CN112196897B - Magnetic suspension bearing control system, method, device, equipment and storage medium - Google Patents

Magnetic suspension bearing control system, method, device, equipment and storage medium Download PDF

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Publication number
CN112196897B
CN112196897B CN202011079856.4A CN202011079856A CN112196897B CN 112196897 B CN112196897 B CN 112196897B CN 202011079856 A CN202011079856 A CN 202011079856A CN 112196897 B CN112196897 B CN 112196897B
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voltage signal
value
signal
rotor
control
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CN112196897A (en
Inventor
李雪
赵子静
赵科杰
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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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
    • F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
    • 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
    • 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
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • 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
    • F16C2360/00—Engines or pumps

Abstract

The invention discloses a magnetic suspension bearing control system, a method, a device, equipment and a storage medium. The magnetic suspension bearing control system comprises: the hardware detection module and the control switching module are connected in sequence; the hardware detection module is used for receiving a feedback voltage signal of the rotor acquired by the displacement sensor and comparing the value of the feedback voltage signal with a preset normal voltage range; when the value of the feedback voltage signal is determined to be out of the normal voltage range, sending a fault prompt signal to the control switching module; the control switching module is used for switching the feedback voltage signal into an adjusting voltage signal after receiving the fault prompt signal and outputting the adjusting voltage signal to the position regulator, so that the adjusting voltage signal and a reference voltage signal input to the position regulator are synthesized into a control voltage signal at the input end of the position regulator; the value of the voltage signal is adjusted to be within a normal voltage range, so that the problem that the rotor is sucked to be dead by the bearing is avoided.

Description

Magnetic suspension bearing control system, method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of automatic control, in particular to a magnetic suspension bearing control system, a method, a device, equipment and a storage medium.
Background
Magnetic bearings (Magnetic Bearing) use Magnetic force to suspend the rotor in the air, so that there is no mechanical contact between the rotor and the Bearing.
Fig. 1 is a schematic diagram of a conventional magnetic suspension bearing system. The magnetic bearing system comprises: a position regulator 101, a current regulator 102, a power amplifier 103, a bearing coil 104, a rotor 105, a current sensor 106, and a displacement sensor 107. The position regulator 101, the current regulator 102, the power amplifier 103, the bearing coil 104, and the rotor 105 are connected in this order. The input of the current sensor 102 is connected to the output of the bearing coil 104, and the output of the current sensor 102 is connected to the input of the current regulator 102. The detection range of the displacement sensor 107 covers the rotor 105, and the output end of the displacement sensor 107 is connected to the input end of the position regulator 101.
In a magnetic bearing system, the current position (X) of the rotor 105 is detected in real time by a displacement sensor 107fb) The current position of the rotor 105 is compared with a reference position (X) corresponding to the rotor 105ref) Is inputted to the position regulator 101, and a control current (I) is outputted through the position regulator 101ref) Control current and the present current (I) of the bearing coil 104 detected by the current sensor 106fb) And the superposed current is amplified by the power amplifier 103 and then acts on the bearing coil 104, and the electromagnetic force of the bearing coil 104 is changed, so that the position control of the rotor 105 is realized, and the rotor 105 is stably suspended at a given reference position.
However, when the displacement feedback is abnormal, for example: the displacement sensor 107 is damaged or the displacement sensor position feedback fails, the displacement sensor 107 outputs the current position of the rotor 105 as the minimum value or the maximum value, since the position regulator 101 is unknown to the displacement feedback abnormality, in the case where the reference position of the rotor 105 does not change, it is considered that the current position of the rotor 105 has deviated from the reference position, and the position regulator 101 outputs a continuously increasing control current (a positive increase or a negative increase) to the bearing coil 104 to attempt to regulate the position of the rotor 105 to the reference position until a saturation value of the control current is reached. However, the large current will cause the bearing coil 104 to generate large electromagnetic force, and the rotor 105 will be sucked by the bearing, in which case the rotor 105 collides with the bearing, and in serious cases, the compressor will be directly damaged.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a magnetic suspension bearing control system, a magnetic suspension bearing control method, a magnetic suspension bearing control device, magnetic suspension bearing control equipment and a storage medium, so as to solve the problem that a rotor is sucked by a bearing due to abnormal displacement feedback in the prior art.
