CN111963570B - Control method and system of magnetic suspension bearing system and related components - Google Patents

Control method and system of magnetic suspension bearing system and related components Download PDF

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CN111963570B
CN111963570B CN201910418521.1A CN201910418521A CN111963570B CN 111963570 B CN111963570 B CN 111963570B CN 201910418521 A CN201910418521 A CN 201910418521A CN 111963570 B CN111963570 B CN 111963570B
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coil
current
rotor
target position
electromagnetic force
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CN111963570A (en
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梅文庆
邱文彬
文宇良
何亚屏
李程
李嘉
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CRRC Zhuzhou Institute Co Ltd
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CRRC Zhuzhou Institute Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • F16C32/044—Active magnetic bearings
    • F16C32/0444—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
    • 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
    • F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
    • 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
    • F16C32/0474—Active magnetic bearings for rotary movement

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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 discloses a control method of a magnetic suspension bearing system, which comprises the following steps: when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position; when the rotor rotates, the first coil and the second coil are controlled to output electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects. In practical application, by adopting the scheme of the application, the magnetic suspension bearing system is controlled by the single coil when the rotor is static, and the stable interval is large, so that the protective bearing with a large inner diameter can be selected to improve the operation space of the rotor, and the operation performance of the magnetic suspension bearing system is improved. The application also discloses a control system and a device of the magnetic suspension bearing system and a computer readable storage medium, which have the beneficial effects.

Description

Control method and system of magnetic suspension bearing system and related components
Technical Field
The present application relates to the field of magnetic bearings, and more particularly, to a method and system for controlling a magnetic bearing system, and related components.
Background
The magnetic suspension bearing is a device which utilizes the principle that a magnetic field generates suction force when passing through different media and indirectly controls the magnitude of magnetic field force through the current of a stator coil so as to enable a rotor to be suspended at a fixed position. The electromagnetic force of the magnetic suspension bearing is in direct proportion to the square of the stator current and in inverse proportion to the size of the air gap, so that the magnetic suspension bearing control system is a strong nonlinear system; in addition, since the direction of the electromagnetic force is independent of the current direction of the stator coil, the magnetic suspension bearing generally employs differential control of the upper and lower coil currents including a bias current, thereby realizing electromagnetic force control in the forward and reverse directions.
When the rotor rotates at a high speed, the collision and friction between the rotor and the stator can damage the magnetic suspension bearing body, and the magnetic suspension bearing system is a strong nonlinear system without overload capacity, so that the magnetic suspension bearing can be generally provided with a protective bearing, the protective bearing provides supporting force for the magnetic suspension rotor when the magnetic suspension bearing is static, and the protective bearing provides protection for the magnetic suspension bearing body when the magnetic suspension bearing operates. Generally, a magnetic suspension bearing system is controlled by a differential coil, but the magnetic suspension bearing system controlled by the differential coil has a small stable interval when a rotor is static, and a protective bearing with a small inner diameter needs to be selected, but the protective bearing with the small inner diameter can limit the operation space of the rotor, so that the rotor can not rotate around an inertia main shaft, and the operation performance of the magnetic suspension bearing system is influenced.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a control method of a magnetic suspension bearing system, the magnetic suspension bearing system is controlled by a single coil when a rotor is static, and the stable interval is large, so that a protective bearing with a large inner diameter can be selected to improve the operation space of the rotor, and the operation performance of the magnetic suspension bearing system is improved; it is another object of the present application to provide a control system, apparatus and computer readable storage medium for a magnetic bearing system.
In order to solve the above technical problem, the present application provides a method for controlling a magnetic suspension bearing system, including:
when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position;
and when the rotor rotates, controlling the first coil and the second coil to output electromagnetic force corresponding to the target position through a second current command value so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite actions.
