bearing and the axial bearing are electrified through three steps, so that the instantaneous current value is greatly reduced, and the stability of the floating shaft of the magnetic suspension bearing system is further improved.
Referring to fig. 9, a magnetic bearing system control device includes a floating axle command receiving module 100, a power-on control module 200 and a rotation control module 300.
The floating axle command receiving module 100 is configured to receive a floating axle command. Specifically, the floating shaft command is a command for controlling the magnetic bearing system to be electrified to work. The type of the floating shaft command is not unique, for example, in one embodiment, the magnetic bearing controller is provided with a start switch, when a user needs to work by using the magnetic bearing system, the start switch is directly turned on, in this embodiment, the floating shaft command is a start signal generated when the user turns on the start switch, and the magnetic bearing system receives the start signal to indicate that the corresponding floating shaft command is received. It will be appreciated that in other embodiments, since the magnetic bearing system is a device for controlling the levitation and rotation of the shaft by powering up the bearing, the corresponding levitation shaft command may also be a power signal sent by a power device connected to the magnetic bearing controller. When a user needs the magnetic suspension bearing system to work, the power switch arranged on the power supply device is started, and the power switch sends a power signal to the magnetic suspension bearing controller, namely a floating shaft instruction.
The power-on control module 200 is used for sending floating information to each bearing of the magnetic suspension bearing system step by step according to the floating shaft instruction.
Specifically, the float information is used to control the powering up of the individual bearings. When the magnetic suspension bearing controller receives a floating shaft instruction, floating information is firstly sent to a part of bearings of the magnetic suspension bearing system according to the floating shaft instruction, and the part of bearings are controlled to be electrified to work. After the partial bearings are electrified, the magnetic suspension bearing controller sends floating information to other bearings to finish the electrification operation of the other bearings, and after all the bearings are electrified, the rotating shaft of the magnetic suspension bearing system is in a suspension state under the action of electromagnetic force. It can be understood that according to the number of bearings in a set of magnetic suspension bearing system, the requirement of users and the like, floating information can be sent to each bearing according to different steps, and the power-on operation of all the bearings is completed. It will be appreciated that in one embodiment, the floating information is a current signal, and when the magnetic bearing controller receives a floating shaft command, a portion of the bearings are first energized, and then the other bearings are energized, so that the step-by-step floating shaft operation of the magnetic bearing system can be achieved.
The rotation control module 300 is used for sending a rotation control signal to the rotating shaft of the magnetic suspension bearing system when each bearing is powered on according to the floating information.
Specifically, the rotation control signal is used to control the spindle to rotate. After the magnetic bearing controller finishes electrifies the bearings step by step according to the floating shaft instruction, under the action of electromagnetic force, the rotating shaft of the magnetic bearing system is in a suspension state, so that the rotating shaft of the magnetic bearing system rotates to finish corresponding work, and at the moment, the magnetic bearing controller sends a rotation control signal to the rotating shaft to control the rotating shaft to rotate. According to the magnetic suspension bearing system control device, the load abrupt change amplitude during each power-on is effectively reduced in a step-by-step power-on mode, so that the current variation is small under the condition of load variation, the condition that the floating shaft of the magnetic suspension bearing system fails due to overcurrent protection triggered by overlarge current variation is avoided, and the magnetic suspension bearing system control device has stronger working reliability compared with a traditional magnetic suspension bearing system control method.
In one embodiment, the power-on control module 200 is further configured to send the float information to the first radial bearing, the second radial bearing, and the axial bearing in two steps according to a float command.