In view of the above technical problems, the embodiments of the present invention are implemented by the following technical problems:
the embodiment of the invention provides a magnetic suspension bearing control system, which is arranged in a magnetic suspension bearing system; the magnetic suspension bearing control system comprises: the hardware detection module and the control switching module are connected in sequence; the hardware detection module is connected with a displacement sensor in the magnetic suspension bearing system; the control switching module is connected with a position regulator in the magnetic suspension bearing system; the displacement sensor is used for acquiring a feedback voltage signal of the rotor; the position regulator is used for receiving a control voltage signal and outputting a control current for regulating the position of the rotor; the hardware detection module is used for receiving a feedback voltage signal of the rotor acquired by the displacement sensor and comparing the value of the feedback voltage signal with a preset normal voltage range; when the value of the feedback voltage signal is determined to be out of the normal voltage range, sending a fault prompt signal to the control switching module; the control switching module is used for switching the feedback voltage signal into an adjusting voltage signal after receiving the fault prompt signal, and outputting the adjusting voltage signal to the position regulator, so that the adjusting voltage signal and a reference voltage signal input to the position regulator are synthesized into a control voltage signal at the input end of the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
The hardware detection module is further configured to send a normal prompt signal to the control switching module when it is determined that the value of the feedback voltage signal is within the normal voltage range; and the control switching module is used for outputting the feedback voltage signal to the position regulator after receiving the normal prompt signal, so that the feedback voltage signal and the reference voltage signal are synthesized into a control voltage signal at the input end of the position regulator.
Wherein, the hardware detection module includes: the device comprises a comparator, a main control unit and a storage unit; one input end of the comparator is connected with the displacement sensor, the other input end of the comparator is connected with the storage unit, and the output end of the comparator is connected with the main control unit; the main control unit is connected with the control switching module; the storage unit is used for storing the normal voltage range; the comparator is used for comparing the value of the feedback voltage signal with the normal voltage range; when the value of the feedback voltage signal is determined to be out of the normal voltage range, sending a voltage abnormal signal to the main control unit; when the value of the feedback voltage signal is determined to be in the normal voltage range, sending a voltage normal signal to the main control unit; the main control unit is used for sending a fault prompt signal to the control switching module when receiving the voltage abnormal signal sent by the comparator; and when a voltage normal signal sent by the comparator is received, sending a normal prompt signal to the control switching module.
Wherein the magnetic bearing control system further comprises: the external communication module is connected with the hardware detection module; the hardware detection module is further configured to send status query information to the external communication module when it is determined that the value of the feedback voltage signal is outside the normal voltage range; the external communication module is used for communicating with the frequency converter corresponding to the rotor and determining the current state of the rotor; the frequency converter is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
Wherein the magnetic bearing control system further comprises: the signal synthesis module is connected with the control switching module; the signal synthesis module is configured to: acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator; synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
The embodiment of the invention also provides a magnetic suspension bearing control method, which is executed in a magnetic suspension bearing system, wherein the magnetic suspension bearing system comprises: a rotor, a displacement sensor for acquiring a feedback voltage signal of the rotor, and a position regulator for receiving a control voltage signal and outputting a control current for adjusting a position of the rotor, the method comprising: receiving a feedback voltage signal of the rotor acquired by the displacement sensor; comparing the value of the feedback voltage signal with a preset normal voltage range; switching the feedback voltage signal to an adjustment voltage signal upon determining that the value of the feedback voltage signal is outside the normal voltage range; synthesizing a control voltage signal according to the adjustment voltage signal and a reference voltage signal input to the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
Wherein the method further comprises: and when the value of the feedback voltage signal is determined to be out of the normal voltage range, synthesizing a control voltage signal according to the feedback voltage signal and the reference voltage signal.
Wherein the method further comprises: when the value of the feedback voltage signal is determined to be out of a preset normal voltage range, communicating with a frequency converter corresponding to the rotor to determine the current state of the rotor; the frequency converter is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
Wherein prior to switching the feedback voltage signal to an adjustment voltage signal, the method further comprises: acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator; synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
The embodiment of the invention also provides a magnetic suspension bearing control device, which is arranged in a magnetic suspension bearing system and comprises: the receiving module is connected with a displacement sensor in the magnetic suspension bearing system and used for receiving a feedback voltage signal of the rotor, which is acquired by the displacement sensor; the comparison module is used for comparing the value of the feedback voltage signal with a normal voltage range; the switching module is used for switching the feedback voltage signal into an adjusting voltage signal when the value of the feedback voltage signal is determined to be out of the normal voltage range; the output module is connected with a position regulator in the magnetic suspension bearing system and used for synthesizing a control voltage signal according to the adjusting voltage signal and a reference voltage signal input to the position regulator and inputting the control voltage signal to the position regulator so that the position regulator can output a control current for adjusting the position of the rotor; wherein the value of the regulated voltage signal is within the normal voltage range.
