CN110030265B - Single-degree-of-freedom magnetic-liquid double-suspension bearing control device and method - Google Patents
Single-degree-of-freedom magnetic-liquid double-suspension bearing control device and method Download PDFInfo
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- CN110030265B CN110030265B CN201910401880.6A CN201910401880A CN110030265B CN 110030265 B CN110030265 B CN 110030265B CN 201910401880 A CN201910401880 A CN 201910401880A CN 110030265 B CN110030265 B CN 110030265B
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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
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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
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a single-degree-of-freedom magnetic-liquid double-suspension bearing control device and a method, wherein a second controller, a second power amplifier, a proportional speed regulating valve coil and a displacement sensor are sequentially connected in a closed manner to form a position closed loop; the first controller, the first power amplifier, the magnetic-liquid double-suspension bearing coil and the current sensor are sequentially connected in a closed manner to form a force closed loop; the displacement sensor is used for detecting the offset of the rotor of the magnetic-liquid double-suspension bearing, and the second controller and the second power amplifier are used for driving a coil of the proportional speed regulating valve to change the flow rate, namely the static pressure; the first controller and the first power amplifier are used for driving the magnetic-liquid double-suspension bearing coil so as to change the electromagnetic force, and the current sensor is used for detecting the coil current of the magnetic-liquid double-suspension bearing. The invention adopts double closed-loop control to respectively control static pressure and electromagnetic force, so that the static pressure and the electromagnetic force jointly compensate external load in proportion, the defect of slow response of the static pressure is overcome, and the reliability of the magnetic-liquid double-suspension bearing is improved.
Description
Technical Field
The invention relates to the technical field of control, in particular to a single-degree-of-freedom magnetic-liquid double-suspension bearing control device and method.
Background
The magnetic-hydraulic double-suspension bearing adopts double support of electromagnetic force and static pressure supporting force, is a novel non-mechanical contact bearing, and has the advantages of no friction, no abrasion, large bearing capacity, high motion precision, long service life and the like. Because the bearing comprises two sets of supporting systems, the traditional control method is single, and the recovery response is slow.
Disclosure of Invention
The invention aims to provide a control device and a control method for a single-degree-of-freedom magnetic-liquid double-suspension bearing, which aim to solve the technical problems.
In order to realize the purpose, the invention is realized according to the following technical scheme:
a single-degree-of-freedom magnetic-liquid double-suspension bearing control device is characterized by comprising: the system comprises a displacement sensor, a first controller, a second controller, a magnetic-liquid double-suspension bearing coil, a proportional speed regulating valve coil, a current sensor, a first power amplifier and a second power amplifier, wherein the first controller, the first power amplifier, the magnetic-liquid double-suspension bearing coil and a current sensor ring are sequentially connected in a closed manner to form a force closed loop of an inner ring; the first controller and the first power amplifier jointly drive the magnetic-liquid double-suspension bearing coil according to the magnetic-liquid proportionality coefficient to change the electromagnetic force, so that the static pressure and the electromagnetic force share the external load in proportion; the current sensor detects the coil current of the magnetic-liquid double-suspension bearing.
In the technical scheme, the stator of the magnetic-liquid double-suspension bearing is provided with 4 radial magnetic poles, every two magnetic poles form a magnetic flux loop, and the bottom of each magnetic pole is provided with a supporting cavity.
In the above technical scheme, the magnetic-liquid proportionality coefficient is a proportion between flow and control current, and the proportion is 1: k, wherein the value range of K is 1-4.
