CN112196899B - Protection system and method for operation process of magnetic suspension motor - Google Patents

Protection system and method for operation process of magnetic suspension motor Download PDF

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Publication number
CN112196899B
CN112196899B CN202011123649.4A CN202011123649A CN112196899B CN 112196899 B CN112196899 B CN 112196899B CN 202011123649 A CN202011123649 A CN 202011123649A CN 112196899 B CN112196899 B CN 112196899B
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voltage
motor
frequency converter
storage battery
power
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CN112196899A (en
Inventor
杨东升
张佳男
张化光
马占超
李华
周博文
罗艳红
罗忠
李广地
朱叶盛
闫士杰
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Northeastern University China
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Northeastern University China
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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
    • F16C32/0455—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control including digital signal processing [DSP] and analog/digital conversion [A/D, D/A]
    • 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
    • F16C32/0457—Details of the power supply to the electromagnets
    • 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
    • F16C32/0459—Details of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for

Abstract

The invention provides a system and a method for protecting a magnetic suspension motor in the running process, and relates to the technical field of magnetic suspension motors. The system comprises a magnetic suspension permanent magnet synchronous motor, a magnetic bearing control module, a power supply module and a backup power supply protection module; when the voltage of the power grid suddenly drops or the power is cut off for a short time, not only can the stable suspension of the rotor be realized, but also the continuous work of the motor can be realized without stopping the rotation. By adopting the zero-clearance switching technology, the stability and no fluctuation of the power supply voltage of the magnetic bearing control system are realized when the power grid is cut off. When the power grid is cut off and can not be recovered, not only the stable suspension of the motor rotor is ensured, but also the braking of the motor under the condition of power grid failure is accelerated, and the rapid shutdown of the rotor is realized. The timing distribution of the batteries is adopted, so that the voltage of the storage battery pack is uniformly distributed. The whole magnetic suspension motor is protected in all directions in the operation process, and the use reliability of the magnetic suspension motor is improved.

Description

Protection system and method for operation process of magnetic suspension motor
Technical Field
The invention relates to the technical field of magnetic suspension motors, in particular to a system and a method for protecting the running process of a magnetic suspension motor.
Background
The magnetic suspension motor adopts the bearing with magnetic force to suspend the motor rotor in the air without mechanical friction, so that the rotor and the bearing are not contacted when the motor runs, and compared with the traditional motor, the magnetic suspension motor has the advantages of small running noise, low energy consumption, no friction, long maintenance period, long service life and the like; at present, magnetic suspension motors are widely applied to the fields of blower compressors and the like.
Magnetic suspension motors are mostly applied to places with long-time high-power work, and if a power grid suddenly drops or is powered off, the frequency converter is shut down under an under-voltage condition, so that the normal work of the motor is influenced; even the magnetic suspension bearing is out of control, so that the motor rotor falls down on the protective bearing, and a major accident occurs.
Aiming at the problem of sudden drop or power failure of a power grid, a perfect solution is urgently needed, so that the normal operation of a motor and the stable control of a magnetic suspension bearing can be ensured under the condition of short-time fault of the power grid. When the voltage of the power grid is not recovered for a long time, the motor can be quickly stopped and the rotor can be stably suspended in the stopping process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a system and a method for protecting the running process of a magnetic suspension motor, which can ensure that the normal work of a frequency converter and the normal running of the motor can be realized under the condition that the power grid suddenly drops or is temporarily powered off, and can also maintain the magnetic bearing to stably control the suspension of a motor rotor. The motor can be stopped quickly while the rotor can be suspended stably under the condition that the power grid is not recovered after being powered off for a long time.
The technical scheme adopted by the invention is as follows:
on one hand, the protection system for the running process of the magnetic suspension motor comprises a magnetic suspension permanent magnet synchronous motor, a magnetic bearing control module, a power supply module and a backup power supply protection module;
the magnetic suspension permanent magnet synchronous motor comprises a magnetic suspension bearing and a permanent magnet synchronous motor, wherein the magnetic suspension bearing adopts the coil to be electrified to generate electromagnetic force to realize the suspension of a rotor of the permanent magnet synchronous motor;
the magnetic bearing control module comprises a displacement sensor, a magnetic bearing controller and a power amplifier, the displacement sensor is arranged at the position of a magnetic suspension bearing coil, the magnetic bearing controller is connected with the displacement sensor and the power amplifier, and the power amplifier is connected with the coil of the magnetic suspension bearing; the displacement sensor receives a position signal of a rotor of the permanent magnet synchronous motor; the magnetic bearing controller receives the rotor position signal and outputs a control signal to the power amplifier; the power amplifier amplifies the control signal and supplies power to a coil of the magnetic suspension bearing; the power amplifier adopts a four-bridge arm structure, and adopts direct current voltage to directly supply power to a coil of the magnetic suspension bearing.