The embodiment of the invention also provides magnetic suspension bearing control equipment, which comprises: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the magnetic bearing control method of any of the above.
The embodiment of the present invention further provides a computer-readable storage medium, where a magnetic suspension bearing control program is stored on the computer-readable storage medium, and when the magnetic suspension bearing control program is executed by a processor, the magnetic suspension bearing control program implements the steps of the magnetic suspension bearing control method according to any of the above-mentioned embodiments.
The embodiment of the invention has the following beneficial effects:
in the embodiment of the present invention, the reasons why the current position of the rotor is outside the normal voltage range include: the displacement feedback is abnormal. The displacement feedback anomaly may be a rotor instability caused by a displacement ring failure due to a failure of the displacement sensor or other reasons. In this embodiment, when the displacement feedback is abnormal, the current position of the rotor may be normal in practice, but the feedback voltage signal indicates that the current position of the rotor is abnormal, in this case, the embodiment of the present invention switches the feedback voltage signal to the adjustment voltage signal, and the value of the adjustment voltage signal is always in the normal voltage range, so that the position regulator does not consider that the current position of the rotor has deviated from the reference position, and the problem that the position regulator tries to adjust the position of the rotor by increasing the value of the control current, and finally the rotor is sucked by the bearing is avoided, thereby improving the stability of the magnetic suspension bearing system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of a prior art magnetic bearing system;
FIG. 2 is a block diagram of a magnetic bearing control system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a hardware detection module according to one embodiment of the invention;
FIG. 4 is a detailed block diagram of a magnetic bearing control system according to an embodiment of the present invention;
FIG. 5 is a flow chart of a magnetic bearing control method according to an embodiment of the invention;
FIG. 6 is a structural diagram of a magnetic bearing control apparatus according to an embodiment of the present invention;
fig. 7 is a structural diagram of a magnetic bearing control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
According to an embodiment of the present invention, a magnetic bearing control system is provided. Fig. 2 is a structural diagram of a magnetic suspension bearing control system according to an embodiment of the present invention. The magnetic bearing control system is arranged in the magnetic bearing system, and in order to facilitate understanding of the embodiment of the invention, the structure of a part of the magnetic bearing system is shown in fig. 2.
In an embodiment of the present invention, the magnetic bearing control system comprises: a hardware detection module 201 and a control switching module 202 connected in sequence.
The hardware detection module 201 is connected with the displacement sensor 107 in the magnetic suspension bearing system. The displacement sensor 107 is used to acquire a feedback voltage signal of the rotor 105. The value (voltage value) of the feedback voltage signal is used to indicate the position of the rotor 105 at the present time. In the circuitry, the position of the rotor 105 is represented using a voltage value.
The control switching module 202 is connected to the position regulator 101 in the magnetic bearing system. The position regulator 101 is configured to receive a control voltage signal and output a control current for adjusting the position of the rotor 105.
The hardware detection module 201 is configured to receive a feedback voltage signal of the rotor 105 acquired by the displacement sensor 107, and compare a value of the feedback voltage signal with a preset normal voltage range; sending a fault notification signal to the control switching module 202 when it is determined that the value of the feedback voltage signal is outside the normal voltage range. The normal voltage range represents a position range of the rotor 105 during normal operation. The two ends of the normal voltage range are empirical values or values determined by experiment. Generally, the normal voltage range is near the corresponding reference position of the rotor 105. The fault indication signal is used to indicate that the current position of the rotor 105 is outside the normal voltage range. Further, the fault indication signal indicates a position feedback abnormality.
The control switching module 202 is configured to switch the feedback voltage signal to an adjustment voltage signal after receiving the fault notification signal, and output the adjustment voltage signal to the position regulator 101, so that the adjustment voltage signal and a reference voltage signal input to the position regulator 101 are synthesized into a control voltage signal at an input end of the position regulator 101; wherein the value of the regulated voltage signal is within the normal voltage range. The value of the reference voltage signal is the corresponding reference voltage value of the rotor 105. The reference voltage value may represent a corresponding reference position of the rotor 105. The reference position may be a central position of the bearing.