Preferably, the process of controlling the first coil to output the electromagnetic force corresponding to the target position through the first current command value so as to adjust the rotor to the target position includes:
step 11: inputting the first current instruction value into a current regulator to obtain the voltage of the input end of the first coil;
step 12: calculating a coil current of the first coil according to the input end voltage;
step 13: inputting the coil current into a first electromagnetic force model to obtain an electromagnetic force;
step 14: acquiring the current position of the rotor under the action of the electromagnetic force;
step 15: calculating the deviation displacement of the current position and the target position;
step 16: outputting a first current command value corresponding to the offset displacement by a position regulator, and then repeating steps 11 to 16 until the rotor is adjusted to the target position.
Preferably, before the step 12, the control method further includes:
acquiring electrical parameters of a bias air gap between the rotor and the stator and the first coil;
the process of step 12 specifically includes:
calculating a coil current of the first coil from the biased air gap, the electrical parameter, and the input terminal voltage.
Preferably, the process of controlling the first coil and the second coil to output electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position includes:
step 21: obtaining a current instruction value of the first coil and a current instruction value of the second coil according to a second current instruction value and a bias current;
step 22: inputting the current instruction value of the first coil into a first current regulator to obtain the voltage of the input end of the first coil, and inputting the current instruction value of the second coil into a second current regulator to obtain the voltage of the input end of the second coil;
step 23: calculating a coil current of the first coil according to the voltage of the input end of the first coil, and calculating a coil current of the second coil according to the voltage of the input end of the second coil;
step 24: inputting the difference between the coil current of the first coil and the coil current of the second coil into the second electromagnetic force model to obtain electromagnetic force;
step 25: acquiring the current position of the rotor under the action of the electromagnetic force;
step 26: calculating the offset displacement of the current position and the target position;
step 27: outputting a second current command value corresponding to the offset displacement by a position regulator, and then repeating steps 21 to 27 until the rotor is adjusted to the target position.
Preferably, before the step 23, the control method further includes:
acquiring a bias air gap between the rotor and the stator, and electrical parameters of the first coil and electrical parameters of the second coil;
the process of step 23 specifically includes:
and calculating the coil current of the first coil according to the bias air gap, the electrical parameter of the first coil and the voltage of the input end of the first coil, and calculating the coil current of the second coil according to the bias air gap, the electrical parameter of the second coil and the voltage of the input end of the second coil.
Preferably, the control method further includes, after the first coil is controlled by the first current command value to output the electromagnetic force corresponding to the target position, before the first coil and the second coil are controlled by the second current command value to output the electromagnetic force corresponding to the target position:
increasing a current instruction value for controlling the second coil according to a preset rule until the coil current of the second coil and the coil current of the first coil meet a preset relationship, wherein an initial value of the current instruction value is 0, and the preset relationship is
Figure BDA0002065206150000031
I0Is a target amplitude of bias current, i+Is the first wireCoil current of the coil, i-A coil current for the second coil;
and calculating the current differential current amplitude value through the coil current of the second coil and the coil current of the first coil, and taking the current differential current amplitude value as the second current instruction value.
Preferably, the process of calculating the current differential current amplitude by using the coil current of the second coil and the coil current of the first coil specifically includes:
calculating the current differential current amplitude according to a differential current calculation relation
Figure BDA0002065206150000041
i is the present differential current magnitude.
In order to solve the above technical problem, the present application further provides a control system of a magnetic suspension bearing system, including:
the first control module is used for controlling the first coil to output electromagnetic force corresponding to a target position through a first current instruction value when a rotor of the magnetic suspension bearing is static so as to adjust the rotor to the target position;
and the second control module is used for controlling the first coil and the second coil to output electromagnetic force corresponding to the target position through a second current instruction value when the rotor rotates so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects.
In order to solve the above technical problem, the present application further provides a control device for a magnetic suspension bearing system, including:
a memory for storing a computer program;
a processor for implementing the steps of the method of controlling a magnetic bearing system as claimed in any one of the above when executing said computer program.
To solve the above technical problem, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when being executed by a processor, implements the steps of the control method of the magnetic bearing system according to any one of the above.