The invention discloses a control method of a single-degree-of-freedom magnetic-liquid double-suspension bearing, which is realized according to the control device and is characterized by comprising the following steps of:
(1) the displacement sensor detects that the rotor of the magnetic-liquid double-suspension bearing deviates, and transmits a displacement signal to the second controller and the magnetic-liquid proportional coefficient;
(2) the second controller generates control voltage according to the magnitude of the displacement signal, the control voltage is output by the second power amplifier and is used for driving a coil of the proportional speed regulating valve, and further the flow flowing into the supporting cavity is changed to control static pressure, wherein the proportional speed regulating valve outputs different flows according to different voltages multiplied by a proportional coefficient k; multiplying the voltage signal by a conversion coefficient k to convert the voltage signal into a flow signal and transmitting the flow signal to a magnetic liquid proportional coefficient;
(3) the magnetic liquid proportional coefficient displays the received displacement signal, automatically analyzes the displacement signal according to the size of the displacement signal and outputs the magnetic liquid proportional coefficient K at the moment; meanwhile, according to the magnetic liquid proportional coefficient set at the moment, the received flow coefficient multiplied by the proportional coefficient K is converted into a current signal and the current signal is output to the first controller;
(4) and the first controller processes the received current signal and transmits the processed current signal to the first power amplifier, and the first power amplifier outputs a driving current meeting the requirement of the magnetic-liquid double-suspension bearing coil to control the electromagnetic force.
Compared with the prior art, the invention has the following advantages:
the invention adopts two closed-loop control methods to respectively control the static pressure and the electromagnetic force so as to jointly compensate the external load according to a certain proportion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a single degree of freedom magnetic-liquid double suspension bearing control method;
FIG. 2 is a schematic structural diagram of a magnetic-liquid double-suspension bearing stator;
FIG. 3 is a structural block diagram of a single-freedom degree magnetic liquid double-suspension bearing double-closed-loop control method;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the single-degree-of-freedom magnetic-liquid double-suspension bearing control device of the present invention is characterized by comprising: the device comprises a displacement sensor, a first controller, a second controller, a magnetic-liquid double-suspension bearing coil, a proportional speed regulating valve coil, a current sensor, a first power amplifier and a second power amplifier, wherein the first controller, the first power amplifier, the magnetic-liquid double-suspension bearing coil and a current sensor ring are sequentially connected in a closed mode to form an inner ring force closed ring for adjusting electromagnetic force. The second controller, the second power amplifier, the proportional speed regulating valve coil and the displacement sensor are sequentially connected in a closed mode to form a position closed loop of an outer ring, and the position closed loop is used for adjusting the static pressure to keep the rotor balanced.
The displacement sensor detects the offset of the rotor of the magnetic-liquid double-suspension bearing, the magnetic-liquid proportionality coefficient is the proportion between the flow and the control current, and the proportion is 1: and K, wherein the value range of K is 1-4, so that the static pressure and the electromagnetic force compensate the external load together in proportion. The second controller and the second power amplifier jointly drive the proportional speed regulating valve coil according to the offset, so that the flow passing through the supporting cavity is changed, and the static pressure of the supporting cavity is further changed; the first controller and the first power amplifier jointly drive the magnetic-liquid double-suspension bearing coil according to the magnetic-liquid proportionality coefficient to change the electromagnetic force, so that the static pressure and the electromagnetic force share the external load in proportion; the current sensor detects the coil current of the magnetic liquid double-suspension bearing, and the magnetic liquid double-suspension bearing plays a role in protecting the magnetic liquid double-suspension coil.
As shown in fig. 2, a1 is a liquid inlet passage, a2 is a radial magnetic pole, A3 is an upper electromagnetic coil 1, a4 is a lower electromagnetic coil 2, a5 is an upper support unit 1, a6 is an upper support chamber 1, a7 is a lower support chamber 2, and A8 is a lower support unit 2. The stator of the magnetic-liquid double-suspension bearing is provided with 4 radial magnetic poles, each magnetic pole is provided with an oil inlet through hole, every two magnetic poles form a magnetic flow loop and share one oil inlet, and the bottom of each magnetic pole is provided with a supporting cavity.