The hardware detection module 201 is further configured to send a normal prompt signal to the control switching module 202 when it is determined that the value of the feedback voltage signal is in the normal voltage range. The normal cue signal is used to indicate that the current position of the rotor 105 is in the normal voltage range. Further, the normal prompt signal is used for indicating that the displacement feedback is normal. The control switching module 202 is configured to output the feedback voltage signal to the position regulator 101 after receiving the normal prompt signal, so that the feedback voltage signal and the reference voltage signal are synthesized into a control voltage signal at an input end of the position regulator 101.
In the embodiment of the present invention, the reasons why the current position of the rotor 105 is outside the normal voltage range include: the displacement feedback is abnormal. The displacement feedback anomaly may be a destabilization of the rotor 105 due to a failure of the displacement sensor 107 or a failure of the displacement ring due to other reasons. In the present embodiment, when the displacement feedback is abnormal, the current position of the rotor 105 may be normal in practice, but the feedback voltage signal indicates that the current position of the rotor 105 is abnormal, in this case, the present embodiment switches the feedback voltage signal to the adjustment voltage signal, the value of which is always in the normal voltage range, so that the position regulator 101 does not consider that the current position of the rotor 105 has deviated from the reference position, and the problem that the position regulator 101 tries to adjust the position of the rotor 105 by increasing the value of the control current, which finally causes the rotor 105 to be sucked by the bearing, is avoided, thereby improving the stability of the magnetic suspension bearing system.
The magnetic bearing control system of the embodiment of the invention is further described below.
Before the magnetic suspension bearing system is in full operation, a reference voltage value corresponding to the rotor 105 is obtained. Further, a maximum control voltage value and a minimum control voltage value corresponding to the rotor 105 are obtained, and an average value of the maximum control voltage value and the minimum control voltage value is used as a reference voltage value corresponding to the rotor 105. This reference voltage value is continuously input to the input of the position regulator 101 during operation of the magnetic bearing system.
The maximum control voltage value is as follows: the value of the control voltage signal at which the rotor 105 is moved up to a maximum distance is controlled relative to a corresponding reference position of the rotor 105.
The minimum control voltage value is a value of a control voltage signal when the rotor 105 is controlled to move down to a maximum distance with respect to a corresponding reference position of the rotor 105.
During operation of the magnetic bearing system, a reference voltage signal (having a value corresponding to the reference voltage of the rotor 105) is continuously output to the input of the position regulator 101.
The position of the rotor 105 is acquired in real time by a displacement sensor 107 in the magnetic bearing system, and the position of the rotor 105 is represented in the circuit by the voltage intensity. That is, the value of the feedback voltage signal of the rotor 105 collected by the displacement sensor 107 is a voltage value that may reflect the position of the rotor 105 relative to the displacement sensor 107. In the case where the position of the rotor 105 is known, it may be determined whether the position of the rotor 105 deviates from the reference position.
The feedback voltage signal of the rotor 105 collected by the displacement sensor 107 in the magnetic suspension bearing system is input to the hardware detection module 201, and the hardware detection module 201 determines whether the displacement feedback is abnormal according to the feedback voltage signal.
The hardware detection module 201 compares the value of the feedback voltage signal with the normal voltage range, and if the value of the feedback voltage signal is within the normal voltage range, it is determined that the displacement feedback is normal, and a normal prompt signal is sent to the control switching module 202. If the value of the feedback voltage signal is not within the normal voltage range, it is determined that the displacement feedback is abnormal, and a fault prompt signal is sent to the control switching module 202. Further, when the displacement feedback is abnormal, the value of the feedback voltage signal is not within the normal voltage range, for example: the value of the feedback voltage signal is a maximum control voltage value corresponding to the rotor 105 or a minimum control voltage value corresponding to the rotor 105.
After receiving the normal prompt signal, the control switching module 202 may directly output the feedback voltage signal to the input terminal of the position regulator 101 because the value of the feedback voltage signal is within the normal voltage range.
After receiving the fault indication signal, the control switching module 202 needs to perform signal switching because the value of the feedback voltage signal is not within the normal voltage range, and outputs the regulated voltage signal to the input terminal of the position regulator 101, so that the signal output to the position regulator 101 is within the normal voltage range. Further, the control switching module 202 may include a voltage output unit through which the adjustment voltage signal is output. Of course, a signal synthesis module may be separately provided, through which the adjustment voltage signal is output.
When a signal (a feedback voltage signal or an adjustment voltage signal) output by the control switching module 202 reaches the input end of the position regulator 101, the signal is synthesized with a reference voltage signal to obtain a control voltage signal. The control voltage signal is a difference between the reference voltage signal and the signal output by the control switching module 202.
