CN113251906A - Magnetic suspension bearing suspension state detection method and device - Google Patents
Magnetic suspension bearing suspension state detection method and device Download PDFInfo
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- CN113251906A CN113251906A CN202110754327.8A CN202110754327A CN113251906A CN 113251906 A CN113251906 A CN 113251906A CN 202110754327 A CN202110754327 A CN 202110754327A CN 113251906 A CN113251906 A CN 113251906A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention provides a method and a device for detecting the suspension state of a magnetic suspension bearing, which relate to the technical field of magnetic suspension bearings and comprise the following steps: firstly, acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier in the process of initializing a magnetic suspension bearing; then, under the suspension state of the magnetic suspension bearing, a second voltage signal of the position sensor is obtained; performing AND operation on a first detection result and/or a second detection result for reflecting whether the position sensor and the power amplifier have faults or not and a third detection result for reflecting whether the magnetic suspension bearing is in a suspension state or not to obtain an AND operation result; and when the AND operation result is 1, determining that the magnetic suspension bearing is in an effective suspension state. The invention can avoid the situation that the detection result of the suspension state of the magnetic suspension bearing is inconsistent with the actual situation caused by the fault of the position sensor or the power amplifier, and improve the accuracy of the detection result of the suspension state of the magnetic suspension bearing.
Description
Technical Field
The invention relates to the technical field of magnetic suspension bearings, in particular to a method and a device for detecting the suspension state of a magnetic suspension bearing.
Background
In the existing magnetic suspension bearing control process, whether the magnetic suspension bearing is in a suspension state is detected by upper computer software according to signals obtained by a magnetic suspension bearing controller and processed by a bearing position sensor. That is, when the voltage signal of the position sensor is 0V, it can be determined that the magnetic bearing is in the levitated state as a result of the detection. However, in the practical application process or the magnetic suspension system transportation process, the voltage signal of the position sensor is 0V due to the fault (for example, virtual connection or disconnection) of the position sensor or the fault of the power amplifier, and in this case, the obtained detection result is still in the suspension state of the magnetic suspension bearing, but the actual state of the magnetic suspension bearing may be in the non-suspension state, so the detection result is seriously inconsistent with the actual state of the magnetic suspension bearing, that is, the detection result is invalid. If the magnetic suspension bearing rotates at a high speed under the condition that the magnetic suspension bearing is mistakenly considered to be in a suspension state, destructive damage can be caused to the magnetic suspension bearing, and the reliability of the product is poor.
In summary, the existing detection method only detects whether the magnetic bearing is in the suspension state, and does not consider validity (i.e. authenticity) of the detection result, so that the existing detection method has the disadvantage of low accuracy of the detection result of the suspension state of the magnetic bearing.
Disclosure of Invention
The invention aims to provide a method and a device for detecting the suspension state of a magnetic suspension bearing, which are used for solving the technical problem of low accuracy of the detection result of the suspension state of the magnetic suspension bearing in the prior art.
In a first aspect, the present invention provides a method for detecting a suspension state of a magnetic suspension bearing, including: in the initialization process of the magnetic suspension bearing, acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier; the position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used for adjusting the position of the rotor; acquiring a second voltage signal of the position sensor in a suspension state of the magnetic suspension bearing; performing AND operation on the first detection result and/or the second detection result and the third detection result to obtain an AND operation result; wherein the first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state or not; and when the AND operation result is 1, determining that the magnetic suspension bearing is in an effective suspension state.
Further, the first voltage signal includes: before performing and operation on the first detection result and/or the second detection result and the third detection result to obtain an and operation result, the method further includes: determining a voltage difference value according to a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial top end and a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial bottom end; comparing the voltage difference value with a first preset voltage threshold value and a second preset voltage threshold value to obtain a voltage comparison result; wherein the second preset voltage threshold is less than the first preset voltage threshold; and determining the first detection result according to the voltage comparison result.
Further, determining the first detection result according to the voltage comparison result includes: if the voltage comparison result is that the voltage difference value is larger than the first preset voltage threshold value, determining that the position sensor and the power amplifier have no fault according to the first detection result; if the voltage comparison result is that the voltage difference value is larger than the second preset voltage threshold and smaller than the first preset voltage threshold, determining that the power amplifier is not in fault and the position sensor is in fault according to the first detection result; and if the voltage comparison result shows that the voltage difference value is smaller than or equal to the second preset voltage threshold, determining the first detection result as that the position sensor and/or the power amplifier have faults.