The application provides a control method of a magnetic suspension bearing system, which comprises the following steps: when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position; when the rotor rotates, the first coil and the second coil are controlled to output electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects. In practical application, by adopting the scheme of the application, the magnetic suspension bearing system is controlled by the single coil when the rotor is static, and the stable interval is large, so that the protective bearing with a large inner diameter can be selected to improve the operation space of the rotor, and the operation performance of the magnetic suspension bearing system is improved. The application also provides a control system, a device and a computer readable storage medium of the magnetic suspension bearing system, which have the same beneficial effects as the control method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart illustrating steps of a method for controlling a magnetic bearing system according to the present application;
FIG. 2a is a plan view of a magnetic suspension bearing provided in the present application;
FIG. 2b is a plan view of another magnetic suspension bearing provided in the present application;
fig. 3 is a schematic structural diagram of a single-coil controller provided in the present application;
FIG. 4 is a schematic diagram of a differential coil controller provided herein;
FIG. 5 is a schematic diagram of another differential coil controller provided herein;
fig. 6 is a schematic structural diagram of a control system of a magnetic suspension bearing system provided in the present application.
Detailed Description
The core of the application is to provide a control method of a magnetic suspension bearing system, when a rotor is static, the magnetic suspension bearing system is controlled by a single coil, and the stable interval is large, so that a protective bearing with a large inner diameter can be selected to improve the operation space of the rotor, and the operation performance of the magnetic suspension bearing system is improved; at the other core of the application, a control system, a device and a computer readable storage medium of the magnetic bearing system are provided.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a method for controlling a magnetic suspension bearing system according to the present application, including:
step 1: when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position;
it should be noted that the physical principle of the magnetic suspension bearing is to hold the rotor at the target position by the electromagnetic attraction force generated by the electrified coil. Taking 4 pairs of 8-pole magnetic suspension bearings as an example, assume that an offset air gap between a rotor and a stator is defined as s (m), and the inner surface area of a stator tooth of a single pole is defined as Ae(m2) The pole angle is θ (rad), and the plan view of the magnetic suspension bearing is shown in fig. 2a and 2 b.
If the displacement of the rotor relative to the offset position is x and the positive direction is upward, the air gap between the rotor and the coilSize satisfies x+S-xcos θ, and if the single coil turn number is N, the vacuum permeability is μ0The coil current is i+The electromagnetic force f generated by the single coil according to the virtual work principle satisfies
Figure BDA0002065206150000061
Specifically, when the rotor of the magnetic suspension bearing is static, the coil current of the first coil is adjusted according to the deviation displacement of the actual position of the rotor and the target position, that is, the magnitude of the magnetic field force can be indirectly controlled, and the rotor is adjusted to the target position. Considering that the magnetic suspension bearing system controlled by the single coil has a large stable interval when the rotor is static, a protective bearing with a large inner diameter can be selected to improve the running space of the rotor.
Step 2: when the rotor rotates, the first coil and the second coil are controlled to output electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects.
Specifically, when the rotor rotates, the magnetic suspension bearing system is switched from single-coil control to differential-coil control, and it can be understood that the differential-coil control is to control the position of the rotor by the electromagnetic force generated by two coils with opposite actions, for convenience of description, the first coil is hereinafter referred to as a positive coil, and the second coil is hereinafter referred to as a negative coil. Specifically, the current of each coil can be decomposed into a bias current and a differential current, the current instruction value of the positive coil and the current instruction value of the negative coil are respectively determined according to the second current instruction value (namely, the differential current instruction value) and the bias current, and the coil currents of the positive coil and the negative coil are respectively adjusted according to the two current instruction values, so that the magnetic field force output by the positive coil and the magnetic field force output by the negative coil are indirectly controlled, and the position of the rotor is adjusted.