The position regulator 101 in the magnetic bearing system determines the value of the control current by using a prestored algorithm and the input control voltage signal, and outputs the corresponding control current. Further, the position regulator 101 may be a PID (proportional, Integral, derivative) regulator, and the algorithm may be a PID algorithm.
At the input of the current regulator 102 in the magnetic bearing system, the control current is superimposed with the present current of the bearing coils 104, which is detected by the current sensor 106. The superimposed current is the difference between the control current and the present current. The superimposed current is amplified by the power amplifier 103 and then applied to the bearing coil 104. The power amplifier 103 may perform PWM (Pulse width modulation) on the superimposed current.
Further description is provided below with respect to the hardware detection module 201. Fig. 3 is a block diagram of a hardware detection module 201 according to an embodiment of the invention.
In this embodiment of the present invention, the hardware detection module 201 includes: comparator 301, master control unit 302, and storage unit 303.
One input end of the comparator 301 is connected to the displacement sensor 107, the other input end of the comparator 301 is connected to the storage unit 303, and the output end of the comparator 301 is connected to the main control unit 302.
The main control unit 302 is connected to the control switching module 202; the storage unit 303 is configured to store the normal voltage range. The main Control Unit 302 may be an MCU (Micro Control Unit).
The comparator 301 is configured to compare a value of the feedback voltage signal with the normal voltage range; when it is determined that the value of the feedback voltage signal is outside the normal voltage range, sending a voltage abnormal signal to the main control unit 302; sending a voltage normal signal to the main control unit 302 when it is determined that the value of the feedback voltage signal is in the normal voltage range.
The main control unit 302 is configured to send a fault notification signal to the control switching module 202 when receiving the voltage abnormality signal sent by the comparator 301; and when receiving the voltage normal signal sent by the comparator 301, sending a normal prompt signal to the control switching module 202.
When the displacement feedback is abnormal, the value of the feedback voltage signal becomes the maximum value or the minimum value, if no processing is carried out, the error e between the reference voltage signal and the feedback voltage signal is accumulated through integration, the interruption time of the magnetic suspension bearing system is short, therefore, the output of the controller can reach amplitude limiting quickly, because the active magnetic suspension bearing adopts differential control, the current saturation can cause the current in a certain direction to be far larger than the current in the other direction, finally the rotor 105 is completely sucked, great potential safety hazard is generated to the magnetic suspension bearing system rotating at high speed, therefore, the hardware detection module 201 of the embodiment of the present invention compares the value of the feedback voltage signal with the normal voltage range, determines whether the displacement feedback is abnormal, and outputs a prompt signal indicating whether the displacement feedback is abnormal, so as to control the switching module 202 to perform the corresponding processing, thereby increasing the safety of the magnetic bearing system.
FIG. 4 is a detailed block diagram of a magnetic bearing control system according to an embodiment of the present invention.
In an embodiment of the present invention, the magnetic bearing control system further comprises: an external communication module 203 connected with the hardware detection module 201.
The hardware detection module 201 is further configured to send status query information to the external communication module 203 when it is determined that the value of the feedback voltage signal is outside the normal voltage range.
The external communication module 203 is configured to communicate with a frequency converter corresponding to the rotor 105, and determine a current state of the rotor 105; wherein, the frequency converter is used for driving the rotor 105 to rotate; and when the current state of the rotor 105 is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor 105 to rotate after receiving the state change instruction. When the current state of the rotor 105 is stop rotation, the magnetic bearing control process of the embodiment of the present invention is stopped.
Under the condition of abnormal displacement feedback, the rotation of the rotor 105 is stopped, the displacement sensor 107 can be checked for faults in time, and the problem that the rotor 105 and a bearing are rubbed when the current position of the rotor 105 really exceeds a normal voltage range can be avoided.
In an embodiment of the present invention, the magnetic bearing control system further comprises: and the signal synthesis module 204 is connected with the control switching module 202.
The signal synthesis module 204 is configured to: acquiring a reference voltage value corresponding to the rotor 105; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator 101; and synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor 105 and a preset amplitude value. Wherein the adjustment voltage signal is a sinusoidal signal. The reference voltage value is the offset distance of the sinusoidal signal. The amplitude value is the amplitude of the sinusoidal signal. The wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
Further, the amplitude value is an empirical value or an experimental value. The amplitude value is a small value, for example: the amplitude value may be selected to be a value that is less than one tenth of the reference voltage value. Thus, the adjustment voltage signal adds a small amount of change to the reference voltage value. The difference between the regulated voltage signal and the reference voltage signal (the value of the control voltage signal) is close to the reference voltage value and changes around the reference voltage value, so that a normal control voltage signal can be input to the position regulator, the control current output by the position regulator 101 cannot be suddenly changed, and the rotor 105 is prevented from being erroneously adjusted in position when the displacement sensor 107 fails.