Further, before performing and operation on the first detection result and/or the second detection result, and the third detection result to obtain an and operation result, the method further includes: comparing the current signal of the power amplifier with a preset current threshold value to obtain a current comparison result; and determining a second detection result according to the current comparison result.
Further, determining a second detection result according to the current comparison result includes: if the current comparison result indicates that the current signal of the power amplifier is greater than the preset current threshold value and the first detection result indicates that the position sensor and/or the power amplifier is faulty, determining that the second detection result indicates that the power amplifier is not faulty and the position sensor is faulty; if the current comparison result indicates that the current signal of the power amplifier is smaller than or equal to the preset current threshold and the voltage signal of the position sensor changes when the position of the rotor changes, determining that the power amplifier has a fault and the position sensor has no fault according to the second detection result; and if the current comparison result indicates that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor does not change when the position of the rotor changes, determining the second detection result as that both the power amplifier and the position sensor have faults.
Further, the method further comprises: and when the AND operation result is 0, determining that the magnetic suspension bearing is in an invalid suspension state.
Further, the position sensor is a 5-way sensor, including: the device comprises an axial sensor, an upper radial X sensor, an upper radial Y sensor, a lower radial X sensor and a lower radial Y sensor.
In a second aspect, the present invention provides a magnetic suspension bearing levitation state detection apparatus, including: the first acquisition unit is used for acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier in the initialization process of the magnetic suspension bearing; the position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used for adjusting the position of the rotor; the second acquisition unit is used for acquiring a second voltage signal of the position sensor in a suspension state of the magnetic suspension bearing; the AND operation unit is used for carrying out AND operation on the first detection result and/or the second detection result and the third detection result to obtain an AND operation result; wherein the first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state or not; and the first determination unit is used for determining that the magnetic suspension bearing is in an effective suspension state when the AND operation result is 1.
In a third aspect, the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor executes the computer program to implement the steps of the magnetic suspension bearing levitation state detection method.
In a fourth aspect, the present invention further provides a computer readable medium having a non-volatile program code executable by a processor, wherein the program code causes the processor to execute the magnetic bearing levitation state detection method.
The invention provides a method and a device for detecting the suspension state of a magnetic suspension bearing, comprising the following steps: firstly, acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier in the process of initializing a magnetic suspension bearing; then, under the suspension state of the magnetic suspension bearing, a second voltage signal of the position sensor is obtained; performing AND operation on a first detection result and/or a second detection result for reflecting whether the position sensor and the power amplifier have faults or not and a third detection result for reflecting whether the magnetic suspension bearing is in a suspension state or not to obtain an AND operation result; and when the AND operation result is 1, determining that the magnetic suspension bearing is in an effective suspension state.
In the invention, when the AND operation result is 1, the position sensor and the power amplifier have no fault and the magnetic suspension bearing is in the suspension state, so that the effective suspension state of the magnetic suspension bearing can be determined by carrying out AND operation on the first detection result and/or the second detection result and the third detection result, the condition that the detection result of the suspension state of the magnetic suspension bearing does not accord with the actual state due to the fault of the position sensor or the power amplifier can be avoided, and the accuracy of the detection result of the suspension state of the magnetic suspension bearing is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a magnetic suspension bearing levitation state detection method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a magnetic suspension bearing suspension state detection system;
FIG. 3 is a cross-sectional view of a magnetic bearing;
FIG. 4 is a front sectional view of a magnetic suspension bearing;
FIG. 5 is a schematic view of the rotor drawn to the axial tip;
FIG. 6 is a diagram of detecting the suspension state of a magnetic suspension bearing;
FIG. 7 is a flow chart of another method for detecting a levitation state of a magnetic levitation bearing according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a magnetic suspension bearing levitation state detection apparatus according to an embodiment of the present invention.
Icon:
1-magnetic suspension bearing; 2-a position sensor; 3-a power amplifier; 4-an analog-to-digital converter; 5-DSP processor; 6-an upper computer; 11-a first acquisition unit; 12-a second acquisition unit; 13-and operation unit; 14-first determination unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. 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.