Specifically, in this embodiment, the magnetic suspension bearing system includes two radial bearings and one axial bearing, where the two radial bearings are located at opposite ends of the rotating shaft, respectively, the first radial bearing and the second radial bearing. For the magnetic bearing system in this embodiment, it is divided into 5 degrees of freedom according to the degrees of freedom of the different bearings, that is, the X and Y degrees of freedom of the first radial bearing, the X and Y degrees of freedom of the second radial bearing, and one degree of freedom of the axial bearing. When floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in two steps according to a floating shaft instruction, the floating information can be sent to the first radial bearing or the second radial bearing first, after the first radial bearing or the second radial bearing finishes the power-on operation according to the floating information, the power-on information is sent to the other radial bearing and the axial bearing, so that the power-on of the other radial bearing and the axial bearing is realized, namely, the floating control of two degrees of freedom is realized first, then the floating control of three degrees of freedom is realized, the step-by-step floating control is realized, the instant current value is reduced, and the purpose of stable floating control of the magnetic suspension bearing system is realized. In another embodiment, the floating information can be sent to the axial bearing first to realize the floating operation of one degree of freedom, then the floating information is sent to the first radial bearing and the second radial bearing simultaneously, the first radial bearing and the second radial bearing are controlled to be electrified, the floating control of four degrees of freedom is realized, and the floating control device also has the functions of reducing the instantaneous current value and realizing the stable floating control of the magnetic suspension bearing system.
In one embodiment, the power-on control module 200 is further configured to send the float information to the first radial bearing, the second radial bearing, and the axial bearing in three steps according to a float command.
Specifically, the floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in three steps, namely the power-on operation of the magnetic suspension bearing system is realized in three steps, and the power-on of the first radial bearing, the second radial bearing and the axial bearing is respectively and independently carried out, so that the instant current value is reduced, and the magnetic suspension bearing system is enabled to stably float. It will be appreciated that the step of the magnetic bearing controller sending the levitation information to the first radial bearing, the second radial bearing and the axial bearing is not unique, as long as it is capable of sending the levitation information to the next bearing after the powering up of the previous bearing is completed, so as to achieve the respective powering up control of the first radial bearing, the second radial bearing and the axial bearing. The method can be that firstly, the floating of one degree of freedom corresponding to the axial bearing is realized, then the floating of two degrees of freedom corresponding to the first radial bearing is realized, and finally the floating of two degrees of freedom corresponding to the second radial bearing is realized.
In one embodiment, the power-on control module 200 is further configured to send float information to the first radial bearing and the axial bearing simultaneously according to a float command, and send float information to the second radial bearing after the first radial bearing and the axial bearing are powered on according to the float information.
Specifically, for a magnetic bearing system with 5 degrees of freedom, when floating information is sent to the magnetic bearing system in two steps, the floating information can be sent to the first radial bearing and the axial bearing through the magnetic bearing controller, and after the first radial bearing and the axial bearing receive the floating information, the power-on operation of the radial bearing and the axial bearing is respectively realized, namely, the floating control of three degrees of freedom is realized. After the first radial bearing and the axial bearing finish electrification according to the floating information, the magnetic suspension bearing controller sends the floating information to the second radial bearing, and the second radial bearing realizes the electrification operation of the second radial bearing according to the floating information, and realizes the floating control of two degrees of freedom. When the second radial bearing is powered on, the magnetic bearing controller is used for controlling the floating of the magnetic bearing system, and the rotating control operation of the rotating shaft can be finished by sending corresponding control signals to the rotating shaft of the magnetic bearing system through the magnetic bearing controller. In the embodiment, the floating control of three degrees of freedom is realized firstly, then the floating control of two degrees of freedom is realized, the load during the floating control of the magnetic bearing system is effectively reduced, so that the stable floating of the magnetic bearing system is realized, and the advantage of the simplest operation is realized.
Further, in one embodiment, referring to fig. 10, the power-on control module 200 includes a first levitation accuracy acquisition unit 210, a levitation information transmission unit 220, and a first alarm unit 230.
The first levitation accuracy acquisition unit 210 is configured to acquire a first levitation accuracy of a rotating shaft of the magnetic bearing system.
Specifically, after the first radial bearing and the axial bearing are electrified according to the floating information, the magnetic suspension bearing system is correspondingly suspended under the action of electromagnetic force. The magnetic suspension bearing system is further provided with a displacement sensor, when the rotating shaft is suspended under the action of electromagnetic force, the displacement sensor can acquire displacement information of the rotating shaft and record the displacement information as first suspension precision, and the displacement sensor can send the acquired first suspension precision to the magnetic suspension bearing controller for analysis, so that whether the rotating shaft floats to a corresponding position or not is judged when the first radial bearing and the axial bearing are electrified. In other embodiments, the sensor may detect distance information of the rotating shaft shifted from the reference balance position, record the distance information as a first suspension precision, and send the obtained first suspension precision to the magnetic suspension bearing controller for analysis, so as to determine whether the first suspension precision meets a first preset suspension precision (i.e. determine whether the acquired distance information is smaller than the first preset suspension precision).