The invention discloses a control method of a single-degree-of-freedom magnetic-liquid double-suspension bearing, which comprises the following steps of:
(1) the displacement sensor detects that the rotor of the magnetic-liquid double-suspension bearing deviates, and transmits a displacement signal to the second controller and the magnetic-liquid proportional coefficient;
(2) the second controller generates control voltage according to the magnitude of the displacement signal, the control voltage is output by the second power amplifier and is used for driving a proportional speed regulating valve coil so as to change the flow flowing into the supporting cavity to control static pressure, and the proportional speed regulating valve outputs different flows by multiplying different voltages by a proportional coefficient k; multiplying the voltage signal by a conversion coefficient k to convert the voltage signal into a flow signal and transmitting the flow signal to a magnetic liquid proportional coefficient;
(3) the magnetic liquid proportional coefficient displays the received displacement signal, automatically analyzes the displacement signal according to the size of the displacement signal and outputs the magnetic liquid proportional coefficient K at the moment; meanwhile, according to the magnetic liquid proportional coefficient set at the moment, the received flow coefficient multiplied by the proportional coefficient K is converted into a current signal and the current signal is output to the first controller;
(4) and the first controller processes the received current signal and transmits the processed current signal to the first power amplifier, and the first power amplifier outputs a driving current meeting the requirement of the magnetic-liquid double-suspension bearing coil to control the electromagnetic force.
Specifically, as shown in FIG. 3, the bias voltage of the proportional speed regulating valve for the upper and lower oil chambers is u initially0The shaft is deflected under the action of external load, namely the liquid film thickness h of the upper bearing cavity and the lower bearing cavity1、h2Comprises the following steps:
the second power amplifier works in a differential mode, and the voltages passed by the electromagnetic coils of the proportional speed regulating valve of the upper oil cavity and the lower oil cavity at the moment are respectively as follows: u. of0-u、u0+ u, so the flow through the upper and lower oil chamber proportional speed control valves is q1、q2：
In the formula: k-flow-voltage proportionality coefficient;
q10-initial flow of proportional governor valve of upper bearing chamber;
q20-initial flow of the proportional speed control valve of the lower bearing cavity;
because the change of the thickness of the liquid film of the upper and lower supporting cavities causes the change of the liquid resistance and pressure of the upper and lower supporting cavities (neglecting the influence of a sensitive liquid path on a bearing system), the flow rates of the upper and lower supporting cavities are as follows:
in the formula, AbEquivalent crush area of the bearing chamber, m2。
In the same way, the hydrostatic bearing force f of the upper bearing cavity and the lower bearing cavityLiquid, 1、fLiquid, 2Comprises the following steps:
in the formula, R1Hydraulic resistance of the upper bearing chamber 1, N.s/m5；
R2Liquid resistance of the lower bearing Chamber 2, N.s/m5；
AeBearing chamber bearing area, m2。
The magnetic liquid proportion coefficient converts the flow signal into a current signal for output through a set proportion, and adjusts and outputs a driving current i meeting the requirement through a first controller and a first power amplifier so as to drive the magnetic liquid pairThe current passing through the upper and lower electromagnetic coils is (i)0+i)、(i0I), the electromagnetic levitation supporting force of the upper and lower supporting units is therefore:
in the formula, k-electromagnetic constant, H.m;
where i-rotor displacement causes a bias current, A;
i0-a solenoid initial bias current, a;
l-the thickness of the zinc coating of the electromagnet, m;
μ0-air permeability, H/m;
n-number of turns of electromagnetic coil, dimensionless;
a-core area, m 2.
According to Newton's second law, a mechanical balance equation of the rotor is obtained:
felectric, 1,0+fLiquid, 2,0-fElectric, 2,0-fLiquid, 1,0＝0
Therefore, the static pressure and the electromagnetic force jointly compensate the external load according to the set proportion, namely the double closed-loop control is realized.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (4)
1. A single-degree-of-freedom magnetic-liquid double-suspension bearing control device is characterized by comprising: the system comprises a displacement sensor, a first controller, a second controller, a magnetic-liquid double-suspension bearing coil, a proportional speed regulating valve coil, a current sensor, a first power amplifier and a second power amplifier, wherein the first controller, the first power amplifier, the magnetic-liquid double-suspension bearing coil and a current sensor ring are sequentially connected in a closed manner to form a force closed loop of an inner ring; the first controller and the first power amplifier jointly drive the magnetic-liquid double-suspension bearing coil according to the magnetic-liquid proportionality coefficient to change the electromagnetic force, so that the static pressure and the electromagnetic force share the external load in proportion; the current sensor detects the coil current of the magnetic-liquid double-suspension bearing.