In the existing magnetic suspension bearing control process, the suspension state of the magnetic suspension bearing is detected by the upper computer software according to the signals obtained by the magnetic suspension bearing controller and processed by the bearing position sensor, and the current position of the magnetic suspension bearing is determined according to the voltage of the 5 paths of magnetic suspension bearing position signals. In general, when the voltage signals of the 5-way position sensor are all 0V, it can be said that the magnetic suspension bearing is in a suspension state. However, in the practical application process or in the magnetic suspension system transportation process, the situation that the input line of the front section of the position sensor is connected or disconnected occurs, at this time, the input line of the front section of the position sensor of the magnetic suspension bearing has no signal input, and the signal output of the rear end of the position sensor is still 0V.
Based on this, the present invention provides a method and an apparatus for detecting a suspension state of a magnetic suspension bearing, which can determine the validity of the suspension state of the magnetic suspension bearing by performing an and operation on a first detection result, a second detection result, and a third detection result, thereby avoiding a situation that the detection result of the suspension state of the magnetic suspension bearing does not match the actual situation due to a failure of a position sensor or a power amplifier, and improving the accuracy of the detection result of the suspension state of the magnetic suspension bearing.
For the convenience of understanding the embodiment, a detailed description will be given to a method for detecting a suspension state of a magnetic suspension bearing disclosed in the embodiment of the present invention.
Example 1:
in accordance with an embodiment of the present invention, there is provided an embodiment of a magnetic bearing levitation state detection method, it is noted that the steps illustrated in the flowchart of the drawings 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. 1 is a flowchart of a magnetic suspension bearing levitation state detection method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps S101 to S104:
step S101, in the process of initializing the magnetic suspension bearing, acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier. The position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used to adjust the position of the rotor. The magnetic bearing may be referred to as a bearing, the position sensor may be referred to as a magnetic bearing position sensor, and the first voltage signal may be referred to as a dynamic signal.
In the embodiment of the present invention, in order to better describe the implementation process of the magnetic suspension bearing suspension state detection method, a detailed analysis may be performed in combination with a magnetic suspension bearing suspension state detection system, where a structure of the magnetic suspension bearing suspension state detection system is shown in fig. 2, and includes: the magnetic suspension bearing device comprises a magnetic suspension bearing 1, a position sensor 2, a power amplifier 3, an analog-to-digital converter 4, a DSP (digital signal processor) 5 and an upper computer 6, wherein the connection relationship of the modules is as follows: the DSP processor 5, the power amplifier 3, the magnetic suspension bearing 1, the position sensor 2 and the analog-to-digital converter 4 are sequentially connected, the analog-to-digital converter 4 is further connected with the DSP processor 5, the position sensor 2 is further connected with the upper computer 6, and the DSP processor 5 is also connected with the upper computer 6.
In step S101, to implement the magnetic bearing initialization process, the DSP processor 5 respectively attracts the magnetic bearings 1 to two ends of 5 spatial directions by controlling the power amplifier 3, wherein the 5 spatial directions include: axial, upper radial X, upper radial Y, lower radial X and lower radial Y. As shown in fig. 3, the two axial ends are: the two ends of the upper radial direction X are respectively as follows: the two ends of the upper radial X + and the upper radial X-are respectively as follows: lower radial X + and lower radial X-. It is to be noted that the dark rectangles in fig. 3 represent the rotors of the magnetic bearing. As shown in fig. 4, two ends of the upper radial direction Y are: upper radial Y + and upper radial Y-. By analogy, the two ends of the radial direction Y are respectively: lower radial Y + and lower radial Y-. It is to be noted that the black solid rectangles in fig. 3 represent the magnetic bearing coils and the black boxes represent the magnetic bearing housing. The central circle in fig. 4 represents the rotor, the black outer circle represents the magnetic bearing housing, and the plurality of black squares represent the magnetic bearing coils in different directions.
The embodiment of the present invention is described below by taking the magnetic suspension bearing 1 as an example to be attracted to both ends in the axial direction: as shown in fig. 5, the magnetic suspension bearing 1 is first attracted to the axial + by controlling the power amplifier 3 through the DSP processor 5, and the analog-to-digital converter 4 is used to perform analog-to-digital conversion on the acquired voltage signal of the position sensor when the magnetic suspension bearing is located at the axial top end (i.e., the axial direction +) to obtain a corresponding voltage value; then, the magnetic suspension bearing 1 is attracted to the axial-direction by adopting the same operation mode, and the analog-to-digital converter 4 is used for carrying out analog-to-digital conversion on the acquired voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial bottom end (namely the axial direction) to obtain another corresponding voltage value. The first voltage signal of the position sensor therefore comprises the voltage signal of the position sensor when the magnetic bearing is located at the top axial end and the voltage signal of the position sensor when the magnetic bearing is located at the bottom axial end. After the magnetic suspension bearing 1 is attracted to the two ends in the axial direction, the embodiment of the invention can also acquire the current signal of the power amplifier 3.