The levitation information transmitting unit 220 is configured to transmit levitation information to the second radial bearing when the first levitation precision satisfies the first preset levitation precision.
Specifically, when the first suspension precision meets the first preset suspension precision, the fact that the power-on is completed is indicated, namely the first radial bearing and the axial bearing are successfully powered on under the action of the floating information, and normal work can be performed. The magnetic suspension bearing controller is preset with a numerical value corresponding to the first preset suspension precision, when the first radial bearing and the axial bearing are electrified, the sensor acquires the first suspension precision corresponding to the rotating shaft, and the corresponding first suspension precision is sent to the magnetic suspension bearing controller to be compared and analyzed with the first preset suspension precision, so that whether the rotating shaft is suspended stably is judged. Taking the first preset suspension precision as the distance of the rotating shaft shifting reference balance position and taking the first preset suspension precision as an example, when the acquired distance information of the rotating shaft shifting reference balance position is smaller than 10um, the first suspension precision meets the first preset suspension precision, and at the moment, the magnetic suspension bearing controller sends the floating information to the second radial bearing to control the second radial bearing to be electrified for working.
The first alarm unit 230 is configured to send out alarm information when the first suspension accuracy does not meet the first preset suspension accuracy.
Specifically, the first suspension precision does not meet the first preset suspension precision, namely the first radial bearing and the axial bearing are failed to be electrified, namely the electrification is not completed. When the first suspension precision sent by the sensor does not meet the first preset suspension precision, the condition that the first radial bearing and the axial bearing are electrified is indicated that the rotating shaft is not suspended to the corresponding position. If the magnetic bearing controller continues to send a floating shaft instruction to the second radial bearing, the subsequent operation is executed, the safe and stable operation of the magnetic bearing system cannot be ensured, and the magnetic bearing controller can control the alarm to send alarm information to inform a user, so that the user can take corresponding solving measures in time. Similarly, taking the first preset suspension precision as the distance of the rotating shaft shifting reference balance position and taking the first preset suspension precision as 10um as an example, when the acquired distance information of the rotating shaft shifting reference balance position is greater than or equal to 10um, the magnetic suspension bearing controller will send alarm information to inform a user.
In one embodiment, referring to fig. 10, the rotation control module 300 includes a second levitation accuracy acquisition unit 310, a rotation unit 320 and a second alarm unit 330.
The second levitation accuracy obtaining unit 310 is configured to obtain a second levitation accuracy of the rotating shaft.
Specifically, after the first radial bearing and the axial bearing are electrified, the first suspension precision is similar to that obtained, the suspension precision of the rotating shaft is obtained through the sensor, and then the comparison analysis is carried out with the second preset suspension precision, so that whether the rotating shaft can reach the corresponding suspension position or not can be judged after the second radial bearing is electrified. The specific process is similar to the above embodiment, and will not be described again.
The rotation unit 320 is configured to send a rotation control signal to the rotation shaft when the second suspension precision satisfies a second preset suspension precision.
Similarly, similar to the above embodiment, when the second suspension precision meets the second preset suspension precision, the magnetic suspension bearing controller directly sends a rotation signal to the rotating shaft to control the rotating shaft to rotate, which is not described herein again. It should be noted that, in one embodiment, the second preset levitation accuracy is a higher value than the first levitation accuracy, and taking the case that the judgment criterion is that the rotation axis deviates from the reference equilibrium position, the first preset levitation accuracy is set to 10um, and the second preset levitation accuracy may be set to less than 10um, for example, 8um, or the like.
The second alarm unit 330 is configured to send out alarm information when the second suspension accuracy does not meet the second preset suspension accuracy.