The power control module comprises a line switch and a frequency converter, the line switch is connected between the frequency converter and a power grid, and the frequency converter is connected between the line switch and the permanent magnet synchronous motor; the frequency converter comprises a rectifying circuit, a filter capacitor and an inverter circuit, wherein the rectifying circuit adopts a three-phase uncontrolled bridge circuit to rectify input alternating current voltage into direct current voltage, the filter capacitor is connected with the rectifying circuit and the inverter circuit in parallel, the inverter circuit is connected with the filter capacitor, and frequency conversion is realized by adopting controllable bridge type inversion;
the power supply module comprises a direct current switch power supply and a DC/DC converter, wherein the direct current switch power supply adopts 220V alternating current power grid phase voltage as input, and outputs stable direct current to supply power for the power amplifier; the DC/DC converter takes the output voltage of the direct current switch power supply as input, performs direct current voltage conversion on the direct current voltage output by the direct current switch power supply, and outputs the voltage to the magnetic bearing controller and the logic control module of the protection system for power supply;
the backup power protection module comprises a storage battery pack, a matrix switch, a contactor, a logic control module, an uncontrolled rectifying circuit, a bidirectional DC/DC conversion circuit, a first thyristor, a second thyristor, a third thyristor and a diode, wherein the storage battery pack is formed by connecting n storage battery monomers with fixed values in series, the storage battery pack is connected with a direct current bus of a frequency converter through the contactor and the diode, the contactor comprises KM1 and KM2, the contactors KM1 and KM2 are in an interlocking mode, a normally closed contact of KM2 is connected with a coil of KM1, and a normally closed contact of KM1 is connected with a coil of KM 2; normally open contact and connection of storage battery series connection contactor KM2The battery pack is connected with a diode and then connected with a direct current bus of the frequency converter, the m-th storage battery monomer is connected with a normally open contact of a contactor KM1 and then connected with a KM2 normally open contact in parallel and then connected with the direct current bus of the frequency converter through the diode, wherein m belongs to (0, n), and the storage battery pack is charged by a power grid; the uncontrolled rectifying circuit is connected with the output end of the permanent magnet synchronous motor; the matrix switch is connected with the output end of the storage battery pack and comprises two access selection contacts, the storage battery pack is accessed in an equal division mode by adopting the contacts, each group comprises k battery monomers, k belongs to (0, n), the total voltage value is smaller than the output stable voltage of the switching power supply, and the switching of the access storage battery pack is carried out in a timing mode at set fixed time; the first thyristor is connected with the output end of the uncontrolled rectifying circuit, the second thyristor is respectively connected with the direct current switch power supply and the direct current bus output end of the bidirectional DC/DC conversion circuit, the bidirectional DC/DC conversion circuit adopts the output voltage of the motor or the selected voltage of the matrix switch as the input, and the direct current bus voltage of the bidirectional DC/DC conversion circuit as the output for the rotating speed v>vsThe voltage output by the motor is reduced, wherein vsTo set the speed threshold, the motor speed v<vsThe voltage selected by the matrix switch is boosted, the bidirectional DC/DC conversion circuit comprises a first filter capacitor, a second filter capacitor, a resistor, a first IGBT, a second IGBT and an inductor, the first filter capacitor is connected with the output end of the motor in parallel, the output end of the motor is connected with the resistor and then connected with the second filter capacitor in parallel, the second IGBT is connected with the direct current bus of the bidirectional DC/DC conversion circuit in series and then connected with the first IGBT in parallel, and two selection contacts of the matrix switch are connected with the inductor in series and then connected with the first IGBT in parallel; the logic control module is composed of a current collecting device, a voltage collecting device, a driving circuit and a protection logic controller, wherein the voltage collecting device and the current collecting device are used as the input of the protection logic controller, the driving circuit is used as the output of the protection logic controller, and the driving circuit simultaneously drives three thyristors, a contactor and two IGBTs in a bidirectional DC/DC conversion circuit; controlling the first thyristor after the uncontrolled rectifying circuit to be switched on by detecting a current signal between the frequency converter and the motor; the normally open contacts of the contactors KM1 and KM2 are controlled by detecting the voltage signal of the direct-current bus of the frequency converterThe state of (1); controlling the on and off of two IGBTs in the bidirectional DC/DC conversion circuit by detecting a voltage signal of a direct current bus of the bidirectional DC/DC conversion circuit; and the second third thyristor is controlled to be switched on by detecting a voltage input signal of the direct-current switching power supply.
On the other hand, the protection method of the magnetic suspension motor in the running process is realized based on the protection system of the magnetic suspension motor in the running process, and comprises a frequency converter protection method and a magnetic suspension bearing protection method, and specifically comprises the following steps;
the frequency converter protection method comprises the following steps:
step S1: when the power grid normally supplies power, the direct-current bus voltage of the frequency converter is larger than the undervoltage value, when the voltage acquisition device in the logic control module acquires that the direct-current bus voltage of the frequency converter is higher than a protection set detection value of the frequency converter, a high level is introduced into a KM1 coil through a driving circuit, and a low level is introduced into a KM2 coil, so that a KM1 normally open contact is closed, a KM2 normally open contact is opened, m storage battery monomers with fixed values are connected into the direct-current bus of the frequency converter through diodes, the diodes bear reverse voltage, and the storage battery pack does not supply power;
step S2: when the voltage of a power grid suddenly drops or is in short-time power failure, the voltage of the direct-current bus of the frequency converter at two ends of the capacitor quickly drops to the sum of the voltages of m storage battery monomers with fixed values, and the m storage battery monomers with fixed values are directly connected into the direct-current bus of the frequency converter through the diode to supply power to the frequency converter; when a voltage acquisition device in the logic control module acquires that the voltage of the direct-current bus of the frequency converter is smaller than a protection set detection value of the frequency converter, a driving circuit is used for introducing a low level to a KM1 coil and introducing a high level to a KM2 coil, so that a KM1 normally-open contact is disconnected, a KM2 normally-open contact is closed, n storage battery monomers with fixed values are all connected to the direct-current bus of the frequency converter, and the short-time normal power supply of a motor is realized.
Step S3: when the voltage of the direct-current bus of the frequency converter returns to the value above the protection set detection value of the frequency converter, the driving circuit leads high level to the KM1 coil and leads low level to the KM2 coil through the driving circuit, so that the KM1 normally open contact is closed, and the KM2 normally open contact is opened; and the frequency converter returns to the state of power supply by the power grid.
