CN112211908B - Current control method, device and system for magnetic bearing - Google Patents
Current control method, device and system for magnetic bearing Download PDFInfo
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- CN112211908B CN112211908B CN202011079501.5A CN202011079501A CN112211908B CN 112211908 B CN112211908 B CN 112211908B CN 202011079501 A CN202011079501 A CN 202011079501A CN 112211908 B CN112211908 B CN 112211908B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- 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
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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
- F16C32/0459—Details of the magnetic circuit
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- Mechanical Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a current control method, a device and a system of a magnetic bearing. Wherein, the method comprises the following steps: acquiring a first temperature value of the magnetic bearing; and updating the first control parameter based on the first temperature value to obtain a second control parameter, and controlling the current of the magnetic bearing based on the second control parameter. The invention solves the technical problem that the dynamic and steady-state performance of the current loop of the magnetic bearing in the prior art can change under different conditions.
Description
Technical Field
The invention relates to the field of current control of magnetic bearings, in particular to a current control method, a current control device and a current control system of a magnetic bearing.
Background
The switching power amplifier is an executive device of the magnetic bearing, and particularly realizes the current control of the magnetic bearing coil by controlling the on and off of the switching device. The magnetic bearings currently in the mainstream achieve current control through a PI controller, as shown in fig. 1.
The parameters of the PI controller are related to the inductance parameter L and the resistance parameter of the magnetic bearing. There are two ways to select the parameters of the PI controller: the first is an experience debugging method, which has higher requirements on the experience of controller debugging personnel, needs to re-set parameters after the design parameters of the magnetic bearing coil are changed, and has higher requirements on the consistency of the magnetic bearing; the second method is a parameter setting method, namely parameter setting is carried out according to a transfer function, and the method has a good setting effect on occasions where inductance and resistance values are determined.
For the skilled person, in the case of a data determination of the inductance L and the resistance R, the control parameters Kp and Ki can be set by technical means to Kp ═ f (ω, L); ki ═ g (r); where ω is the design bandwidth, Kp is a function of the proportional change in inductance L, and Ki is a function of the proportional change in resistance R. However, based on the difference between data modeling and actual control, the proportional-integral coefficient and the setting value in actual application often have difference. Therefore, it is not possible to ensure that the dynamic and steady-state performance of the current loop of the magnetic bearing does not change under various conditions.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a current control method, a device and a system of a magnetic bearing, which at least solve the technical problem that the dynamic and steady-state performances of a current loop of the magnetic bearing in the prior art can change under different conditions.
According to an aspect of an embodiment of the present invention, there is provided a current control method of a magnetic bearing, including: acquiring a first temperature value of the magnetic bearing; updating the first control parameter based on the first temperature value to obtain a second control parameter; controlling the current of the magnetic bearing based on the second control parameter.
Optionally, updating the current control parameter based on the first temperature value, and before obtaining the second control parameter, further including: judging whether the first temperature value is greater than a preset temperature value or not; if the first temperature value is larger than the preset temperature value, determining to update the first control parameter; and if the first temperature value is less than or equal to the preset temperature value, forbidding updating the first control parameter.
Optionally, updating the first control parameter based on the first temperature value to obtain a second control parameter, including: and updating the first control parameter according to the first temperature value and a preset corresponding relation to obtain a second control parameter, wherein the preset corresponding relation is used for representing the corresponding relation between different temperature values and different control parameters.
Optionally, the method further comprises: acquiring a plurality of second temperature values; determining a third control parameter corresponding to each second temperature; and determining a preset corresponding relation according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value.
Optionally, determining the preset corresponding relationship according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value includes: and fitting the plurality of second temperature values and the third control parameter corresponding to each second temperature value by using a least square algorithm to obtain a preset corresponding relation.
Optionally, before obtaining the plurality of second temperature values, the method further comprises: determining whether to change a current control strategy based on the control signal, wherein the current control strategy controls the current of the magnetic bearing based on the fixed control parameters; if the current control strategy is determined to be changed, a plurality of second temperature values are obtained; and if the current control strategy is forbidden to be changed, continuing to use the current control strategy.
According to another aspect of the embodiments of the present invention, there is also provided a current control apparatus of a magnetic bearing, including: the acquisition module is used for acquiring a first temperature value of the magnetic bearing; the updating module is used for updating the first control parameter based on the first temperature value to obtain a second control parameter; a control module for controlling the current of the magnetic bearing based on the second control parameter.