Similarly, when the second suspension precision sent by the sensor does not meet the second preset suspension precision, it is indicated that the rotating shaft is not suspended to the corresponding position under the condition that the second radial bearing is electrified. At this time, the magnetic bearing controller will send alarm information to inform the user to ensure the safe and stable operation of the magnetic bearing system. In this embodiment, when the second radial bearing is controlled to be electrified in the second step, the suspension precision of the rotating shaft is also detected, and whether the rotating shaft is suspended stably is judged, so that the operation reliability of the magnetic suspension bearing system is further improved.
Referring to fig. 11, a magnetic bearing control system includes a magnetic bearing system 120 and a magnetic bearing controller 110, where the magnetic bearing controller 110 is connected to the magnetic bearing system 120, and the magnetic bearing controller 110 is configured to receive a floating shaft command and control rotation of a rotating shaft of the magnetic bearing system 120 according to the above method.
Specifically, the floating shaft command is a command for controlling the magnetic bearing system 120 to be powered on to work. The type of the floating shaft command is not unique, for example, in one embodiment, the magnetic bearing controller 110 is provided with a start switch, when a user needs to use the magnetic bearing system 120 to work, the start switch is directly turned on, in this embodiment, the floating shaft command is a start signal generated when the user turns on the start switch, and the magnetic bearing system 120 receives the start signal to indicate that the corresponding floating shaft command is received. It will be appreciated that in other embodiments, since the magnetic bearing system 120 is a device for controlling the levitation and rotation of the rotating shaft by powering up the bearing, the corresponding levitation shaft command may also be a power signal sent by a power device connected to the magnetic bearing controller 110. When the user needs the magnetic bearing system 120 to work, the power switch is turned on to send a power signal to the magnetic bearing controller 110, namely, a floating shaft command.
The floating information is sent to each bearing of the magnetic bearing system 120 step by step according to the floating axle command. The floating information is used for controlling the powering up of each bearing. When the magnetic bearing controller 110 receives the floating shaft command, the floating information is firstly sent to a part of the bearings of the magnetic bearing system 120 according to the floating shaft command, and the part of the bearings are controlled to be powered on to work. After the partial bearings are powered up, the magnetic bearing controller 110 sends floating information to other bearings to complete the powering up operation of other bearings, and after all the bearings are powered up, the rotating shaft of the magnetic bearing system 120 is in a floating state due to the electromagnetic force. It will be appreciated that depending on the number of bearings in a set of magnetic bearing system 120, the user's needs, etc., the floating information may be sent to each bearing in different steps to complete the powering up of all bearings. It will be appreciated that in one embodiment, the floating information is a current signal, and when the magnetic bearing controller 110 receives a floating shaft command, a portion of the bearings are first energized, and then the other bearings are energized, so that the step-by-step floating shaft operation of the magnetic bearing system 120 can be achieved.
When each bearing completes power-up according to the floating information, a rotation control signal is sent to the rotating shaft of the magnetic bearing system 120. The rotation control signal is used for controlling the rotating shaft to rotate. After the magnetic bearing controller 110 completes the power-up of each bearing step by step according to the floating shaft command, under the action of electromagnetic force, the rotating shaft of the magnetic bearing system 120 will be in a suspended state, so that the rotating shaft of the magnetic bearing system 120 rotates to complete the corresponding work, and at this time, the magnetic bearing controller 110 will send a rotation control signal to the rotating shaft to control the rotation of the rotating shaft. According to the magnetic bearing control system, the load abrupt change amplitude during each power-on is effectively reduced in a step-by-step power-on mode, so that the current variation is small under the condition of load variation, the condition that the current variation is too large to trigger overcurrent protection and the floating shaft of the magnetic bearing system 120 fails is avoided, and the magnetic bearing control system has stronger working reliability compared with the traditional magnetic bearing system 120 control method.
In one embodiment, referring to fig. 12, the magnetic bearing control system further includes a power supply device 130, where the power supply device 130 is connected to the magnetic bearing controller 110.