The application provides a control method of a magnetic suspension bearing system, which comprises the following steps: when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position; when the rotor rotates, the first coil and the second coil are controlled to output electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects. In practical application, by adopting the scheme of the application, the magnetic suspension bearing system is controlled by the single coil when the rotor is static, and the stable interval is large, so that the protective bearing with a large inner diameter can be selected to improve the operation space of the rotor, and the operation performance of the magnetic suspension bearing system is improved.
On the basis of the above-described embodiment:
as a preferred embodiment, the process of controlling the first coil to output the electromagnetic force corresponding to the target position through the first current command value so as to adjust the rotor to the target position is specifically as follows:
step 11: inputting the first current instruction value into a current regulator to obtain the voltage of the input end of the first coil;
step 12: calculating the coil current of the first coil according to the voltage of the input end;
step 13: inputting the coil current into a first electromagnetic force model to obtain electromagnetic force;
step 14: acquiring the current position of the rotor under the action of electromagnetic force;
step 15: calculating the deviation displacement of the current position and the target position;
step 16: a first current command value corresponding to the offset displacement is output by the position regulator, and then steps 11 to 16 are repeated until the rotor is adjusted to the target position.
As a preferred embodiment, before step 12, the control method further includes:
acquiring electrical parameters of an offset air gap between the rotor and the stator and the first coil;
the process of step 12 specifically includes:
the coil current of the first coil is calculated based on the biased air gap, the electrical parameter, and the input terminal voltage.
Specifically, according to the electrical model and the dynamic model of the magnetic suspension bearing single coil, the scheme of step 1 may be implemented by a single coil controller as shown in fig. 3, where the single coil controller includes a position regulator APR, a current regulator ACR, a first electromagnetic force model, and the like, and the position regulator APR is configured to output a first current instruction value i+refThe current regulator ACR receives the first current command value i+refVoltage u at input end of rear output single coil+. Taking into account the voltage u at the input of a single coil when single-coil control is used+And coil current i+There exists the following correspondence between:
Figure BDA0002065206150000071
r is the single coil resistance value, L+And
Figure BDA0002065206150000072
all are single-coil electrical coefficients, and their calculation relations are respectively:
Figure BDA0002065206150000073
the coil current i can be calculated and obtained according to the relations+And will i+Calculating a first current command value i as a feedback value of the current loop+refAnd coil current i+A difference value, according to which the current regulator ACR regulates the voltage u at the input of the single coil+Until coil current i+Satisfies the first current command value i+refThe requirements of (1). Applying a coil current i+And inputting the first electromagnetic force model, namely calculating the electromagnetic force generated by the single coil under the current coil current. Assuming that the mass of the rotor is m, when single coil control is adopted, the dynamic equation of the electromagnetic force f and the rotor displacement x is as follows:
Figure BDA0002065206150000081
therefore, the first electromagnetic force model can be constructed according to the relational expression. Obtaining the current position of the rotor under the action of the electromagnetic force, and assuming that the displacement of the rotor relative to the initial position is x and the positive direction is a directionIn the upper direction, the air gap is x+Air gap in negative direction x-Then can obtain
Figure BDA0002065206150000082
Air gap x of position regulator APR according to positive direction+Air gap x in negative direction-Calculating the deviation displacement of the rotor and the target position, and adjusting the first current instruction value i according to the deviation displacement+ref。
As a preferred embodiment, the process of controlling the first coil and the second coil to output the electromagnetic force corresponding to the target position through the second current command value so as to adjust the rotor to the target position is specifically as follows:
step 21: obtaining a current instruction value of the first coil and a current instruction value of the second coil according to the second current instruction value and the bias current;
step 22: inputting the current instruction value of the first coil into a first current regulator to obtain the voltage of the input end of the first coil, and inputting the current instruction value of the second coil into a second current regulator to obtain the voltage of the input end of the second coil;
step 23: calculating a coil current of the first coil according to the voltage of the input end of the first coil, and calculating a coil current of the second coil according to the voltage of the input end of the second coil;
step 24: inputting the difference between the coil current of the first coil and the coil current of the second coil into a second electromagnetic force model to obtain electromagnetic force;
step 25: acquiring the current position of the rotor under the action of electromagnetic force;
step 26: calculating the deviation displacement of the current position and the target position;
step 27: a second current command value corresponding to the offset displacement is output by the position regulator, and then steps 21 to 27 are repeated until the rotor is adjusted to the target position.