And S102, acquiring a second voltage signal of the position sensor in the suspension state of the magnetic suspension bearing. In the embodiment of the invention, the DSP processor 5 is utilized to control the magnetic suspension bearing to be in a suspension state through the power amplifier 3, and the suspension state can be understood as follows: the DSP processor 5 has already performed the control of the levitation state on the magnetic levitation bearing, however, it needs to detect whether the magnetic levitation bearing is in the levitation state. Therefore, in the suspension state of the magnetic suspension bearing, the acquired second voltage signal of the position sensor is used for obtaining a detection result reflecting whether the magnetic suspension is in the suspension state or not in the subsequent operation.
And step S103, performing AND operation on the first detection result, the second detection result and the third detection result to obtain an AND operation result. The first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; and the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state or not.
For example, when the DSP processor controls the magnetic suspension bearing to be in the suspension state, the second voltage signal of the position sensor is monitored in real time, and whether a voltage value corresponding to the second voltage signal of the position sensor is within 0.1V or not is detected, and if the voltage value is within 0.1V, the third detection result is that the suspension is normal (i.e., the magnetic suspension bearing is in the suspension state), and if the voltage value is not within 0.1V, the third detection result is that the suspension is abnormal (i.e., the magnetic suspension bearing is in the non-suspension state).
Since the position sensor is used for detecting the position of the rotor, and the position sensor is a 5-way sensor, it includes: the axial sensor, the upper radial X sensor, the upper radial Y sensor, the lower radial X sensor and the lower radial Y sensor are arranged in a signal range (-5V, 5V), wherein 0V is the position of the rotor at the middle point, namely when the voltage value corresponding to the second voltage signal of the 5 sensors is 0V, the magnetic suspension bearing is in a suspension state. The reason why 0V is replaced by 0.1V in the embodiment of the present invention is: the position sensor is noisy and therefore does not remain at 0V at all times.
And step S104, when the AND operation result is 1, determining that the magnetic suspension bearing is in an effective suspension state. Step S104 can be understood as the detection of the second voltage signal of the position sensor by the upper computer 6, which is also the detection of the effective levitation state of the magnetic levitation bearing. The and operation result is used to indicate: the fault of the position sensor and/or the power amplifier and whether the magnetic bearing is in a suspension state. That is, the and operation result is only 1 if there is no failure in both the position sensor and the power amplifier and the third detection result indicates that the magnetic bearing is in the levitation state. As long as the above condition is not satisfied, the magnetic suspension bearing is determined to be in an ineffective suspension state.
In the embodiment of the invention, the first detection result and/or the second detection result and the third detection result are subjected to and operation, and the and operation result is output through an IO of the DSP processor, the external detection device can detect the validity of the levitation state of the magnetic suspension bearing by reading the IO state, and if the and operation result is 1, the levitation state signal (i.e., the second voltage signal of the position sensor) detected by the upper computer is valid, which indicates that the levitation state of the magnetic suspension bearing is normal, i.e., the magnetic suspension bearing is in a valid levitation state.
In the embodiment of the invention, when the and operation result is 1, both the position sensor and the power amplifier have no fault and the magnetic suspension bearing is in the suspension state, so that the embodiment of the invention can determine that the magnetic suspension bearing is in the effective suspension state by carrying out and operation on the first detection result and/or the second detection result and the third detection result, can avoid the condition that the detection result of the suspension state of the magnetic suspension bearing does not accord with the actual situation caused by the fault of the position sensor or the power amplifier, and improves the accuracy of the detection result of the suspension state of the magnetic suspension bearing.
In an optional embodiment, the method further comprises: and when the AND operation result is 0, determining that the magnetic suspension bearing is in an invalid suspension state.