The magnetic suspension bearing protection method comprises the following steps:
step D1: when the power grid normally supplies power, the voltage of the input end of the direct current switch power supply is larger than a gapless switching set detection value, and the direct current switch power supply outputs stable direct current voltage to supply power for the magnetic bearing control module; when the voltage acquisition device in the logic control module acquires the voltage of the input end of the direct-current switching power supply, namely the voltage of a power grid is greater than a gapless switching set detection value, the driving circuit supplies high level to a gate pole of a second thyristor, and the switching power supply supplies power to the magnetic bearing control system; when the voltage of the power grid phase is detected to be smaller than the gapless switching set detection value, a high level is supplied to a gate pole of the third thyristor, when the voltage stabilization value is output by the direct current switch power supply, the third thyristor is conducted in the forward direction, the second thyristor is cut off in the reverse direction, and the magnetic bearing control system is powered by the direct current bus voltage of the bidirectional DC/DC conversion circuit provided by the boosting of the storage battery.
Step D2: when the grid phase voltage is detected to be restored within the normal working range and is kept stable for 5s, the gate pole of the second thyristor is supplied with high level, the voltage of a direct current bus of the bidirectional DC/DC conversion circuit provided by the boosting of the storage battery is reduced to be smaller than the output stable value of the direct current switching power supply through double closed-loop control and regulation, and the voltage is regulated to the output stable value of the direct current switching power supply after being maintained for 1ms, so that the third thyristor is enabled to be cut off reversely, at the moment, the second thyristor is switched on, and the direct current switching power supply continues to supply power to the magnetic bearing control system. And D1-D2, the voltage of the magnetic bearing control system is always kept stable, and gapless switching of power supply of the magnetic bearing control system is realized.
Step D3: when the power grid is not recovered after power failure, the storage battery pack continuously supplies power to the direct-current bus of the frequency converter, and then the voltage is reduced to be lower than an undervoltage value, and the frequency converter stops working due to undervoltage; when the current between the frequency converter and the motor is 0 acquired by a current acquisition device in the logic control module, the driving circuit provides a high level for a thyristor gate after the uncontrolled rectifying circuit, the voltage generated by the motor is connected into a bidirectional DC/DC conversion circuit, and the rotating speed v of the motor is>vsWhen the motor outputs voltage, the voltage of a direct current bus of the bidirectional DC/DC conversion circuit is provided, and the control of the magnetic bearing is realized through gapless switchingThe brake, the power amplifier and the protection logic controller supply power to realize the stable suspension of the magnetic bearing under the condition of power failure, and meanwhile, the resistor in the bidirectional DC/DC conversion circuit consumes electric energy to realize the rapid braking of the motor under the condition of power failure of a power grid.
Step D4: when the rotating speed of the motor is reduced to v<vsWhen the voltage output by the motor is smaller than the output stable value of the direct current switch power supply, the voltage of a storage battery connected through the matrix switch is boosted to provide direct current bus voltage of the bidirectional DC/DC conversion circuit, power is supplied to the magnetic bearing control system and the protection logic controller, and stable suspension of the rotor under the condition of power failure is realized.
In the magnetic suspension bearing protection method, the double closed-loop control makes a difference between an ideal voltage value Udc in a logic controller and a real direct current bus voltage value Udc collected by a voltage collection device, and PI regulation is carried out through the protection logic controller to output an ideal value of the current of the storage battery;
if the ideal value of the output storage battery current is a positive value, keeping the second IGBT in a disconnected state, subtracting the ideal value of the storage battery current from the true value of the storage battery current, performing Boost PI regulation (P > 0) and generating a PWM (pulse-width modulation) wave through a driving circuit to control a first IGBT switching tube so as to realize the Boost process of the storage battery, and boosting the voltage of the storage battery to provide a direct-current bus voltage of a bidirectional DC/DC conversion circuit;
if the obtained value is a negative value, the first IGBT is kept in a disconnected state, the ideal value of the current of the storage battery is different from the actual value of the current, the voltage reduction PI regulation (P is less than 0) is carried out, then the drive circuit generates PWM waves to control the second IGBT switch tube, the Buck voltage reduction process is realized by the voltage of the output voltage of the motor after rectification and filtration, and the direct-current bus voltage of the bidirectional DC/DC conversion circuit is provided for the braking process of the motor through the output voltage of the motor.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the invention provides a protection system and a protection method for the running process of a magnetic suspension motor, which can not only realize the stable suspension of a rotor, but also realize the continuous work of the motor without stopping the rotation when the voltage of a power grid suddenly drops or is in short-time power failure. By adopting the zero-clearance switching technology, the stability and no fluctuation of the power supply voltage of the magnetic bearing control system are realized when the power grid is cut off. When the power grid is cut off and can not be recovered, not only the stable suspension of the motor rotor is ensured, but also the braking of the motor under the condition of power grid failure is accelerated, and the rapid shutdown of the rotor is realized. The timing distribution of the batteries is adopted, so that the voltage of the storage battery pack is uniformly distributed. The whole magnetic suspension motor is protected in all directions in the operation process, and the use reliability of the magnetic suspension motor is improved.