According to another aspect of an embodiment of the present invention, there is also provided a current control system of a magnetic bearing, including: the acquisition device is arranged on the magnetic bearing and used for acquiring a first temperature value of the magnetic bearing; the controller is connected with the acquisition device and used for updating the first control parameter based on the first temperature value output by the acquisition device to obtain a second control parameter; and for controlling the current of the magnetic bearing based on the second control parameter.
Optionally, the system further comprises: the temperature comparison circuit is connected with the acquisition device and is used for comparing the first temperature value output by the acquisition device with a preset temperature value; and the controller is connected with the temperature comparison circuit and used for determining whether to update the first control parameter based on the comparison result output by the temperature comparison circuit.
Optionally, the temperature comparison circuit comprises: the first input end of the comparator is connected with the acquisition device, the second input end of the comparator inputs a preset temperature value, the output end of the comparator is connected with the controller, and the comparator is used for judging whether the first temperature value is larger than the preset temperature value or not.
According to another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program, when executed, controls a device in which the computer-readable storage medium is located to perform the above-mentioned current control method for a magnetic bearing.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the above-mentioned current control method of a magnetic bearing.
In the embodiment of the present invention, after the first temperature value of the magnetic bearing is obtained, the first control parameter may be updated based on the first temperature value to obtain the second control parameter; then the current of the magnetic bearing is controlled based on the second control parameter, so that the first control parameter is adjusted in real time by using the temperature value of the magnetic bearing, and the problem that the dynamic and steady-state performances of a current loop of the magnetic bearing possibly have difference under different conditions due to the fact that the actually required control parameter is different from the first control parameter is solved; in addition, whether the first control parameter needs to be updated or not can be judged when the first temperature value exceeds the preset temperature value, the first control parameter can be updated according to the first temperature value by setting the preset temperature value under the condition that the first temperature value influences dynamic performance and steady-state performance, the second control parameter is obtained, and energy loss caused by continuous updating of the first control parameter according to the first temperature value is avoided; the first control parameter is updated by obtaining the first temperature value of the magnetic bearing to obtain the second control parameter, and the control parameter obtained theoretically is adjusted according to the actual control condition, so that the dynamic performance and the steady-state performance of the current ring of the magnetic bearing can not change under any condition, and the technical problem that the dynamic performance and the steady-state performance of the current ring of the magnetic bearing can change under different conditions in the prior art is solved.
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 conventional magnetic bearing displacement current dual-loop control according to the prior art;
FIG. 2 is a flow chart of a method of current control of a magnetic bearing according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method of current control of a magnetic bearing according to an embodiment of the present invention;
FIG. 4 is a block diagram of a magnetic bearing current control based on temperature-varying current loop integral coefficients, in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a current control device of a magnetic bearing according to an embodiment of the present invention;
FIG. 6 is a schematic view of a current control system for a magnetic bearing according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a current control system for another magnetic bearing in accordance with an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of current control of a magnetic bearing, it being noted that the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 2 is a method for controlling current of a magnetic bearing according to an embodiment of the present invention, as shown in fig. 2, the method including the steps of:
step S202, a first temperature value of the magnetic bearing is obtained.
The magnetic bearing of the above steps can be an active magnetic bearing, a passive magnetic bearing and a hybrid magnetic bearing; the active magnetic bearing is also called as an active magnetic bearing, the magnetic field of the active magnetic bearing is controllable, and the control system actively controls the position of a suspended rotor to realize rotor suspension; the passive magnetic bearing is also called as a passive magnetic bearing, and the rotor part is supported by a permanent magnet or a superconductor; among them, the hybrid magnetic bearing is also called a permanent magnet biased magnetic bearing, and its mechanical structure includes an electromagnet and a permanent magnet or a superconductor.
The first temperature value in the above step may be a current temperature value of the magnetic bearing coil.
In an alternative embodiment, the current temperature value of the magnetic bearing coil can be obtained by using a temperature sampling circuit, wherein the temperature sampling sensor in the temperature sampling circuit can be DS18B20, PT100, PT1000, CU50, CU100, etc., without any limitation.
In another alternative embodiment, a first temperature value of the magnetic bearing may be obtained after receiving the control signal, so that a technician initiates a mode of updating the first control parameter according to the control signal in case the first control parameter needs to be updated.