If the AND operation result is 0, the suspension state signal detected by the upper computer is invalid, and the upper computer needs to be shut down to check a fault point. In the embodiment of the present invention, whether the position sensor fails or the power amplifier fails, the and operation result is 0. In the prior art, if the position sensor fails and/or the power amplifier fails and the third detection result indicates that the magnetic bearing is in the levitation state, the existing detection method determines directly according to the third detection result and determines that the magnetic bearing is in the levitation state. However, the third detection result does not match the actual condition, so in the embodiment of the present invention, in order to prevent the final detection result from matching the actual condition, whether the position sensor and/or the power amplifier has failed is detected, and in the case that the position sensor and/or the power amplifier has failed, even if the third detection result is that the magnetic suspension bearing is in the suspension state, the final detection result does not match the actual condition, and the accuracy of the detection result of the suspension state of the magnetic suspension bearing is improved.
In an alternative embodiment, since the position sensor is a 5-way sensor, it may include: the axial sensor, the upper radial X sensor, the upper radial Y sensor, the lower radial X sensor, and the lower radial Y sensor, and therefore, the determination of the first detection result can be performed for each of the axial direction and any radial direction. I.e. the detection in one direction, corresponds to one first detection result. If the first detection result in one direction is not that neither the position sensor nor the power amplifier is in fault, the corresponding sensor and/or the power amplifier in the direction is considered to be in fault, and the magnetic suspension bearing is in an invalid suspension state.
In general, the first voltage signal includes: before the voltage signal of the position sensor when the magnetic suspension bearing is located at the axial or radial top end and the voltage signal of the position sensor when the magnetic suspension bearing is located at the axial or radial bottom end are anded in step S103, the method further includes: step S105, determining a voltage difference value according to a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial top end and a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial bottom end; step S106, comparing the voltage difference value with a first preset voltage threshold value and a second preset voltage threshold value to obtain a voltage comparison result; the second preset voltage threshold is smaller than the first preset voltage threshold; step S107, determining a first detection result according to the voltage comparison result. It should be noted that, in the embodiment of the present invention, specific values of the first preset voltage threshold and the second preset voltage threshold are not specifically limited.
The specific operation of step S105 is: firstly, performing analog-to-digital conversion on a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial top end to obtain a corresponding voltage value, and then performing analog-to-digital conversion on the voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial bottom end to obtain another corresponding voltage value; and finally, carrying out difference on the two voltage values and taking an absolute value to obtain a voltage difference value.
In an alternative embodiment, the step S107 of determining the first detection result according to the voltage comparison result includes the following steps S201 to S203, where: in step S201, if the voltage comparison result is that the voltage difference is greater than the first preset voltage threshold, the first detection result is determined as: the position sensor and the power amplifier have no faults; in the embodiment of the present invention, the second preset voltage threshold is used to determine whether a voltage signal of the position sensor changes, and the set first preset voltage threshold is greater than the second preset voltage threshold, where the voltage difference is greater than the first preset voltage threshold, which indicates that the voltage difference is necessarily greater than the second preset voltage threshold, that is, the voltage signal of the position sensor changes, that is, it indicates that the rotor actually moves on the position, and further indicates that the power amplifier can normally drive the magnetic bearing coil to sequentially move the rotor to the two axial ends, so that the power amplifier is normal in this case. Step S202, if the voltage comparison result is that the voltage difference is greater than the second preset voltage threshold and smaller than the first preset voltage threshold, determining the first detection result as: the power amplifier is not faulty and the position sensor is faulty; the situation is as follows: the situation that the position sensor has a virtual connection and the power amplifier has no fault is specifically analyzed as follows: the voltage difference is greater than a second preset voltage threshold (for example, 0.1V), which indicates that the voltage signal of the position sensor has changed, i.e., the rotor has actually moved in position, and further indicates that the power amplifier can normally drive the magnetic bearing coil to move the rotor to both ends in the axial direction, so that the power amplifier is normal in this case. In this case, the voltage signal of the position sensor is unstable due to the virtual connection of the position sensor, so that the voltage difference of the position sensor cannot reach the first preset voltage threshold. In step S203, if the voltage comparison result is that the voltage difference is smaller than or equal to the second preset voltage threshold, the first detection result is determined as: the position sensor and/or the