Drawings
FIG. 1 is a protection system for the operation of a magnetic levitation permanent magnet synchronous motor of the present invention;
the circuit comprises a circuit switch 1, a frequency converter 2, a frequency converter 3, a magnetic suspension permanent magnet synchronous motor 4, a magnetic bearing control module 5, a displacement sensor 6, a magnetic bearing controller 7, a power amplifier 8, a diode 9, a storage battery pack 10, a matrix switch 11, an uncontrolled rectifier circuit 12, a first thyristor 13, a third thyristor 14, a second thyristor 15, a bidirectional DC/DC conversion circuit 16, a first filter capacitor 17, a resistor 18, a second filter capacitor 19, a second IGBT 20, a first IGBT 21, an inductor 22, a direct current switch power supply 23, a DC/DC converter 24, a logic control module 25, a KM1 contactor 26, a KM2 contactor, a first thyristor, a second thyristor and a second thyristor, wherein the circuit switch 2, the frequency converter 3, the magnetic suspension permanent magnet synchronous motor 4, the magnetic bearing control module 5, the first thyristor 9, the second thyristor and the second thyristor 20 are connected in series;
FIG. 2 is a flowchart illustrating a method for protecting a frequency converter according to an embodiment of the present invention;
FIG. 3 is a flow chart of a magnetic bearing protection method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of two IGBT control signal generation in the bidirectional DC/DC conversion process according to the embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
On one hand, a protection system for the operation process of a magnetic suspension motor is shown in fig. 1 and comprises a magnetic suspension permanent magnet synchronous motor (1), a magnetic bearing control module (4), a power control module, a power supply module and a backup power protection module;
the magnetic suspension permanent magnet synchronous motor (1) comprises a magnetic suspension bearing and a permanent magnet synchronous motor, wherein the magnetic suspension bearing adopts the coil to be electrified to generate electromagnetic force to realize the stable suspension of a motor rotor;
the magnetic bearing control module (4) comprises a displacement sensor (5), a magnetic bearing controller (6) and a power amplifier (7), the displacement sensor (5) is installed at the position of a magnetic suspension bearing coil, the magnetic bearing controller (6) is connected with the displacement sensor (5) and the power amplifier (7), and the power amplifier (7) is connected with the coil of the magnetic suspension bearing; the displacement sensor (5) receives a position signal of a permanent magnet synchronous motor rotor; the magnetic bearing controller (6) receives the rotor position signal and outputs a control signal to the power amplifier (7); the power amplifier (7) amplifies the control signal and supplies power to a coil of the magnetic suspension bearing; the power amplifier (7) adopts a four-bridge arm structure, and in the embodiment, 110V direct current voltage is adopted to directly supply power to the coil of the magnetic suspension bearing.
The power control module comprises a line switch (1) and a frequency converter (2), the line switch (1) is connected between the frequency converter (2) and a power grid, and the frequency converter (2) is connected between the line switch (1) and the permanent magnet synchronous motor; the frequency converter (2) comprises a rectifying circuit, a filter capacitor and an inverter circuit, wherein the rectifying circuit adopts a three-phase uncontrolled bridge circuit to rectify input alternating current voltage into direct current voltage, the filter capacitor is connected with the rectifying circuit and the inverter circuit in parallel, the inverter circuit is connected with the filter capacitor, and the frequency conversion is realized by adopting controllable bridge type inversion;
the power supply module comprises a direct current switching power supply (22) and a DC/DC converter (23) and is used for supplying power to a logic control module (24) in the magnetic bearing control module and the backup power protection module; the direct current switch power supply (22) adopts 220V alternating current power grid phase voltage as input, outputs stable 110V direct current to supply power for the power amplifier (7), and outputs stable 110V direct current when the input phase voltage is between 180-260V, and directly supplies power for the power amplifier (7); the DC/DC converter (23) takes the output voltage of the direct current switch power supply (22) as input, performs direct current voltage conversion on the direct current voltage output by the direct current switch power supply (22), and outputs the voltage to the magnetic bearing controller (6) and the logic control module (24) of the protection system for power supply;
the backup power protection module comprises a storage battery pack (9), a matrix switch (10), a contactor, a logic control module (24), an uncontrolled rectifying circuit (11), a bidirectional DC/DC conversion circuit (15), a first thyristor (12), a second thyristor (14), a third thyristor (13) and a diode (8), wherein the storage battery pack (9) is used for serving as a backup power supply for a direct current bus of the frequency converter (2), n storage battery monomers with fixed values are connected in series, in the embodiment, 45 monomers with 12V are connected in series to form 540V voltage, the direct current bus of the frequency converter (2) is connected into the contactor and the diode (8) through the contactor, the contactor comprises KM1 (25) and KM2 (26), the contactor KM1 (25) and the KM2 (26) adopt an interlocking form, and a normally closed contact of the KM2 (26) is connected with a coil of the KM1 (25), a normally closed contact of KM1 (25) was connected to the coil of KM2 (26); the storage battery pack (9) is connected with a normally open contact of a contactor KM2 (26) and a diode (8) in series and then is connected with a direct current bus of the frequency converter (2), the m-th storage battery monomer is connected with a normally open contact of a contactor KM1 (25) and then is connected with a normally open contact of a contactor KM2 (26) in parallel and then is connected with the direct current bus of the frequency converter (2) through the diode (8), wherein m belongs to (0, n), and the storage battery pack (9) is charged by a power grid; the uncontrolled rectifying circuit (11) is connected with the output end of the permanent magnet synchronous motor; the matrix switch (10) is connected with the output end of the storage battery pack (9) and comprises two access selection contacts, the storage battery pack (9) is accessed in an equal division mode by adopting the contacts, each group is provided with k battery monomers, k belongs to (0, n), the total voltage value is smaller than the stable voltage output by the switch power supply, in the embodiment, the storage battery pack (9) 5 is accessed in an equal division mode by adopting six contacts, each group is provided with 9 battery monomers, namely 108V voltage, and the switching