Specifically, the power supply device 130 is configured to supply power to the magnetic bearing system 120, and after the magnetic bearing controller 110 receives a floating shaft command, the magnetic bearing controller 110 can transmit the current output by the power supply device 130 to a corresponding bearing, so as to implement the power-on operation of the bearing. Electromagnetic force is generated after the bearing is powered up, and then the rotating shaft of the magnetic suspension bearing system 120 is suspended under the action of the electromagnetic force, so that the rotating shaft can operate in an oil-free and friction-free environment under the action of a rotation control signal.
In one embodiment, referring to FIG. 13, the magnetic bearing system 120 includes a first radial bearing, a second radial bearing, an axial bearing, and a shaft, the first radial bearing and the second radial bearing being disposed at opposite ends of the shaft, respectively.
Specifically, the magnetic bearing system 120 includes two radial bearings and an axial bearing, where the two radial bearings are located at opposite ends of the rotating shaft, respectively, the first radial bearing and the second radial bearing. For the magnetic bearing system 120 in this embodiment, it is divided into 5 degrees of freedom according to the degrees of freedom of the different bearings, that is, the X and Y degrees of freedom of the first radial bearing, the X and Y degrees of freedom of the second radial bearing, and one degree of freedom of the axial bearing. When the floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in two steps according to the floating shaft command, the floating information can be sent to the first radial bearing or the second radial bearing first, after the first radial bearing or the second radial bearing completes the power-on operation according to the floating information, the power-on information is sent to the other radial bearing and the axial bearing, so that the power-on of the other radial bearing and the axial bearing is realized, namely, the floating control of two degrees of freedom is realized first, then the floating control of three degrees of freedom is realized, the step-by-step floating control is realized, the instant current value is reduced, and the purpose of stable floating control of the magnetic suspension bearing system 120 is realized. In another embodiment, the floating information is sent to the axial bearing first to realize the floating operation of one degree of freedom, then the floating information is sent to the first radial bearing and the second radial bearing simultaneously, the first radial bearing and the second radial bearing are controlled to be electrified, the floating control of four degrees of freedom is realized, and the function of reducing the instantaneous current value and realizing the stable floating control of the magnetic suspension bearing system 120 is also realized.
In one embodiment, the float information may also be sent to the first radial bearing, the second radial bearing, and the axial bearing in three steps according to a float command. Specifically, the floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in three steps, that is, the power-on operation of the magnetic bearing system 120 is realized in three steps, and the power-on operation of the first radial bearing, the second radial bearing and the axial bearing is respectively and independently performed, so that the functions of reducing the instantaneous current value and enabling the magnetic bearing system 120 to stably float are realized. It will be appreciated that the step of the magnetic bearing controller 110 sending the floating information to the first radial bearing, the second radial bearing and the axial bearing is not exclusive, as long as it is capable of sending the floating information to the next bearing after the power-up of the previous bearing is completed, so as to achieve the respective power-up control of the first radial bearing, the second radial bearing and the axial bearing. The method can be that firstly, the floating of one degree of freedom corresponding to the axial bearing is realized, then the floating of two degrees of freedom corresponding to the first radial bearing is realized, and finally the floating of two degrees of freedom corresponding to the second radial bearing is realized.
In one embodiment, referring to fig. 14, the magnetic bearing control system is further provided with a displacement sensor 140, and the displacement sensor 140 is connected to the magnetic bearing controller 110.
The displacement sensor 140 is used to obtain a first levitation accuracy of the rotating shaft of the magnetic bearing system 120.
After the first radial bearing and the axial bearing are powered up according to the floating information, the magnetic suspension bearing system 120 is correspondingly suspended under the action of electromagnetic force. The magnetic suspension bearing system 120 is further provided with a displacement sensor 140, when the rotating shaft is suspended under the action of electromagnetic force, the displacement sensor 140 can collect displacement information of the rotating shaft and record the displacement information as first suspension precision, and the displacement sensor 140 can send the collected first suspension precision to the magnetic suspension bearing controller 110 for analysis, so that whether the rotating shaft floats to a corresponding position or not is judged when the first radial bearing and the axial bearing are electrified. In other embodiments, the sensor may detect the distance information of the rotating shaft shifted from the reference balance position, record the distance information as the first suspension precision, and send the obtained first suspension precision to the magnetic bearing controller 110 for analysis, so as to determine whether the first suspension precision meets the first preset suspension precision (i.e. determine whether the acquired distance information is smaller than the first preset suspension precision). It should be noted that the method for collecting and judging the suspension accuracy is not the only method, and is not limited to the method shown in the above two embodiments, as long as the situation of the position change of the rotating shaft phase before and after the first radial bearing and the axial bearing are powered on can be reasonably represented. It is understood that the type of the displacement sensor 140 is not limited to an eddy current sensor, an inductance sensor, a capacitance sensor, a photoelectric sensor, and the like, as long as the change of the position of the rotating shaft can be reasonably represented.