In yet another alternative embodiment, the first temperature value of the magnetic bearing may be periodically acquired; a first temperature value of the magnetic bearing may also be obtained when a preset time is reached.
And step S204, updating the first control parameter based on the first temperature value to obtain a second control parameter.
The first control parameter in the above step may be a control parameter Ki in the PI controller, where Ki is a direct proportional change function relationship with respect to a magnetic bearing coil resistance R, and a relationship between the resistance R and a magnetic bearing coil first temperature value T is R ═ kT.
It should be noted that the resistance R of the magnetic bearing coil changes with temperature, i.e. the resistance R is not a fixed value, so that the dynamic performance and the steady-state performance of the current loop of the magnetic bearing need to be kept unchanged in any case by adjusting the value Ki according to the resistance R.
In an optional embodiment, when the first temperature value is greater than a preset temperature value, the first control parameter may be updated according to the first temperature value to obtain the second control parameter.
In another optional embodiment, when the first temperature value is greater than the preset temperature value, the second control parameter corresponding to the first temperature value may be acquired, and the current first control parameter may be replaced with the second control parameter.
In yet another alternative embodiment, a technician may adjust control parameters corresponding to different temperature values in advance, and establish a temperature parameter mapping table according to different temperatures and the control parameters corresponding to the different temperatures; when the first temperature value is larger than the preset temperature value, the second control parameter corresponding to the first temperature value is obtained through the temperature parameter mapping table, and then the current first control parameter is replaced by the second control parameter.
Step S206, controlling the current of the magnetic bearing based on the second control parameter.
The second control parameter in the above step may be an optimal control parameter corresponding to the first temperature value.
The second control parameter in the above step may be a control parameter Ki in the PI controller, where Ki is a direct proportional change function relationship with respect to a magnetic bearing coil resistance R, and a relationship between the resistance R and a magnetic bearing coil first temperature value T is R ═ kT.
It should be noted that the resistance R of the magnetic bearing coil changes with temperature, i.e. the resistance R is not a fixed value, so that the dynamic performance and the steady-state performance of the current loop of the magnetic bearing need to be kept unchanged in any case by adjusting the value Ki according to the resistance R.
In an alternative embodiment, the second control parameter is an optimal control parameter adjusted according to the temperature value of the resistor R, and the dynamic performance and the steady-state performance of the current loop of the magnetic bearing can not be changed in any condition by controlling the current of the magnetic bearing through the second control parameter.
In the above embodiment of the present invention, after the first temperature value of the magnetic bearing is obtained, the first control parameter may be updated based on the first temperature value to obtain the second control parameter; then the current of the magnetic bearing is controlled based on the second control parameter, so that the first control parameter is adjusted in real time by using the temperature value of the magnetic bearing, and the problem that the dynamic and steady-state performances of a current loop of the magnetic bearing possibly have difference under different conditions due to the fact that the actually required control parameter is different from the first control parameter is solved; in addition, whether the first control parameter needs to be updated or not can be judged when the first temperature value exceeds the preset temperature value, the first control parameter can be updated according to the first temperature value by setting the preset temperature value under the condition that the first temperature value influences dynamic performance and steady-state performance, the second control parameter is obtained, and energy loss caused by continuous updating of the first control parameter according to the first temperature value is avoided; the first control parameter is updated by obtaining the first temperature value of the magnetic bearing to obtain the second control parameter, and the control parameter obtained theoretically is adjusted according to the actual control condition, so that the dynamic performance and the steady-state performance of the current ring of the magnetic bearing can not change under any condition, and the technical problem that the dynamic performance and the steady-state performance of the current ring of the magnetic bearing can change under different conditions in the prior art is solved.
Optionally, updating the current control parameter based on the first temperature value, and before obtaining the second control parameter, further including: judging whether the first temperature value is greater than a preset temperature value or not; if the first temperature value is larger than the preset temperature value, determining to update the first control parameter; and if the first temperature value is less than or equal to the preset temperature value, forbidding updating the first control parameter.
In an alternative embodiment, the preset temperature value may be set by a user, wherein a temperature greater than the preset temperature value may affect the resistance value of the resistor, and at this time, the first control parameter needs to be updated to a control parameter corresponding to the current resistance value of the resistor, so that it is avoided that the first control parameter has an error to affect the control of the current of the magnetic bearing; the temperature smaller than the preset temperature value generally does not affect the resistance value of the resistor, or the change of the resistance value of the resistor when the temperature is smaller than the preset temperature value does not affect the control of the first control parameter on the current of the magnetic bearing, and at the moment, the first control parameter does not need to be adjusted.