of accessing the storage battery pack (9) is carried out in a timing mode at set fixed time; the first thyristor (12) is connected with the output end of the uncontrolled rectifying circuit (11), the second thyristor (14) and the third thyristor (13) are respectively connected with the direct current switch power supply (22) and the direct current bus output end of the bidirectional DC/DC conversion circuit (15), the bidirectional DC/DC conversion circuit adopts the motor output voltage or the voltage selected by the matrix switch (10) as the input, the direct current bus voltage of the bidirectional DC/DC conversion circuit is used as the output and is used for reducing the voltage output by the motor when the rotating speed v is greater than vs, wherein vs is a set rotating speed threshold, the voltage selected by the matrix switch (10) is increased when the rotating speed v of the motor is less than vs, the bidirectional DC/DC conversion circuit comprises a first filter capacitor (16), a second filter capacitor (18), a resistor (17), a first IGBT (20), a second IGBT (19) and an inductor (21), the first filter capacitor (16) is connected with the output end of the motor in parallel, the output end of the motor is connected with the resistor (17) and then connected with the second filter capacitor (18) in parallel, the second IGBT (19) is connected with the direct current bus of the bidirectional DC/DC conversion circuit in series and then connected with the first IGBT (20) in parallel, and the two selective contacts of the matrix switch (10) are connected with the inductor (21) in series and then connected with the first IGBT (20) in parallel; the logic control module (24) is composed of a current collecting device, a voltage collecting device, a driving circuit and a protection logic controller, wherein the voltage collecting device and the current collecting device are used as the input of the protection logic controller, the driving circuit is used as the output of the protection logic controller, and the driving circuit simultaneously drives three thyristors, a contactor and two IGBTs in the bidirectional DC/DC conversion circuit (15); the switching on of a first thyristor (12) behind the uncontrolled rectifying circuit (11) is controlled by detecting a current signal between the frequency converter (2) and the motor; the states of normally open contacts of a contactor KM1 (25) and a contactor KM2 (26) are controlled by detecting a voltage signal of a direct-current bus of the frequency converter (2); two IGBTs in the bidirectional DC/DC conversion circuit (15) are controlled to be switched on and off by detecting a voltage signal of a direct current bus of the bidirectional DC/DC conversion circuit (15); the second (14) third thyristor (13) is controlled to be switched on by detecting a voltage input signal of the direct current switching power supply (22).
On the other hand, a protection method for the running process of a magnetic suspension motor is realized based on the protection system for the running process of the magnetic suspension motor, and the direct-current bus of the frequency converter (2) is connected through the storage battery (9) when the power grid suddenly drops or is in short-term power failure, so that the voltage of the direct-current bus of the frequency converter (2) is always above an undervoltage value, and the normal work of the motor is maintained for a short time; the bidirectional DC/DC conversion circuit boosts 9 storage battery monomers in a storage battery pack accessed through the matrix switch (10) to maintain the direct-current bus voltage of the bidirectional DC/DC conversion circuit at 110V, realizes zero-gap switching with a direct-current switch power supply (22), and ensures that a magnetic bearing control module works normally; when the voltage of a power grid is not recovered for a long time and the storage battery pack cannot provide the normal direct-current bus voltage value of the frequency converter (2), the frequency converter (2) stops working, firstly, a bidirectional DC/DC conversion circuit (15) is adopted to reduce the voltage generated by the motor at a high speed into 110V voltage to supply power to the magnetic bearing control module, and meanwhile, the resistor (17) consumes electric energy to realize the rapid braking of the motor; when the rotating speed of the motor is reduced to be low enough, the storage battery connected with the bidirectional DC/DC conversion circuit (15) in the storage battery pack is converted into 110V voltage to supply power for the magnetic bearing control module.
The method comprises a frequency converter protection method and a magnetic suspension bearing protection method, and specifically comprises the following steps;
the frequency converter protection method comprises the following steps:
step S1: when the power grid normally supplies power, the direct-current bus voltage of the frequency converter is greater than the undervoltage value of 390V, when the voltage acquisition device in the logic control module acquires the direct-current bus voltage of the frequency converter and the protection setting detection value of the frequency converter is more than 400V, a high level is introduced into a KM1 coil through the driving circuit, a low level is introduced into a KM2 coil, a KM1 normally open contact is closed, and a KM2 normally open contact is opened, in the embodiment, 34 storage battery monomers (408V) of 12V are connected into the direct-current bus of the frequency converter through diodes, but the direct-current bus voltage is higher than 408V, so the diodes bear reverse voltage, and the storage battery pack does not supply power;
step S2: when the voltage of a power grid suddenly drops or is in short-time power failure, when the voltage of a direct-current bus of a frequency converter at two ends of a capacitor quickly drops to be lower than 408V, 34 12V storage battery monomers (408V) are directly connected into the direct-current bus of the frequency converter through a diode to supply power for the frequency converter; when a voltage acquisition device in the logic control module acquires that the voltage of the direct-current bus of the frequency converter is smaller than the protection set detection value of the frequency converter of 400V, a driving circuit is used for introducing a low level to a KM1 coil and introducing a high level to a KM2 coil, so that a KM1 normally-open contact is disconnected, and a KM2 normally-open contact is closed, so that 45 12V storage battery monomers are completely connected to the direct-current bus of the frequency converter, and the short-time normal power supply of a motor is realized.
Step S3: when the voltage of the direct-current bus of the frequency converter returns to the protection setting detection value of the frequency converter by more than 400V, the driving circuit leads high level to the KM1 coil and leads low level to the KM2 coil through the driving circuit, so that the KM1 normally open contact is closed, and the KM2 normally open contact is opened; and the frequency converter returns to the state of power supply by the power grid.