Further, in one embodiment, referring still to FIG. 14, the magnetic bearing control system is further provided with an alarm 150, the alarm 150 being connected to the magnetic bearing controller 110.
The alarm 150 is configured to send out alarm information when the first suspension accuracy does not meet the first preset suspension accuracy.
Specifically, when the first suspension precision sent by the sensor does not meet the first preset suspension precision, it is stated that the rotating shaft is not suspended to the corresponding position under the condition that the first radial bearing and the axial bearing are electrified. If the magnetic bearing controller 110 continues to send the floating shaft command to the second radial bearing, the subsequent operation is performed, the safe and stable operation of the magnetic bearing system 120 cannot be ensured, and at this time, the magnetic bearing controller 110 will control the alarm 150 to send alarm information to inform the user, so that the user can take corresponding solutions timely. Similarly, taking the first preset suspension precision as the distance of the rotating shaft from the reference balance position and taking the first preset suspension precision as 10um as an example, when the acquired distance information of the rotating shaft from the reference balance position is greater than or equal to 10um, the magnetic bearing controller 110 will send out alarm information to inform the user. It will be appreciated that in other embodiments, when the first levitation accuracy does not meet the first preset levitation accuracy, the magnetic bearing controller 110 may directly cut off the power supply to interrupt the operation of the magnetic bearing system 120, so as to ensure the safety of the magnetic bearing system 120. By analyzing and judging the position of the rotating shaft after the magnetic bearing system 120 is electrified, when the rotating shaft is not suspended to the corresponding position, the reaction can be timely made, and the operation reliability of the magnetic bearing system 120 is effectively improved. It should be noted that the type of alarm 150 is not exclusive and may be a voice alarm or other type of alarm as long as the user is informed that the spindle is not suspended to the corresponding position. Further, the setting position of the alarm 150 is not unique, and may be set inside the magnetic bearing system 120, or may be a separate alarm device, so long as the user can be informed that the rotating shaft is not suspended to the corresponding position.
In one embodiment, the displacement sensor 140 is further configured to obtain a second levitation accuracy of the spindle. Specifically, after the first radial bearing and the axial bearing are electrified, the first suspension precision is similar to that obtained, the suspension precision of the rotating shaft is obtained through the sensor, and then the comparison analysis is carried out with the second preset suspension precision, so that whether the rotating shaft can reach the corresponding suspension position or not can be judged after the second radial bearing is electrified. The specific process is similar to the above embodiment, and will not be described again.
The alarm 150 is further configured to send out alarm information when the second suspension accuracy does not meet the second preset suspension accuracy. Similarly, when the second suspension precision sent by the sensor does not meet the second preset suspension precision, it is indicated that the rotating shaft is not suspended to the corresponding position under the condition that the second radial bearing is electrified. At this time, the magnetic bearing controller 110 notifies the user of alarm information to ensure safe and stable operation of the magnetic bearing system 120. In this embodiment, when the second radial bearing is controlled to be electrified in the second step, the suspension precision of the rotating shaft is also detected, so as to determine whether the rotating shaft is stable in suspension, thereby further improving the operation reliability of the magnetic suspension bearing system 120.