In another alternative embodiment, it may be determined whether the first temperature value is within a preset temperature interval; if the first temperature value is not in the preset temperature interval, determining to update the first control parameter; and if the first temperature value is in the preset temperature interval, forbidding updating of the first control parameter. The preset temperature interval can be that the resistance value of the resistor does not change due to the change of the temperature in the temperature interval, and the preset temperature interval can also be that the resistance value change of the resistor in the temperature interval does not influence the control of the first control parameter on the current of the magnetic bearing; therefore, if the first temperature value is not within the preset temperature interval, the first control parameter does not need to be updated.
Optionally, updating the first control parameter based on the first temperature value to obtain a second control parameter, including: and updating the second control parameter according to the first temperature value and a preset corresponding relation to obtain the second control parameter, wherein the preset corresponding relation is used for representing the corresponding relation between different temperature values and different control parameters.
In an alternative embodiment, the preset corresponding relationship may be a functional relationship: ki is A.T + B; the optimal parameter Ki values corresponding to different temperature T values can be adjusted; wherein the temperature T may be obtained first1、T2、T3...TnThe corresponding optimal control parameters are respectively Ki1、Ki2、Ki3...KinAnd fitting the A value and the B value according to the temperature value and the corresponding optimal control parameter. For example, in the case of a and B value determination, when the first temperature value is 20 ℃, the following functional relationship may be used: ki is a · T + B, and the second control parameter is found to be 20A + B.
In another optional embodiment, the preset corresponding relationship may also be a mapping relationship table, where the temperature T in the mapping relationship table1、T2、T3...TnRespectively corresponding to optimal control parameters Ki1、Ki2、Ki3...Kin. Illustratively, when the first temperature value is T1Then, the second control parameter corresponding to the first temperature value is determined as Ki according to the mapping relation table1。
Optionally, the method further comprises: acquiring a plurality of second temperature values; determining a third control parameter corresponding to each second temperature value; and determining a preset corresponding relation according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value.
In an alternative embodiment, the third control parameter corresponding to the second temperature value may be modulated in advance by the user and stored in the local data.
In another optional embodiment, a plurality of randomly generated second temperature values may be obtained, and third control parameters corresponding to the plurality of randomly generated second temperature values may be called from the local data; then establishing a functional relation according to a plurality of randomly generated second temperature values and a third control parameter corresponding to each second temperature value; and establishing a mapping relation according to the randomly generated second temperature values and the third control parameter corresponding to each second temperature value.
Optionally, determining the preset corresponding relationship according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value includes: and fitting the plurality of second temperature values and the third control parameter corresponding to each second temperature value by using a least square algorithm to obtain a preset corresponding relation.
In the above steps, the least square method theory pair has a sampling point (x) as y ═ ax + b1，y1)…(xn，yn) (ii) a With y ═ y1… yn]T，
Can make
Ki＝y＝[Ki1 … Kin]TThen, a ═ a, B ═ B, and the functional relationship Ki ═ a · T + B can be obtained.
It should be noted that the more the second temperature value and the third control parameter corresponding to the second temperature value are obtained, the more accurate the a value and the B value are fitted by using the least square method. In theory, any two second temperature values and the third control parameter corresponding to the second temperature value can be successfully fitted to obtain the value a and the value B.
Optionally, before obtaining the plurality of second temperature values, the method further comprises: determining whether to change a current control strategy based on the control signal, wherein the current control strategy controls the current of the magnetic bearing based on the fixed control parameters; if the current control strategy is determined to be changed, a plurality of second temperature values are obtained; and if the current control strategy is forbidden to be changed, continuing to use the current control strategy.
In the above steps, the current control strategy may be a control strategy for controlling the current of the magnetic bearing based on fixed control parameters, or a control strategy for controlling the current of the magnetic bearing by adjusting the control parameters; wherein, when the control strategy is a control strategy for controlling the current of the magnetic bearing by adjusting the control parameters, a plurality of second temperature values can be obtained.