The magnetic suspension bearing protection method is shown in fig. 3 and comprises the following steps:
step D1: when the power grid normally supplies power, the voltage of the input end of the direct current switch power supply is larger than the zero-clearance switching set detection value by 180V, and the direct current switch power supply outputs stable 110V direct current voltage to supply power for the magnetic bearing control module; when the voltage acquisition device in the logic control module acquires the voltage of the input end of the direct-current switch power supply, namely the voltage of a power grid is greater than a gapless switching set detection value by 180V, the drive circuit supplies high level to a gate pole of a second thyristor, and the switch power supply supplies power to the magnetic bearing control system; when the voltage of the power grid phase is detected to be less than the gapless switching set detection value of 180V, a high level is supplied to a gate pole of the third thyristor, when the voltage stabilization value of the output voltage of the direct current switch power supply is 110V, the third thyristor is conducted in the forward direction, the second thyristor is cut off in the reverse direction, and the magnetic bearing control system is powered by the direct current bus voltage of the bidirectional DC/DC conversion circuit provided by the boosting of the storage battery.
Step D2: when the grid phase voltage is detected to be restored within the normal working range 198-235V and the stability is maintained for 5s, the gate pole of the second thyristor is supplied with high level, the voltage of the direct current bus of the bidirectional DC/DC conversion circuit provided by the boosting of the storage battery is reduced to 100V through the double closed-loop control regulation and maintained for 1ms, then the voltage is regulated to the output stable value 110V of the direct current switching power supply, the third thyristor is ensured to be reversely cut off, at the moment, the second thyristor is conducted, and the direct current switching power supply continues to supply power to the magnetic bearing control system. And D1-D2 the voltage of the magnetic bearing control system is always kept stable, and gapless switching of power supply of the magnetic bearing control system is realized.
Step D3: when the power grid is not recovered after power failure, the storage battery pack continuously supplies power to the direct-current bus of the frequency converter, the voltage is reduced to be lower than an undervoltage value of 390V, and the frequency converter stops working due to undervoltage; when the current between the frequency converter and the motor is collected to be 0 through a current collecting device in the logic control module, the driving circuit supplies the high level of a thyristor gate after the rectifying circuit is not controlled, the voltage generated by the motor is connected into the bidirectional DC/DC conversion circuit, when the rotating speed v of the motor is greater than vs, the voltage output by the motor provides the direct-current bus voltage of the bidirectional DC/DC conversion circuit, and then the power is supplied to the magnetic bearing controller, the power amplifier and the protection logic controller through zero-clearance switching, so that the stable suspension of the magnetic bearing under the power-off condition is realized, and meanwhile, the resistance in the bidirectional DC/DC conversion circuit consumes electric energy, so that the quick braking of the motor under the power-off condition of the power grid is realized.
Step D4: when the rotating speed of the motor is reduced to V < vs, and the voltage output by the motor is smaller than the output stable value 110V of the direct current switch power supply, the voltage of a storage battery connected through the matrix switch is boosted to provide the direct current bus voltage 110V of the bidirectional DC/DC conversion circuit, power is supplied to the magnetic bearing control system and the protection logic controller, and stable suspension is realized under the condition that the rotor is powered off.
In the magnetic suspension bearing protection method, the double closed-loop control makes a difference between an ideal voltage value Udc in the logic controller and a real direct current bus voltage value Udc collected by the voltage collection device, and PI regulation is performed through the protection logic controller to output an ideal value of the current of the storage battery, as shown in FIG. 4;
if the ideal value of the output storage battery current is a positive value, keeping the second IGBT in a disconnected state, subtracting the ideal value of the storage battery current from the true value of the storage battery current, performing Boost PI regulation (P > 0) and generating a PWM (pulse-width modulation) wave through a driving circuit to control a first IGBT switching tube so as to realize the Boost process of the storage battery, and boosting the voltage of the storage battery to provide a direct-current bus voltage of a bidirectional DC/DC conversion circuit;
if the obtained value is a negative value, the first IGBT is kept in a disconnected state, the ideal value of the current of the storage battery is different from the actual value of the current, the voltage reduction PI regulation (P is less than 0) is carried out, then the drive circuit generates PWM waves to control the second IGBT switch tube, the Buck voltage reduction process is realized by the voltage of the output voltage of the motor after rectification and filtration, and the direct-current bus voltage of the bidirectional DC/DC conversion circuit is provided for the braking process of the motor through the output voltage of the motor.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.