As a preferred embodiment, before step 23, the control method further includes:
acquiring a bias air gap between a rotor and a stator, and electric parameters of a first coil and electric parameters of a second coil;
the process of step 23 specifically includes:
and calculating the coil current of the first coil according to the bias air gap, the electrical parameter of the first coil and the voltage of the input end of the first coil, and calculating the coil current of the second coil according to the bias air gap, the electrical parameter of the second coil and the voltage of the input end of the second coil. Specifically, according to the electrical model and the dynamic model of the magnetic suspension bearing differential coil, the scheme of step 2 can be implemented by a differential coil controller as shown in fig. 4, the differential coil controller includes a position regulator APR1, a first current regulator ACR1, a second current regulator ACR2, a second electromagnetic force model, and the like, and the position regulator APR1 is used for outputting a differential current command value irefBased on the differential current command value i+refAnd a bias current i0Obtaining a current command value i of the first current regulator ACR1+refAnd a current command value i of the second current regulator ACR2-refA current command value i+refThe input first current regulator ACR1 obtains the input voltage u of the positive coil+A current command value i-refThe input second current regulator ACR2 obtains the input end voltage u of the negative coil-. When differential coil control is adopted, the input end voltage of the differential coil and the coil current have the following corresponding relation:
Figure BDA0002065206150000091
r is the single coil resistance value, L+And
Figure BDA0002065206150000092
electrical coefficients of all positive coils, L-And
Figure BDA0002065206150000093
the electric coefficients of the negative coil are calculated according to the following relations:
Figure BDA0002065206150000094
Figure BDA0002065206150000095
each coil current can be decomposed into a bias current i0And a differential current i having a relationship of
Figure BDA0002065206150000096
The coil current i of the positive coil can be calculated and obtained according to the relational expressions+And coil current i of the negative coil-The first current regulator ACR1 is based on the current command value i+refAnd coil current i+Adjusting the voltage u at the input end of the positive coil+Until coil current i+Satisfies the current command value i+refAccording to the current command value i, the second current regulator ACR2-refAnd coil current i-Adjusting the voltage u at the input of the negative coil-Until coil current i-Satisfies the current command value i-refThe requirements of (1). Will i+And i-And obtaining a differential current value by carrying out difference, and inputting the differential current value into the second electromagnetic force model to calculate the electromagnetic force of the differential coil. It can be understood that the electromagnetic force of the magnetic suspension bearing is at the offset point (i) when controlled by the differential coil0S) is subjected to Taylor expansion, and the expression after high-order terms are ignored is
Figure BDA0002065206150000101
In the above formula, the electromagnetic force f of the coil at the bias point0Satisfy the requirement of
Figure BDA0002065206150000102
Position stiffness ks0Satisfy the requirement of
Figure BDA0002065206150000103
Current stiffness ki0Satisfy the requirement of
Figure BDA0002065206150000104
After linearization near the bias point, the differential coil electromagnetic force expression is approximated as f (i, x) f+(i,x)-f-(i,x)≈ki0(i+-i-)+2Ks0x, a second electromagnetic force model can be constructed according to the expressionAnd (4) molding. Acquiring the current position of the rotor under the action of the electromagnetic force, calculating the deviation displacement of the current position and the target position of the rotor through a position regulator APR1, and adjusting a differential current instruction value i according to the deviation displacementref。
As a preferred embodiment, after the first coil is controlled by the first current command value to output the electromagnetic force corresponding to the target position, before the first coil and the second coil are controlled by the second current command value to output the electromagnetic force corresponding to the target position, the control method further includes:
increasing the current instruction value for controlling the second coil according to a preset rule until the coil current of the second coil and the coil current of the first coil meet a preset relationship, wherein the initial value of the current instruction value is 0, and the preset relationship is
Figure BDA0002065206150000105
I0Is a target amplitude of bias current, i+Is the coil current of the first coil i-A coil current of the second coil;
and calculating the current differential current amplitude value through the coil current of the second coil and the coil current of the first coil, and taking the current differential current amplitude value as a second current instruction value.