Further, before the magnetic suspension bearing system is actually operated, a reference voltage value is obtained, and if the reference voltage value cannot be obtained, the failure of the displacement sensor 107 is indicated, that is to say: the signal synthesis module 204 directly stops the magnetic suspension bearing control process according to the embodiment of the present invention when the reference voltage value corresponding to the rotor 105 is not obtained.
According to an embodiment of the present invention, a magnetic bearing control method is provided. The method is performed in a magnetic bearing system. The magnetic bearing system comprises: the position regulator comprises a rotor 105, a displacement sensor 107 for acquiring a feedback voltage signal of the rotor 105, and a position regulator 101 for receiving a control voltage signal and outputting a control current for adjusting the position of the rotor 105.
Fig. 5 is a flow chart of a magnetic bearing control method according to an embodiment of the invention.
And step S510, receiving the feedback voltage signal of the rotor collected by the displacement sensor.
The value of the feedback voltage signal is used to indicate where the rotor is located.
Step S520, comparing the value of the feedback voltage signal with a preset normal voltage range.
Step S530, when it is determined that the value of the feedback voltage signal is outside the normal voltage range, switching the feedback voltage signal to an adjustment voltage signal.
Step S540, synthesizing a control voltage signal according to the adjustment voltage signal and the reference voltage signal input to the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
In an embodiment of the present invention, when it is determined that the value of the feedback voltage signal is outside the normal voltage range, a control voltage signal is synthesized according to the feedback voltage signal and the reference voltage signal.
In the embodiment of the invention, when the value of the feedback voltage signal is determined to be out of a preset normal voltage range, the current state of the rotor is determined through communication with a frequency converter corresponding to the rotor; the frequency converter is in a magnetic suspension bearing system and is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction. And when the current state of the rotor is rotation stopping, stopping the magnetic suspension bearing control method of the embodiment of the invention.
In an embodiment of the present invention, before switching the feedback voltage signal to a pre-synthesized adjustment voltage signal, the method further includes: acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator; synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; the adjustment voltage signal is a sinusoidal signal, the reference voltage value is an offset distance of the sinusoidal signal, and the amplitude value is an amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range. And directly stopping the magnetic suspension bearing control method provided by the embodiment of the invention under the condition that the reference voltage value corresponding to the rotor is not obtained.
In the embodiment of the invention, when the value of the feedback voltage signal is determined to be out of the normal voltage range, the feedback voltage signal is switched to the adjustment voltage signal, so that the problem of rotor instability caused by the failure of a displacement ring due to the fault of a displacement sensor or other reasons is solved, the problem of rotor death caused by the generation of large saturation current of a bearing coil is effectively prevented, and the stability of a magnetic suspension bearing system is improved.
The embodiment of the invention also provides a magnetic suspension bearing control device. The magnetic bearing control device is arranged in a magnetic bearing system. Fig. 6 is a structural diagram of a magnetic suspension bearing control device according to an embodiment of the present invention.
The magnetic levitation control apparatus includes: a receiving module 601, a comparing module 602, a switching module 603 and an output module 604.
And the receiving module 601 is connected with the displacement sensor in the magnetic suspension bearing system and is used for receiving the feedback voltage signal of the rotor, which is acquired by the displacement sensor.
A comparing module 602, configured to compare a value of the feedback voltage signal with a normal voltage range.
A switching module 603, configured to switch the feedback voltage signal to an adjustment voltage signal when it is determined that the value of the feedback voltage signal is outside the normal voltage range.
An output module 604, connected to a position regulator in the magnetic suspension bearing system, for synthesizing a control voltage signal according to the adjustment voltage signal and a reference voltage signal input to the position regulator and inputting the control voltage signal to the position regulator, so that the position regulator outputs a control current for adjusting the position of the rotor; wherein the value of the regulated voltage signal is within the normal voltage range.
The functions of the apparatus according to the embodiments of the present invention have been described in the foregoing method embodiments, so that reference may be made to the related descriptions in the foregoing embodiments for details that are not described in the foregoing embodiments of the present invention, and further details are not described herein.