Claims (8)

1. A protection system for the operation process of a magnetic suspension motor is characterized in that: the magnetic suspension permanent magnet synchronous motor power supply device comprises a magnetic suspension permanent magnet synchronous motor, a magnetic bearing control module, a power supply module and a backup power supply protection module;
the magnetic suspension permanent magnet synchronous motor comprises a magnetic suspension bearing and a permanent magnet synchronous motor, wherein the magnetic suspension bearing adopts the coil to be electrified to generate electromagnetic force to realize the suspension of a rotor of the permanent magnet synchronous motor;
the magnetic bearing control module comprises a displacement sensor, a magnetic bearing controller and a power amplifier, the displacement sensor is arranged at the position of a coil of the magnetic suspension bearing, the magnetic bearing controller is connected with the displacement sensor and the power amplifier, and the power amplifier is connected with the coil of the magnetic suspension bearing; the displacement sensor receives a position signal of a rotor of the permanent magnet synchronous motor; the magnetic bearing controller receives the rotor position signal and outputs a control signal to the power amplifier; the power amplifier amplifies the control signal and supplies power to a coil of the magnetic suspension bearing;
the power control module comprises a line switch and a frequency converter, the line switch is connected between the frequency converter and a power grid, and the frequency converter is connected between the line switch and the permanent magnet synchronous motor;
the power supply module comprises a direct current switch power supply and a DC/DC converter, wherein the direct current switch power supply adopts 220V alternating current power grid phase voltage as input, and outputs stable direct current to supply power for the power amplifier; the DC/DC converter takes the output voltage of the direct current switch power supply as input, performs direct current voltage conversion on the direct current voltage output by the direct current switch power supply, and outputs the voltage to the magnetic bearing controller and the logic control module of the protection system for power supply;
the backup power protection module comprises a storage battery pack, a matrix switch, a contactor, a logic control module, an uncontrolled rectifier circuit, a bidirectional DC/DC conversion circuit, a first thyristor, a second thyristor, a third thyristor and a diode, wherein the storage battery pack is formed by serially connecting n storage battery monomers with fixed values and is connected with a direct current bus of the frequency converter through the contactor and the diode, the contactor comprises KM1 and KM2, the storage battery pack is serially connected with a normally open contact of the contactor KM2 and a direct current bus connected with the diode and then connected with the frequency converter, the m storage battery pack is connected with a normally open contact of the contactor KM1 and then connected with the normally open contact of the contactor KM2 in parallel through the diode and connected with the direct current bus of the frequency converter, wherein m belongs to (0, n), and the storage battery pack is charged by a power grid; the uncontrolled rectifying circuit is connected with the output end of the permanent magnet synchronous motor; the matrix switch is connected with the output end of the storage battery pack, the first thyristor is connected with the output end of the uncontrolled rectifying circuit, the second and third thyristors are respectively connected with the direct current switch power supply and the direct current bus output end of the bidirectional DC/DC conversion circuit, the bidirectional DC/DC conversion circuit adopts the output voltage of the motor or the selected voltage of the matrix switch as the input, and the direct current bus voltage of the bidirectional DC/DC conversion circuit as the output for the rotating speed v of the motor>vsThe voltage output by the motor is reduced, wherein vsTo set the speed threshold, the motor speed v<vsThe voltage selected by the matrix switch is boosted, the logic control module consists of a current acquisition device, a voltage acquisition device, a driving circuit and a protection logic controller, the voltage acquisition device and the current acquisition device are used as the input of the protection logic controller, the driving circuit is used as the output of the protection logic controller, and the driving circuit simultaneously drives three thyristors, a contactor and two IGBTs in a bidirectional DC/DC conversion circuit;
the bidirectional DC/DC conversion circuit comprises a first filter capacitor, a second filter capacitor, a resistor, a first IGBT, a second IGBT and an inductor, wherein the first filter capacitor is connected with the output end of the motor in parallel, the output end of the motor is connected with the resistor and then connected with the second filter capacitor in parallel, the second IGBT is connected with the direct current bus of the bidirectional DC/DC conversion circuit in series and then connected with the first IGBT in parallel, and two selective contacts of the matrix switch are connected with the inductor in series and then connected with the first IGBT in parallel.
2. The system for protecting the running process of the magnetic suspension motor as claimed in claim 1, wherein the power amplifier adopts a four-leg structure, and the coil of the magnetic suspension bearing is directly powered by direct current voltage.
3. The system for protecting the running process of the magnetic suspension motor as claimed in claim 1, wherein the frequency converter comprises a rectifying circuit, a filter capacitor and an inverter circuit, the rectifying circuit adopts a three-phase uncontrolled bridge circuit to rectify an input alternating current voltage into a direct current voltage, the filter capacitor is connected with the rectifying circuit and the inverter circuit in parallel, the inverter circuit is connected with the filter capacitor, and the frequency conversion is realized by adopting a controllable bridge type inverter.
4. A protection system for the operation of a magnetic levitation motor as recited in claim 1, wherein the contactors KM1 and KM2 are interlocked to each other, and the normally closed contact of KM2 is connected to the coil of KM1, and the normally closed contact of KM1 is connected to the coil of KM 2.
5. The protection system for the running process of the magnetic suspension motor according to claim 1, wherein the matrix switch comprises two access selection contacts, the storage battery pack is accessed in an equally-divided mode through the contacts, each group comprises k battery cells, k belongs to (0, n), the total voltage value is smaller than the output stable voltage of the switch power supply, and the access storage battery pack is switched in a timing mode at set fixed time.
6. The system for protecting the running process of the magnetic suspension motor as claimed in claim 1, wherein the backup power protection module controls the first thyristor after the uncontrolled rectifying circuit to be switched on by detecting a current signal between the frequency converter and the motor; the states of normally open contacts of the contactors KM1 and KM2 are controlled by detecting voltage signals of a direct-current bus of the frequency converter; controlling the on and off of two IGBTs in the bidirectional DC/DC conversion circuit by detecting a voltage signal of a direct current bus of the bidirectional DC/DC conversion circuit; and the second third thyristor is controlled to be switched on by detecting a voltage input signal of the direct-current switching power supply.