As a preferred embodiment, the process of calculating the current differential current amplitude from the coil current of the second coil and the coil current of the first coil is specifically as follows:
calculating the current differential current amplitude according to a differential current calculation relation
Figure BDA0002065206150000106
i is the present differential current magnitude.
Specifically, because the magnetic suspension bearing system is a strong nonlinear system, considering that the current instruction value has step change when switching from single coil control to differential coil control, the magnetic suspension bearing system is easy to oscillate or unstable, the application provides a transition control method for eliminating the state step when switching control, that is, dividing differential coil control into different statesThe control structure is shown in fig. 5, which is separated into two single-coil controls. In the switching control, the positive coil is controlled by a position loop, the negative coil is controlled by a current loop, and the target amplitude of the bias current of the differential coil is set as I0Then the handover procedure is as follows:
under the condition that the position of the positive coil is stable, the current command value i of the negative coil is gradually increased from zero-refThe current values of the positive and negative coils are set to the following conditions
Figure BDA0002065206150000111
Calculating the differential current amplitude under the condition, wherein the calculation expression is as follows:
Figure BDA0002065206150000112
the calculated differential current amplitude was used as the output i of the position regulator APR1 in the previous embodimentrefAnd as the switching process has no step of the control state variable, seamless switching between single coil control and differential coil control can be realized, so that the magnetic suspension control system is kept stable and undisturbed.
In summary, the magnetic suspension bearing system adopts the single coil control when being started, and adopts the control strategy of differential coil control when in operation, so that the magnetic suspension bearing system can select the protective bearing with large inner diameter.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a control system of a magnetic suspension bearing system provided in the present application, including:
the first control module 1 is used for controlling the first coil to output electromagnetic force corresponding to a target position through a first current instruction value when a rotor of the magnetic suspension bearing is static so as to adjust the rotor to the target position;
and the second control module 2 is used for controlling the first coil and the second coil to output electromagnetic force corresponding to the target position through a second current instruction value when the rotor rotates so as to adjust the rotor to the target position, wherein the first coil and the second coil have opposite effects.
As a preferred embodiment, the first control module 1 comprises:
the first current regulating module is used for inputting a first current instruction value into the current regulator to obtain the voltage of the input end of the first coil and calculating the coil current of the first coil according to the voltage of the input end;
the first electromagnetic force adjusting module is used for inputting the coil current into the first electromagnetic force model to obtain electromagnetic force;
and the first position adjusting module is used for acquiring the current position of the rotor under the action of electromagnetic force, calculating the deviation displacement between the current position and the target position, outputting a first current instruction value corresponding to the deviation displacement through the position adjuster, and triggering the first current adjusting module until the rotor is adjusted to the target position.
As a preferred embodiment, the first control module 1 further comprises:
the first acquisition module is used for acquiring an offset air gap between the rotor and the stator and the electrical parameters of the first coil;
the process of calculating the coil current of the first coil according to the input terminal voltage specifically includes:
the coil current of the first coil is calculated based on the biased air gap, the electrical parameter, and the input terminal voltage.