The present embodiment provides a magnetic bearing control apparatus. The magnetic suspension bearing control equipment is connected with a magnetic suspension bearing system. The magnetic bearing system comprises: the device comprises a rotor, a displacement sensor for acquiring a feedback voltage signal of the rotor, and a position regulator for receiving a control voltage signal and outputting a control current for adjusting the position of the rotor.
Fig. 7 is a block diagram of a magnetic bearing control apparatus according to an embodiment of the present invention.
In this embodiment, the magnetic suspension bearing control device includes, but is not limited to: a processor 710, a memory 720.
The processor 710 is configured to execute the magnetic bearing control program stored in the memory 720 to implement the magnetic bearing control method described above.
Specifically, the processor 710 is configured to execute the magnetic bearing control program stored in the memory 720 to implement the following steps: receiving a feedback voltage signal of the rotor acquired by the displacement sensor; comparing the value of the feedback voltage signal with a preset normal voltage range; switching the feedback voltage signal to an adjustment voltage signal upon determining that the value of the feedback voltage signal is outside the normal voltage range; synthesizing a control voltage signal according to the adjustment voltage signal and a reference voltage signal input to the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
Wherein the method further comprises: and when the value of the feedback voltage signal is determined to be out of the normal voltage range, synthesizing a control voltage signal according to the feedback voltage signal and the reference voltage signal.
Wherein the method further comprises: when the value of the feedback voltage signal is determined to be out of a preset normal voltage range, communicating with a frequency converter corresponding to the rotor to determine the current state of the rotor; the frequency converter is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
Wherein prior to switching the feedback voltage signal to an adjustment voltage signal, the method further comprises: acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator; synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
The embodiment of the invention also provides a computer readable storage medium. The computer-readable storage medium herein stores one or more programs. Among other things, computer-readable storage media may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, a hard disk, or a solid state disk; the memory may also comprise a combination of memories of the kind described above.
When the one or more programs in the computer readable storage medium are executable by the one or more processors, the magnetic bearing control method described above is implemented.
Specifically, the processor is used for executing a magnetic bearing control program stored in the memory to realize the following steps: receiving a feedback voltage signal of the rotor acquired by the displacement sensor; comparing the value of the feedback voltage signal with a preset normal voltage range; switching the feedback voltage signal to an adjustment voltage signal upon determining that the value of the feedback voltage signal is outside the normal voltage range; synthesizing a control voltage signal according to the adjustment voltage signal and a reference voltage signal input to the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
Wherein the method further comprises: and when the value of the feedback voltage signal is determined to be out of the normal voltage range, synthesizing a control voltage signal according to the feedback voltage signal and the reference voltage signal.
Wherein the method further comprises: when the value of the feedback voltage signal is determined to be out of a preset normal voltage range, communicating with a frequency converter corresponding to the rotor to determine the current state of the rotor; the frequency converter is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
Wherein prior to switching the feedback voltage signal to an adjustment voltage signal, the method further comprises: acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator; synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. The magnetic suspension bearing control system is characterized in that the magnetic suspension bearing control system is arranged in the magnetic suspension bearing system; the magnetic suspension bearing control system comprises:
the hardware detection module and the control switching module are connected in sequence; the hardware detection module is connected with a displacement sensor in the magnetic suspension bearing system; the control switching module is connected with a position regulator in the magnetic suspension bearing system; the displacement sensor is used for acquiring a feedback voltage signal of the rotor; the position regulator is used for receiving a control voltage signal and outputting a control current for regulating the position of the rotor;
the hardware detection module is used for receiving a feedback voltage signal of the rotor acquired by the displacement sensor and comparing the value of the feedback voltage signal with a preset normal voltage range; when the value of the feedback voltage signal is determined to be out of the normal voltage range, sending a fault prompt signal to the control switching module;
the control switching module is used for switching the feedback voltage signal into an adjusting voltage signal after receiving the fault prompt signal, and outputting the adjusting voltage signal to the position regulator, so that the adjusting voltage signal and a reference voltage signal input to the position regulator are synthesized into a control voltage signal at the input end of the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range;
the signal synthesis module is connected with the control switching module; the signal synthesis module is configured to:
acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator;
synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value;
wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range.
2. The magnetic bearing control system of claim 1,
the hardware detection module is further configured to send a normal prompt signal to the control switching module when it is determined that the value of the feedback voltage signal is within the normal voltage range;
and the control switching module is used for outputting the feedback voltage signal to the position regulator after receiving the normal prompt signal, so that the feedback voltage signal and the reference voltage signal are synthesized into a control voltage signal at the input end of the position regulator.