power amplifier are/is faulty. In this case, the voltage difference is smaller than or equal to the second preset voltage threshold, which indicates that the voltage signal of the position sensor is unchanged, and the reason why the voltage signal of the position sensor is unchanged includes any one of the following reasons: (1) the power amplifier is faulty, and the position sensor is not faulty, in which case, because the power amplifier is faulty, it cannot normally drive the magnetic bearing coils to move the rotor to the two axial ends in turn, that is, in this case, the rotor does not act, and its position does not change at all, so even if the position sensor is normal, a valid first voltage signal cannot be obtained, that is, the voltage signal of the position sensor is unchanged without changing the position of the rotor, that is, the voltage difference is less than or equal to the second preset voltage threshold. (2) The power amplifier is not faulty, and the position sensor is faulty, in which case although the power amplifier can normally drive the magnetic bearing coils to move the rotor to both ends in the axial direction, due to the fault of the position sensor, the voltage signal of the position sensor is unchanged in this case, and the voltage difference is equal to or less than the second preset voltage threshold. (3) According to the analysis of the former two reasons, when the rotor position is not changed and the position sensor is in fault, the voltage signal of the position sensor is also unchanged, namely the voltage difference value is less than or equal to the second preset voltage threshold value. Since the voltage difference value is less than or equal to the second preset voltage threshold in all of the three cases, it cannot be determined which component of the position sensor and the power amplifier is faulty only according to the voltage comparison result when the voltage signal of the position sensor is unchanged, and if a more definite detection result is obtained, it needs to be determined further according to the current signal of the power amplifier, and the specific analysis process is shown in the following steps S108 to S109.
In general, the second predetermined voltage threshold (e.g., 0.1V) is used to determine whether the voltage signal of the position sensor has changed. If the voltage difference is between the second preset voltage threshold and the first preset threshold (for example, 5V, which is set to not affect the control effect), it may be determined that the position sensor is in a virtual connection state, and if the voltage difference is greater than the first preset threshold, it may be determined that the position sensor and the power amplifier are both normal.
Step S105 to step S107 are to dynamically detect the voltage signal of the position sensor, and in the initialization process of the magnetic suspension bearing, the position sensor in the axial direction (i.e., the axial direction sensor) is taken as an example to be described as follows: the DSP processor sucks the magnetic suspension bearing to the top end and the bottom end of the axial direction by controlling the power amplifier, collects voltage signals of the position sensors when the rotor is at two ends of the axial direction, the two voltage signals are converted into corresponding voltage values under the action of the analog-to-digital converter, and the voltage values of the position sensors in other four radial directions (namely an upper radial X sensor, an upper radial Y sensor, a lower radial X sensor and a lower radial Y sensor) can be detected by the same method. And then judging whether the difference value of the two voltage values is less than or equal to a second preset voltage threshold value of 0.1V, if the difference value is less than or equal to 0.1V, indicating that one of the position sensor or the power amplifier is faulty, namely determining a first detection result as follows: the position sensor and/or the power amplifier are/is faulty. As to which of the two is faulty, a further analysis needs to be performed in conjunction with the current signal of the power amplifier. And if the absolute value of the voltage difference value of the position sensor is larger than the first preset voltage threshold value by 5V when the axial direction sensor is sucked to the two ends, the axial direction sensor and the power amplifier are normal (no fault).
In an optional embodiment, before performing and operation on the first detection result and/or the second detection result, and the third detection result in step S103 to obtain an and operation result, the method further includes steps S108 to S109: step S108, comparing the current signal of the power amplifier with a preset current threshold value to obtain a current comparison result; step S109, determining a second detection result according to the current comparison result.
In the case that the first detection result is that the position sensor and/or the power amplifier is faulty, the second detection results have three types: the power amplifier is not faulty and the position sensor is faulty, the power amplifier is faulty and the position sensor is not faulty, both the power amplifier and the position sensor are faulty. In order to determine whether the power amplifier has a fault, when the magnetic suspension bearing is attracted to two axial ends, a DSP processor is used to collect a current signal (or called as a current value) of the power amplifier, and determine whether the current value of the power amplifier is 0 when the rotor is attracted to each end, if the current value of the power amplifier is 0A, it indicates that the power amplifier has a fault, otherwise, if the current value of the power amplifier is greater than a preset current threshold value of 0.5A when the rotor is attracted to two ends, it indicates that the power amplifier is normal (i.e., no fault). Generally, only the second detection result obtained from the current signal of the power amplifier can determine whether the power amplifier is faulty or not.