As a preferred embodiment, the second control module 2 comprises:
the shunt module is used for obtaining a current instruction value of the first coil and a current instruction value of the second coil according to the second current instruction value and the bias current;
the second current regulation module is used for inputting the current instruction value of the first coil into the first current regulator to obtain the input end voltage of the first coil, inputting the current instruction value of the second coil into the second current regulator to obtain the input end voltage of the second coil, calculating the coil current of the first coil according to the input end voltage of the first coil, and calculating the coil current of the second coil according to the input end voltage of the second coil;
the second electromagnetic force adjusting module is used for inputting the difference between the coil current of the first coil and the coil current of the second coil into a second electromagnetic force model to obtain electromagnetic force;
and the second position adjusting module is used for acquiring the current position of the rotor under the action of electromagnetic force, calculating the deviation displacement between the current position and the target position, outputting a second current instruction value corresponding to the deviation displacement through the position adjuster, and then triggering the shunting module until the rotor is adjusted to the target position.
As a preferred embodiment, the second control module 2 further comprises:
the second acquisition module is used for acquiring a bias air gap between the rotor and the stator, the electrical parameters of the first coil and the electrical parameters of the second coil;
calculating the coil current of the first coil according to the voltage of the input end of the first coil, wherein the process of calculating the coil current of the second coil according to the voltage of the input end of the second coil specifically comprises the following steps:
and calculating the coil current of the first coil according to the bias air gap, the electrical parameter of the first coil and the voltage of the input end of the first coil, and calculating the coil current of the second coil according to the bias air gap, the electrical parameter of the second coil and the voltage of the input end of the second coil.
As a preferred embodiment, the control system further comprises:
a transition control module for increasing the current instruction value for controlling the second coil according to a preset rule until the coil current of the second coil and the coil current of the first coil satisfy a preset relationship, the initial value of the current instruction value is 0, and the preset relationship is
Figure BDA0002065206150000131
I0Is a target amplitude of bias current, i+Is the coil current of the first coil i-A coil current of the second coil; and calculating the current differential current amplitude value through the coil current of the second coil and the coil current of the first coil, and taking the current differential current amplitude value as a second current instruction value.
As a preferred embodiment, the process of calculating the current differential current amplitude from the coil current of the second coil and the coil current of the first coil is specifically as follows:
calculating the current differential current amplitude according to a differential current calculation relation
Figure BDA0002065206150000132
i is the present differential current magnitude.
The control system of the magnetic suspension bearing system has the same beneficial effects as the control method.
For the introduction of the control system of the magnetic suspension bearing system provided in the present application, please refer to the above embodiments, which are not described herein again.
Correspondingly, the application also provides a control device of the magnetic suspension bearing system, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of the control method of a magnetic bearing system as claimed in any one of the above when executing a computer program.
Of course, the control device may also include various network interfaces, power supplies, and the like.
The control device of the magnetic suspension bearing system has the same beneficial effects as the control method.
For the introduction of the control device of the magnetic suspension bearing system provided in the present application, please refer to the above embodiments, which are not described herein again.
To solve the above technical problem, the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the control method of the magnetic bearing system as any one of the above. The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The computer-readable storage medium provided by the application has the same beneficial effects as the control method.
For the introduction of a computer-readable storage medium provided in the present application, please refer to the above embodiments, which are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method of controlling a magnetic bearing system, comprising:
when a rotor of the magnetic suspension bearing is static, controlling a first coil to output electromagnetic force corresponding to a target position through a first current instruction value so as to adjust the rotor to the target position;
when the rotor rotates, the first coil and the second coil are controlled to output electromagnetic force corresponding to the target position through a second current instruction value so as to adjust the rotor to the target position, wherein the direction of the electromagnetic force output by the first coil and acting on the rotor is opposite to the direction of the electromagnetic force output by the second coil and acting on the rotor.
2. The method for controlling a magnetic suspension bearing system according to claim 1, wherein the controlling the first coil to output an electromagnetic force corresponding to the target position by the first current command value to adjust the rotor to the target position is specifically:
step 11: inputting the first current instruction value into a current regulator to obtain the voltage of the input end of the first coil;
step 12: calculating a coil current of the first coil according to the input end voltage;
step 13: inputting the coil current into a first electromagnetic force model to obtain an electromagnetic force;
step 14: acquiring the current position of the rotor under the action of the electromagnetic force;
step 15: calculating the deviation displacement of the current position and the target position;
step 16: outputting a first current command value corresponding to the offset displacement by a position regulator, and then repeating steps 11 to 16 until the rotor is adjusted to the target position.