In an alternative embodiment, if the current control strategy is a control strategy for controlling the magnetic bearing current based on a fixed control parameter, the control strategy for controlling the magnetic bearing current based on the fixed control parameter is changed to a control strategy for controlling the magnetic bearing current by adjusting the control parameter upon receiving the control signal; if the current control strategy is a control strategy for controlling the current of the magnetic bearing by adjusting the control parameters, the control strategy for controlling the current of the magnetic bearing by adjusting the control parameters is changed into a control strategy for controlling the current of the magnetic bearing based on the fixed control parameters when receiving the control signal. Wherein, when the control strategy is a control strategy for adjusting the control parameters to control the current of the magnetic bearing, a plurality of second temperature values can be obtained.
A preferred embodiment of the present invention will be described in detail with reference to fig. 3 to 4. As shown in fig. 3, the method may include the steps of:
step S301, receiving a control signal;
step S302, judging whether a variable Ki control strategy is adopted or not based on the control signal; if yes, executing step S304, otherwise executing step S303;
optionally, if the control signal is a control signal adopting a variable Ki control strategy, obtaining (T)1、T2...Tn) And corresponding optimal control parameter (Ki)1、Ki2...Kin) (ii) a And if the control signal adopts a fixed Ki control strategy, determining Ki as a fixed parameter.
Step S303, a fixed Ki control strategy is adopted;
step S304, obtain (T)1、T2...Tn) And corresponding optimal control parameter (Ki)1、Ki2...Kin)；
Step S305, based on (T)1、T2...Tn) And (Ki)1、Ki2...Kin) Fitting out the value A and the value B in the Ki, A.T + B by adopting a least square method;
it should be noted that the more T and Ki values, the more accurate the a and B values are fit. Theoretically, the Ki values at any two different temperatures can be successfully fitted to obtain the A value and the B value.
Step S306, sampling the temperature signal V of the magnetic bearing coilt；
Optionally, temperature signal V of magnetic bearing coiltIncluding the current temperature value T of the magnetic bearing coils.
Step S307, judge VtWhether greater than Vref; if yes, go to step S308; if not, go to step S310;
step S308, calculating a Ki value corresponding to the current temperature T by using Ki as A.T + B;
step S309, updating the control parameter of the controller to be the Ki value corresponding to the current temperature T;
step S310, the controller controls the current of the magnetic bearing coil according to the control parameters; and performs step S306.
Alternatively, step S306 may be performed periodically after the controller controls the currents of the magnetic bearing coils according to the control parameters.
Fig. 4 shows a magnetic bearing current control block diagram based on a temperature-varying current loop integral coefficient, where X is a received control signal, and the control signal X and a displacement sampling signal of a bearing are integrated and then input to a position loop controller, where the position loop controller is configured to control a current of a magnetic bearing coil according to a current displacement sampling signal and a control signal of the magnetic bearing, and when a temperature value of the magnetic bearing coil is greater than a reference value, a variable Ki control strategy is adopted; when the temperature value of the magnetic bearing coil is smaller than a reference value, a fixed Ki control strategy is adopted; if a variable Ki control strategy is adopted, calculating a Ki value corresponding to the current temperature T by using Ki as A.T + B, updating a control parameter to be the Ki value corresponding to the current temperature, and then controlling the current of the magnetic bearing coil by using Ki and Kp; wherein, the magnetic bearing coil is controlled according to the value Kp + Ki/s.
Example 2
According to an embodiment of the present invention, there is also provided a current control device for a magnetic bearing, where the current control device can execute the current control method for a magnetic bearing in the above embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the above embodiment, and are not described herein again.
Fig. 5 is a schematic view of a current control apparatus of a magnetic bearing according to an embodiment of the present invention, as shown in fig. 5, the apparatus including:
an obtaining module 52, configured to obtain a first temperature value of the magnetic bearing;
an updating module 54, configured to update the first control parameter based on the first temperature value to obtain a second control parameter;
a control module 56 for controlling the current of the magnetic bearing based on the second control parameter.
Optionally, the apparatus further comprises: the judging module is used for judging whether the first temperature value is larger than a preset temperature value or not; the first determining module is used for determining and updating the first control parameter when the first temperature value is greater than the preset temperature value; and the forbidding module is used for forbidding to update the first control parameter when the first temperature value is less than or equal to the preset temperature value.
Optionally, the update module further comprises: and the determining unit is used for updating the first control parameter according to the first temperature value and a preset relationship to obtain a second control parameter, wherein the preset corresponding relationship is used for representing the corresponding relationship between different temperature values and different control parameters.