2. The single-degree-of-freedom magnetic-liquid double-suspension bearing control device as claimed in claim 1, wherein the stator of the magnetic-liquid double-suspension bearing is provided with 4 radial magnetic poles, each two magnetic poles form a magnetic flux loop, and the bottom of each magnetic pole is provided with a supporting cavity.
3. The single-degree-of-freedom magnetic-liquid double-suspension bearing control device according to claim 2, wherein the magnetic-liquid proportionality coefficient is a ratio between flow and control current, and the ratio is 1: k, wherein the value range of K is 1-4.
4. A single-degree-of-freedom magnetic-liquid double-suspension bearing control method realized by the control device according to any one of claims 1 to 3, characterized by comprising the following steps:
(1) the displacement sensor detects that the rotor of the magnetic-liquid double-suspension bearing deviates, and transmits a displacement signal to the second controller and the magnetic-liquid proportional coefficient;
(2) the second controller generates control voltage according to the magnitude of the displacement signal, the control voltage is output by the second power amplifier and is used for driving a coil of the proportional speed regulating valve, and further the flow flowing into the supporting cavity is changed to control static pressure, wherein the proportional speed regulating valve outputs different flows according to different voltages multiplied by a proportional coefficient k; multiplying the voltage signal by a conversion coefficient k to convert the voltage signal into a flow signal and transmitting the flow signal to a magnetic liquid proportional coefficient;
(3) the magnetic liquid proportional coefficient displays the received displacement signal, automatically analyzes the displacement signal according to the size of the displacement signal and outputs the magnetic liquid proportional coefficient K at the moment; meanwhile, according to the magnetic liquid proportional coefficient set at the moment, the received flow coefficient multiplied by the proportional coefficient K is converted into a current signal and the current signal is output to the first controller;
(4) and the first controller processes the received current signal and transmits the processed current signal to the first power amplifier, and the first power amplifier outputs a driving current meeting the requirement of the magnetic-liquid double-suspension bearing coil to control the electromagnetic force.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111288082A (en) * | 2019-12-11 | 2020-06-16 | 燕山大学 | Control system of single-degree-of-freedom magnetic-liquid double-suspension bearing |
| CN111288081B (en) * | 2019-12-11 | 2022-03-11 | 燕山大学 | Single-degree-of-freedom magnetic-liquid double-suspension bearing control system |
| CN111350757B (en) * | 2019-12-11 | 2021-12-21 | 燕山大学 | Single-degree-of-freedom magnetic-liquid double-suspension bearing control method |
| CN111237338A (en) * | 2020-01-14 | 2020-06-05 | 燕山大学 | Single-degree-of-freedom magnetic-liquid double-suspension bearing control system and method |
| CN111628607B (en) * | 2020-04-26 | 2021-12-17 | 哈尔滨工业大学 | Circumferential block type radial hybrid support electromagnetic bearing system and control method |
| CN112727922B (en) * | 2020-12-24 | 2022-11-08 | 北华航天工业学院 | Magnetic-liquid double-suspension bearing coating treatment method for reducing friction loss and improving static pressure bearing performance |
| CN112983987A (en) * | 2020-12-24 | 2021-06-18 | 北华航天工业学院 | Electromagnetic and static pressure module combined control system and method based on magnetic-liquid double-suspension bearing |
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| JP2000145773A (en) * | 1998-11-13 | 2000-05-26 | Nsk Ltd | Magnetic bearing device |
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