3. The method of claim 2, further comprising, prior to step 12:
acquiring electrical parameters of a bias air gap between the rotor and the stator and the first coil;
the process of step 12 specifically includes:
calculating a coil current of the first coil from the biased air gap, the electrical parameter, and the input terminal voltage.
4. The method for controlling a magnetic suspension bearing system according to claim 1, wherein the controlling the first coil and the second coil to output the electromagnetic force corresponding to the target position by the second current command value to adjust the rotor to the target position is specifically:
step 21: obtaining a current instruction value of the first coil and a current instruction value of the second coil according to a second current instruction value and a bias current;
step 22: inputting the current instruction value of the first coil into a first current regulator to obtain the voltage of the input end of the first coil, and inputting the current instruction value of the second coil into a second current regulator to obtain the voltage of the input end of the second coil;
step 23: calculating a coil current of the first coil according to the voltage of the input end of the first coil, and calculating a coil current of the second coil according to the voltage of the input end of the second coil;
step 24: inputting a difference between the coil current of the first coil and the coil current of the second coil into a second electromagnetic force model to obtain electromagnetic force;
step 25: acquiring the current position of the rotor under the action of the electromagnetic force;
step 26: calculating the offset displacement of the current position and the target position;
step 27: outputting a second current command value corresponding to the offset displacement by a position regulator, and then repeating steps 21 to 27 until the rotor is adjusted to the target position.
5. The method of claim 4, further comprising, prior to step 23:
acquiring a bias air gap between the rotor and the stator, and electrical parameters of the first coil and electrical parameters of the second coil;
the process of step 23 specifically includes:
and calculating the coil current of the first coil according to the bias air gap, the electrical parameter of the first coil and the voltage of the input end of the first coil, and calculating the coil current of the second coil according to the bias air gap, the electrical parameter of the second coil and the voltage of the input end of the second coil.
6. The control method of a magnetic suspension bearing system according to any one of claims 1 to 5, wherein after the first coil is controlled to output the electromagnetic force corresponding to the target position by the first current command value, and before the first coil and the second coil are controlled to output the electromagnetic force corresponding to the target position by the second current command value, the control method further comprises:
increasing a current instruction value for controlling the second coil according to a preset rule until the coil current of the second coil and the coil current of the first coil meet a preset relationship, wherein an initial value of the current instruction value is 0, and the preset relationship is
Figure FDA0003496433170000031
I0Is a target amplitude of bias current, i+Is the coil current of the first coil i-A coil current for the second coil;
and calculating the current differential current amplitude value through the coil current of the second coil and the coil current of the first coil, and taking the current differential current amplitude value as the second current instruction value.
7. The method for controlling a magnetic suspension bearing system according to claim 6, wherein the step of calculating the current differential current amplitude by the coil current of the second coil and the coil current of the first coil is specifically:
calculating the current differential current amplitude according to a differential current calculation relation
Figure FDA0003496433170000032
i is the present differential current magnitude.
8. A control system for a magnetic bearing system, comprising:
the first control module is used for controlling the first coil to output electromagnetic force corresponding to a target position through a first current instruction value when a rotor of the magnetic suspension bearing is static so as to adjust the rotor to the target position;
and the second control module is used for controlling the first coil and the second coil to output electromagnetic force corresponding to the target position through a second current instruction value when the rotor rotates so as to adjust the rotor to the target position, wherein the direction of the electromagnetic force output by the first coil and the direction of the electromagnetic force output by the second coil and acting on the rotor are opposite.
9. A control device for a magnetic bearing system, comprising:
a memory for storing a computer program;
a processor for carrying out the steps of the method for controlling a magnetic bearing system according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for controlling a magnetic bearing system according to any one of the claims 1-7.
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