Optionally, the apparatus further comprises: the acquisition module is further used for acquiring a plurality of second temperature values; the second determining module is used for determining a third control parameter corresponding to each second temperature value; and the third determining module is used for determining the preset corresponding relation according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value.
Optionally, the third determining module is further configured to fit the plurality of second temperature values and the third control parameter corresponding to each second temperature value by using a least square algorithm, so as to obtain a preset corresponding relationship.
Optionally, the apparatus further comprises: the determination module is further configured to determine whether to change a current control strategy based on the control signal, wherein the current control strategy controls current of the magnetic bearing based on the fixed control parameter; the fourth determining module is used for acquiring a plurality of second temperature values when determining that the current control strategy is changed; the prohibition module is further configured to continue using the current control strategy while prohibiting a change to the current control strategy.
Example 3
According to an embodiment of the present invention, there is also provided a current control system of a magnetic bearing, where the system may perform the current control method of the magnetic bearing in the above embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the above embodiment, and are not described herein again.
Fig. 6 is a schematic view of a current control system for a magnetic bearing according to an embodiment of the present invention, as shown in fig. 6, the system comprising:
the acquisition device 62 is arranged on the magnetic bearing 60 and used for acquiring a first temperature value of the magnetic bearing 60;
the controller 64 is connected with the acquisition device 62 and used for updating the first control parameter based on the first temperature value output by the acquisition device 62 to obtain a second control parameter; controlling the current of the magnetic bearing 60 based on the second control parameter;
the temperature comparison circuit 66 is connected with the acquisition device 62 and is used for comparing the first temperature value output by the acquisition device 62 with a preset temperature value; the controller 64 is further configured to be connected to the temperature comparison circuit 66, and configured to determine whether to update the first control parameter based on the comparison result output by the temperature comparison circuit 66.
Optionally, the temperature comparison circuit 66 includes: comparator 68, the first input of comparator 68 is connected with collection system 62, and the second input of comparator 68 inputs preset temperature value, and the output of comparator 68 is connected with controller 64, and comparator 68 is used for judging whether first temperature value is greater than preset temperature value.
Optionally, the controller is further configured to determine a first control parameter when the comparator determines that the first temperature value is greater than the preset temperature value; the controller is further used for forbidding updating of the first control parameter when the comparator judges that the first temperature value is smaller than or equal to the preset temperature value.
Optionally, the controller is further configured to update the first control parameter according to the first temperature value and a preset corresponding relationship, so as to obtain a second control parameter, where the preset corresponding relationship is used to represent corresponding relationships between different temperature values and different control parameters.
Optionally, the system further comprises: the acquisition device is used for acquiring a plurality of second temperature values; the debugging device is used for determining a third control parameter corresponding to each second temperature value; and the fitting device is used for determining a preset corresponding relation according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value determined by the modulation device.
Optionally, the fitting device is further configured to fit the plurality of second temperature values and the third control parameter corresponding to each second temperature value by using a least square algorithm, so as to obtain a preset corresponding relationship.
Optionally, the system further comprises: an activation means for determining whether to change a current control strategy based on the control signal, wherein the current control strategy controls the current of the magnetic bearing based on the fixed control parameters; the controller is also used for acquiring a plurality of second temperature values acquired by the acquisition device when the current control strategy is determined to be changed; the controller is further operable to continue to use the current control strategy while inhibiting the change to the current control strategy.
A preferred embodiment of the present invention will be described in detail with reference to fig. 7. As shown in fig. 7, the system includes:
the acquisition device 62 is arranged on the magnetic bearing 60 and used for acquiring a first temperature value of the magnetic bearing 60;
a current sensor 70 provided on the controller 64 for sampling a coil current of the magnetic bearing 60;
the temperature comparison circuit 66 is connected with the acquisition device 62 and is used for comparing the first temperature value output by the acquisition device 62 with a preset temperature value;
a controller 64 connected to the temperature comparison circuit 66 for determining whether to update a first control parameter based on the comparison result output by the temperature comparison circuit 66, wherein the first control parameter is used for controlling the current of the magnetic bearing 60 according to the coil current collected by the current sensor 70;
the temperature comparison circuit 66 includes: comparator 68, the first input of comparator 68 is connected with collection system 62, and the second input of comparator 68 inputs preset temperature value, and the output of comparator 68 is connected with controller 64, and comparator 68 is used for judging whether first temperature value is greater than preset temperature value.