After determining whether the power amplifier has failed, in order to further determine whether the position sensor has failed, that is, in order to determine which of the second detection results is, analysis may be performed according to the following steps S301 to S303.
In an alternative embodiment, the step S109 of determining the second detection result according to the current comparison result includes the following steps S301 to S303, where: step S301, if the current comparison result indicates that the current signal of the power amplifier is greater than the preset current threshold and the first detection result indicates that the position sensor and/or the power amplifier is faulty, determining the second detection result as: the power amplifier is not faulty and the position sensor is faulty; in step S302, if the current comparison result is that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor changes when the rotor position changes (the position of the rotor can be manually changed), determining a second detection result as: the power amplifier is faulty and the position sensor is not faulty; step S303, if the current comparison result indicates that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor does not change when the rotor position changes, determining a second detection result as: both the power amplifier and the position sensor are faulty.
As shown in fig. 6, the method for detecting a suspension state of a magnetic suspension bearing according to an embodiment of the present invention includes, in terms of flow, three steps: firstly, detecting a position sensor voltage signal (namely the first voltage signal) in an initialization process (namely the magnetic suspension bearing initialization process) by using a DSP controller to obtain a first detection result; secondly, detecting a current signal of the power amplifier in an initialization process to obtain a second detection result; and thirdly, detecting a sensor voltage signal (namely the second voltage signal) in a suspension state (namely the suspension state of the magnetic suspension bearing), and obtaining a third detection result. And secondly, performing AND operation on the first detection result and/or the second detection result and the third detection result obtained in the previous step. And thirdly, judging whether a third detection result of the magnetic suspension bearing in the suspension state is effective or not according to the AND operation result.
Analyzing the three steps, in the process of initializing the magnetic suspension bearing, detecting the validity of the suspension state of the magnetic suspension bearing according to a first voltage signal of a position sensor, a current signal of a power amplifier, and a second voltage signal of the position sensor when controlling the magnetic suspension bearing to be in the suspension state to obtain a first detection result, a second detection result and a third detection result, on the basis, if the first detection result is that neither the position sensor nor the power amplifier has a fault, performing an and operation on the first detection result and the third detection result to obtain an and operation result of 1, determining that the third detection result of the magnetic suspension bearing in the suspension state is valid, if the first detection result is that the position sensor and/or the power amplifier has a fault, performing an and operation on the first detection result and the third detection result to obtain an and operation result of 0, and determining that the third detection result that the magnetic suspension bearing is in the suspension state is invalid, namely that the magnetic suspension bearing is in the false suspension state.
And if the first detection result is that the position sensor and/or the power amplifier have faults, and if the second detection result is known to be the fault, performing and operation according to the second detection result and the third detection result inevitably obtains an and operation result of 0, and determining that the third detection result of the magnetic suspension bearing in the suspension state is invalid, namely the magnetic suspension bearing is in the false suspension state. That is, when performing the and operation, it is not necessary to perform the and operation on both the first detection result and the second detection result and the third detection result to obtain the and operation result, and it is generally determined whether the magnetic suspension bearing is in the effective suspension state according to the and operation of the first detection result and the third detection result. The purpose of obtaining the second detection result is to make it possible to further determine who is faulty between the power amplifier and the position sensor. Or, the magnetic suspension bearing can be determined to be in an invalid suspension state according to the AND operation of the second detection result and the third detection result.
The embodiment of the invention mainly aims to solve the problem of effectiveness detection in a suspension state of the magnetic suspension bearing, avoid the irreversible damage of the magnetic suspension bearing caused by high-speed rotation operation when the magnetic suspension bearing is in a false suspension state, determine whether the magnetic suspension bearing is in an effective suspension state or not by the three steps, eliminate poor contact of a position sensor signal line caused by vibration and the like in a production process and further improve the reliability of a product to a certain extent.
As shown in fig. 7, another magnetic suspension bearing levitation state detection method provided in the embodiment of the present invention includes the following steps S1-S7:
in step S1, the DSP processor initializes.
Step S2, controlling a power amplifier to suck the bearing to two ends; the bearing is the magnetic suspension bearing.
Step S3, detecting the voltage value of the position sensor when the bearing is at two ends; the method comprises the steps of firstly obtaining a voltage signal of a position sensor in an initialization process of a magnetic suspension bearing, and then carrying out analog-to-digital conversion on the voltage signal to obtain a corresponding voltage value.