3. Magnetic bearing control system according to claim 1 or 2, characterized in that the hardware detection module comprises: the device comprises a comparator, a main control unit and a storage unit; one input end of the comparator is connected with the displacement sensor, the other input end of the comparator is connected with the storage unit, and the output end of the comparator is connected with the main control unit; the main control unit is connected with the control switching module; the storage unit is used for storing the normal voltage range;
the comparator is used for comparing the value of the feedback voltage signal with the normal voltage range; when the value of the feedback voltage signal is determined to be out of the normal voltage range, sending a voltage abnormal signal to the main control unit; when the value of the feedback voltage signal is determined to be in the normal voltage range, sending a voltage normal signal to the main control unit;
the main control unit is used for sending a fault prompt signal to the control switching module when receiving the voltage abnormal signal sent by the comparator; and when a voltage normal signal sent by the comparator is received, sending a normal prompt signal to the control switching module.
4. The magnetic bearing control system of claim 1, further comprising: the external communication module is connected with the hardware detection module;
the hardware detection module is further configured to send status query information to the external communication module when it is determined that the value of the feedback voltage signal is outside the normal voltage range;
the external communication module is used for communicating with the frequency converter corresponding to the rotor and determining the current state of the rotor; the frequency converter is used for driving the rotor to rotate; and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
5. A magnetic bearing control method, characterized in being performed in a magnetic bearing system, the magnetic bearing system comprising: a rotor, a displacement sensor for acquiring a feedback voltage signal of the rotor, and a position regulator for receiving a control voltage signal and outputting a control current for adjusting a position of the rotor, the method comprising:
receiving a feedback voltage signal of the rotor acquired by the displacement sensor;
comparing the value of the feedback voltage signal with a preset normal voltage range;
when the value of the feedback voltage signal is determined to be out of the normal voltage range, acquiring a reference voltage value corresponding to the rotor; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator;
synthesizing an adjusting voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range;
switching the feedback voltage signal to an adjustment voltage signal;
synthesizing a control voltage signal according to the adjustment voltage signal and a reference voltage signal input to the position regulator; wherein the value of the regulated voltage signal is within the normal voltage range.
6. The method of claim 5, further comprising:
and when the value of the feedback voltage signal is determined to be out of the normal voltage range, synthesizing a control voltage signal according to the feedback voltage signal and the reference voltage signal.
7. The method of claim 5, further comprising:
when the value of the feedback voltage signal is determined to be out of a preset normal voltage range, communicating with a frequency converter corresponding to the rotor to determine the current state of the rotor; the frequency converter is used for driving the rotor to rotate;
and when the current state of the rotor is rotating, sending a state change instruction to the frequency converter, so that the frequency converter stops driving the rotor to rotate after receiving the state change instruction.
8. A magnetic bearing control apparatus, provided in a magnetic bearing system, comprising:
the receiving module is connected with a displacement sensor in the magnetic suspension bearing system and used for receiving a feedback voltage signal of the rotor, which is acquired by the displacement sensor;
the comparison module is used for comparing the value of the feedback voltage signal with a normal voltage range;
the obtaining module is used for obtaining a reference voltage value corresponding to the rotor when the value of the feedback voltage signal is determined to be out of the normal voltage range; wherein the reference voltage value is a value of a reference voltage signal input to the position regulator;
the synthesis module is used for synthesizing an adjustment voltage signal according to the reference voltage value corresponding to the rotor and a preset amplitude value; wherein the adjustment voltage signal is a sinusoidal signal; the reference voltage value is the offset distance of the sinusoidal signal; the amplitude value is the amplitude of the sinusoidal signal; the wave peak value and the wave trough value of the sinusoidal signal are both in the normal voltage range;
the switching module is used for switching the feedback voltage signal into an adjusting voltage signal;
the output module is connected with a position regulator in the magnetic suspension bearing system and used for synthesizing a control voltage signal according to the adjusting voltage signal and a reference voltage signal input to the position regulator and inputting the control voltage signal to the position regulator so that the position regulator can output a control current for adjusting the position of the rotor; wherein the value of the regulated voltage signal is within the normal voltage range.
9. A magnetic bearing control apparatus, characterized in that the magnetic bearing control apparatus comprises: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the magnetic bearing control method as claimed in any of claims 5 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a magnetic bearing control program which, when executed by a processor, carries out the steps of the magnetic bearing control method according to any of claims 5-7.
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