Example 4
There is also provided a computer-readable storage medium including a stored program according to an embodiment of the present invention, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the current control method of a magnetic bearing in embodiment 1 above.
Example 5
There is also provided, according to an embodiment of the present invention, a processor for executing a program, wherein the program executes, when running, a current control method for a magnetic bearing of one of the above-described embodiments 1.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method of current control for a magnetic bearing, comprising:
periodically acquiring a first temperature value of the magnetic bearing, wherein the first temperature value is a current temperature value of a coil of the magnetic bearing;
updating a first control parameter based on the first temperature value to obtain a second control parameter;
controlling a current of the magnetic bearing based on the second control parameter;
before updating the current control parameter based on the first temperature value to obtain a second control parameter, the method further includes:
judging whether the first temperature value is greater than a preset temperature value or not;
if the first temperature value is larger than the preset temperature value, determining to update the first control parameter;
and if the first temperature value is less than or equal to the preset temperature value, forbidding updating the first control parameter.
2. The method of claim 1, wherein updating the first control parameter based on the first temperature value to obtain the second control parameter comprises:
and updating the first control parameter according to the first temperature value and a preset corresponding relation to obtain the second control parameter, wherein the preset corresponding relation is used for representing the corresponding relation between different temperature values and different control parameters.
3. The method of claim 2, further comprising:
acquiring a plurality of second temperature values;
determining a third control parameter corresponding to each second temperature value;
and determining the preset corresponding relation according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value.
4. The method according to claim 3, wherein determining the preset correspondence relationship according to the plurality of second temperature values and the third control parameter corresponding to each second temperature value comprises:
and fitting the plurality of second temperature values and the third control parameter corresponding to each second temperature value by using a least square algorithm to obtain the preset corresponding relation.
5. The method of claim 4, wherein prior to obtaining the plurality of second temperature values, the method further comprises:
determining whether to change a current control strategy based on the control signals, wherein the current control strategy controls current of the magnetic bearing based on fixed control parameters;
if the current control strategy is determined to be changed, acquiring a plurality of second temperature values;
and if the current control strategy is forbidden to be changed, continuing to use the current control strategy.
6. A current control device for a magnetic bearing, comprising:
the magnetic bearing temperature acquisition module is used for periodically acquiring a first temperature value of the magnetic bearing, wherein the first temperature value is a current temperature value of a coil of the magnetic bearing;
the updating module is used for updating the first control parameter based on the first temperature value to obtain a second control parameter;
a control module for controlling the current of the magnetic bearing based on the second control parameter;
before updating the current control parameter based on the first temperature value to obtain a second control parameter, the device is further used for judging whether the first temperature value is greater than a preset temperature value; if the first temperature value is larger than the preset temperature value, determining to update the first control parameter; and if the first temperature value is less than or equal to the preset temperature value, forbidding updating the first control parameter.
7. A current control system for a magnetic bearing, comprising:
the acquisition device is arranged on the magnetic bearing and used for periodically acquiring a first temperature value of the magnetic bearing, wherein the first temperature value is a current temperature value of a coil of the magnetic bearing;
the controller is connected with the acquisition device and used for updating a first control parameter based on the first temperature value output by the acquisition device to obtain a second control parameter; controlling a current of the magnetic bearing based on the second control parameter;
wherein the system further comprises:
the temperature comparison circuit is connected with the acquisition device and is used for comparing the first temperature value output by the acquisition device with a preset temperature value;
the controller is connected with the temperature comparison circuit and used for determining whether to update the first control parameter based on a comparison result output by the temperature comparison circuit;
wherein, temperature comparison circuit includes:
the first input end of the comparator is connected with the acquisition device, the second input end of the comparator inputs the preset temperature value, the output end of the comparator is connected with the controller, and the comparator is used for judging whether the first temperature value is larger than the preset temperature value or not;
wherein the controller is further configured to:
when the comparator judges that the first temperature value is greater than the preset temperature value, determining to update the first control parameter;
and when the comparator judges that the first temperature value is less than or equal to the preset temperature value, forbidding updating of the first control parameter.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the computer-readable storage medium is controlled, when the program is run, in an apparatus to perform the current control method for magnetic bearing according to any one of claims 1 to 5.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is run to perform the method of current control of a magnetic bearing according to any one of claims 1 to 5.
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