It should be noted that, in one embodiment, referring to fig. 15, the power supply device 130 includes a power supply processing circuit 131 and an overcurrent protection circuit 132, where the power supply processing circuit 131 is connected to the overcurrent protection circuit 132, and the overcurrent protection circuit 132 is connected to the magnetic bearing controller 110. The power supply processing circuit 131 can process the input power supply to obtain a direct current power supply suitable for the magnetic suspension bearing system 120 to generate electromagnetic force and realize floating shaft control. When the weight of the rotating shaft is heavy (i.e. the load is heavy), the instantaneous output current value of the power supply device 130 may be excessively large, so as to ensure the safe and stable operation of the magnetic bearing system 120 system, at this time, the overcurrent protection will be triggered, and the power supply will be directly cut off, so that the rotating shaft of the magnetic bearing system 120 falls, thereby preventing the operation of the magnetic bearing system 120 and effectively improving the safety of the magnetic bearing system 120.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (8)

1. A method of controlling a magnetic bearing system, the method comprising:
receiving a floating shaft instruction;
according to the floating shaft instruction, floating information is sent to each bearing of the magnetic suspension bearing system step by step, and the floating information is used for controlling each bearing to be electrified;
and when the bearings are electrified according to the floating information, sending a rotation control signal to a rotating shaft of the magnetic suspension bearing system, wherein the rotation control signal is used for controlling the rotating shaft to rotate.
2. The method of claim 1, wherein the bearings of the magnetic bearing system include a first radial bearing, a second radial bearing, and an axial bearing, and wherein the step of sending the levitation information to the respective bearings of the magnetic bearing system in steps according to the levitation shaft command comprises:
According to the floating shaft instruction, floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in two steps;
or according to the floating shaft instruction, floating information is sent to the first radial bearing, the second radial bearing and the axial bearing in three steps.
3. The method of claim 2, wherein the step of transmitting the floating information to the first radial bearing, the second radial bearing, and the axial bearing in two steps according to the floating shaft command includes:
according to the floating shaft instruction, floating information is sent to the first radial bearing and the axial bearing at the same time;
and after the first radial bearing and the axial bearing finish power-on according to the floating information, transmitting the floating information to the second radial bearing.
4. A magnetic suspension bearing system control method according to claim 3, wherein said step of transmitting floating information to said second radial bearing after said first radial bearing and said axial bearing are powered up according to said floating information, comprises:
acquiring a first suspension precision of a rotating shaft of the magnetic suspension bearing system;
When the first suspension precision meets a first preset suspension precision, sending a suspension information to the second radial bearing;
and when the first suspension precision does not meet the first preset suspension precision, sending out alarm information.
5. The method of claim 4, wherein the step of transmitting a rotation control signal to the rotating shaft of the magnetic bearing system when the respective bearings are powered up according to the levitation information, comprises:
acquiring a second suspension precision of the rotating shaft;
when the second suspension precision meets a second preset suspension precision, a rotation control signal is sent to the rotating shaft;
and when the second suspension precision does not meet the second preset suspension precision, sending out alarm information.
6. The method of claim 2, wherein the step of transmitting the floating information to the first radial bearing, the second radial bearing, and the axial bearing in two steps according to the floating shaft command includes:
according to the floating shaft instruction, floating information is sent to the first radial bearing and the second radial bearing at the same time;
And after the first radial bearing and the second radial bearing finish power-on according to the floating information, transmitting the floating information to the axial bearing.
7. The method of claim 2, wherein the step of transmitting the floating information to the first radial bearing, the second radial bearing, and the axial bearing in three steps according to the floating shaft command includes:
according to the floating shaft instruction, floating information is sent to the first radial bearing;
after the first radial bearing finishes electrifying according to the floating information, sending the floating information to the axial bearing;
and after the axial bearing is powered on according to the floating information, transmitting the floating information to the second radial bearing.
8. A magnetic bearing system control device, the device comprising:
the floating shaft instruction receiving module is used for receiving the floating shaft instruction;
the power-on control module is used for sending floating information to each bearing of the magnetic suspension bearing system step by step according to the floating shaft instruction, and the floating information is used for controlling each bearing to be powered on;
and the rotation control module is used for sending a rotation control signal to a rotating shaft of the magnetic suspension bearing system when each bearing is electrified according to the floating information, and the rotation control signal is used for controlling the rotating shaft to rotate.
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