7. A protection method for the running process of a magnetic suspension motor is realized by the protection system for the running process of the magnetic suspension motor in claim 1, and comprises a frequency converter protection method and a magnetic suspension bearing protection method, and specifically comprises the following steps;
the frequency converter protection method comprises the following steps:
step S1: when the power grid normally supplies power, the direct-current bus voltage of the frequency converter is larger than the undervoltage value, when the voltage acquisition device in the logic control module acquires that the direct-current bus voltage of the frequency converter is higher than a protection set detection value of the frequency converter, a high level is introduced into a KM1 coil through a driving circuit, and a low level is introduced into a KM2 coil, so that a KM1 normally open contact is closed, a KM2 normally open contact is opened, m storage battery monomers with fixed values are connected into the direct-current bus of the frequency converter through diodes, the diodes bear reverse voltage, and the storage battery pack does not supply power;
step S2: when the voltage of a power grid suddenly drops or is in short-time power failure, the voltage of the direct-current bus of the frequency converter at two ends of the capacitor quickly drops to the sum of the voltages of m storage battery monomers with fixed values, and the m storage battery monomers with fixed values are directly connected into the direct-current bus of the frequency converter through the diode to supply power to the frequency converter; when a voltage acquisition device in the logic control module acquires that the voltage of the direct-current bus of the frequency converter is smaller than a protection set detection value of the frequency converter, a low level is introduced to a KM1 coil through a driving circuit, and a high level is introduced to a KM2 coil, so that a KM1 normally-open contact is disconnected, a KM2 normally-open contact is closed, n storage battery monomers with fixed values are all connected to the direct-current bus of the frequency converter, and the short-time normal power supply of a motor is realized;
step S3: when the voltage of the direct-current bus of the frequency converter returns to the value above the protection set detection value of the frequency converter, the driving circuit leads high level to the KM1 coil and leads low level to the KM2 coil through the driving circuit, so that the KM1 normally open contact is closed, and the KM2 normally open contact is opened; the frequency converter returns to the state of power supply by the power grid;
the magnetic suspension bearing protection method comprises the following steps:
step D1: when the power grid normally supplies power, the voltage of the input end of the direct current switch power supply is larger than a gapless switching set detection value, and the direct current switch power supply outputs stable direct current voltage to supply power for the magnetic bearing control module; when the voltage acquisition device in the logic control module acquires the voltage of the input end of the direct-current switching power supply, namely the voltage of a power grid is greater than a gapless switching set detection value, the driving circuit supplies high level to a gate pole of a second thyristor, and the switching power supply supplies power to the magnetic bearing control system; when the voltage of the power grid phase is detected to be smaller than a gapless switching set detection value, a high level is supplied to a gate pole of a third thyristor, when a voltage stabilization value is output by a direct current switch power supply, the third thyristor is switched on in the forward direction, a second thyristor is switched off in the reverse direction, and the magnetic bearing control system is powered by a direct current bus voltage of a bidirectional DC/DC conversion circuit provided by the boosting of a storage battery;
step D2: when the grid phase voltage is detected to be restored within the normal working range and is kept stable for 5s, the gate pole of the second thyristor is supplied with high level, the voltage of a direct current bus of a bidirectional DC/DC conversion circuit provided by the boosting of the storage battery is reduced to be smaller than the output stable value of the direct current switching power supply and is kept for 1ms through double closed-loop control regulation, then the voltage is regulated to the output stable value of the direct current switching power supply, the third thyristor is ensured to be reversely cut off, at the moment, the second thyristor is conducted, and the direct current switching power supply continues to supply power to the magnetic bearing control system; D1-D2, the voltage of the magnetic bearing control system is always kept stable, and gapless switching of power supply of the magnetic bearing control system is realized;
step D3: when the power grid is not recovered after power failure, the storage battery pack continuously supplies power to the direct-current bus of the frequency converter, and then the voltage is reduced to be lower than an undervoltage value, and the frequency converter stops working due to undervoltage; when the current between the frequency converter and the motor is 0 acquired by a current acquisition device in the logic control module, the driving circuit provides a high level for a thyristor gate after the uncontrolled rectifying circuit, the voltage generated by the motor is connected into a bidirectional DC/DC conversion circuit, and the rotating speed v of the motor is>vsWhile by the motorThe output voltage provides direct-current bus voltage of a bidirectional DC/DC conversion circuit, and power is supplied to a magnetic bearing controller, a power amplifier and a protection logic controller through zero-gap switching, so that stable suspension of a magnetic bearing under the condition of power failure is realized, and meanwhile, the resistance in the bidirectional DC/DC conversion circuit consumes electric energy, so that the rapid braking of a motor under the condition of power failure of a power grid is realized;
step D4: when the rotating speed of the motor is reduced to v<vsWhen the voltage output by the motor is smaller than the output stable value of the direct current switch power supply, the voltage of a storage battery connected through the matrix switch is boosted to provide direct current bus voltage of the bidirectional DC/DC conversion circuit, power is supplied to the magnetic bearing control system and the protection logic controller, and stable suspension of the rotor under the condition of power failure is realized.
8. The protection method for the operation process of the magnetic suspension motor according to claim 7, wherein in the protection method for the magnetic suspension bearing, the ideal voltage value Udc in the logic controller is differentiated from the actual voltage value Udc of the direct current bus collected by the voltage collection device by double closed loop control, and the ideal value of the current of the storage battery is output by PI regulation through the protection logic controller;
if the ideal value of the output storage battery current is a positive value, keeping the second IGBT in a disconnected state, subtracting the ideal value of the storage battery current from the real value of the storage battery current, performing Boost PI regulation, generating a PWM (pulse-width modulation) wave through a driving circuit to control a first IGBT switching tube, realizing the Boost process of the storage battery, and boosting the voltage of the storage battery to provide a direct-current bus voltage of a bidirectional DC/DC conversion circuit;
if the obtained value is a negative value, the first IGBT is kept in a disconnected state, the ideal value of the current of the storage battery is different from the actual value of the current, the voltage reduction PI regulation is carried out, and then the PWM wave is generated through the driving circuit to control the second IGBT switching tube, so that the voltage of the output voltage of the motor after rectification and filtration is realized in a Buck voltage reduction process, and the direct-current bus voltage of the bidirectional DC/DC conversion circuit is provided by the output voltage of the motor in the braking process of the motor.
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