Step S4, detecting the current value of the power amplifier when the bearing is at two ends; similarly, a current signal of the power amplifier is obtained, and then analog-to-digital conversion is performed on the current signal to obtain a corresponding current value.
Step S5, controlling the bearing to suspend; at this time, the DSP processor controls the magnetic suspension bearing to be in a suspension state.
Step S6, detecting a position sensor voltage value in a floating state; the method comprises the steps of firstly obtaining a voltage signal of a position sensor when the position sensor controls the magnetic suspension bearing to suspend, and then carrying out analog-to-digital conversion on the voltage signal to obtain a corresponding voltage value.
And step S7, determining the validity of the levitation state based on the above three values, returning to step S1 if the detection result is 0, and ending if the detection result is 1. The detection result is the AND operation result.
The embodiment of the invention firstly controls the magnetic suspension bearing to be in the initial process and then controls the magnetic suspension bearing to suspend, and in the whole control process, the suspension state of the magnetic suspension bearing can be detected and confirmed, namely, whether the magnetic suspension bearing is in the real suspension state or the false suspension state can be effectively detected, so that the magnetic suspension bearing is prevented from being in the false suspension state and not in the real suspension state in the starting and high-speed rotating processes, and the destructive damage to the magnetic suspension bearing is avoided. In other words, under the condition that the position sensor is in poor contact or disconnected, the embodiment of the invention can accurately detect the effective suspension state of the magnetic suspension bearing, and avoids irreversible damage caused by high-speed rotation under the pseudo-suspension state of the magnetic bearing. In addition, the embodiment of the invention improves the reliability of the product.
Example 2:
the embodiment of the invention provides a magnetic suspension bearing suspension state detection device, which is mainly used for executing the magnetic suspension bearing suspension state detection method provided by the embodiment 1, and the magnetic suspension bearing suspension state detection device provided by the embodiment of the invention is specifically introduced below.
Fig. 8 is a schematic structural diagram of a magnetic suspension bearing levitation state detection apparatus according to an embodiment of the present invention. As shown in fig. 8, the magnetic suspension bearing suspension state detection device mainly includes: a first acquisition unit 11, a second acquisition unit 12, an and operation unit 13, and a first determination unit 14, wherein:
the first acquiring unit 11 is used for acquiring a first voltage signal of the position sensor and/or a current signal of the power amplifier in the initialization process of the magnetic suspension bearing; the position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used for adjusting the position of the rotor;
the second acquiring unit 12 is configured to acquire a second voltage signal of the position sensor in a suspension state of the magnetic suspension bearing;
the and operation unit 13 is used for performing and operation on the first detection result and/or the second detection result and the third detection result to obtain an and operation result; the first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state;
and the first determination unit 14 is used for determining that the magnetic suspension bearing is in an effective suspension state when the AND operation result is 1.
In the embodiment of the present invention, when the and operation result is 1, both the position sensor and the power amplifier have no fault and the magnetic suspension bearing is in the suspension state, so that the embodiment of the present invention can determine that the magnetic suspension bearing is in the effective suspension state through the and operation unit 13 and the first determination unit 14, can avoid the situation that the detection result of the suspension state of the magnetic suspension bearing does not conform to the actual situation caused by the fault of the position sensor or the power amplifier, and improve the accuracy of the detection result of the suspension state of the magnetic suspension bearing.
Optionally, the first voltage signal comprises: the device also comprises a second determining unit, a first comparing unit and a third determining unit, wherein the voltage signals of the position sensor when the magnetic suspension bearing is positioned at the axial top end or the radial top end and the voltage signals of the position sensor when the magnetic suspension bearing is positioned at the axial bottom end or the radial bottom end, and the device also comprises the following steps:
the second determining unit is used for determining a voltage difference value according to a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial top end and a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial bottom end;
the first comparison unit is used for comparing the voltage difference value with a first preset voltage threshold value and a second preset voltage threshold value to obtain a voltage comparison result; the second preset voltage threshold is smaller than the first preset voltage threshold;
and the third determining unit is used for determining the first detection result according to the voltage comparison result.
Optionally, the third determining unit includes a first determining module, a second determining module, and a third determining module, wherein:
the first determining module is configured to determine the first detection result as: the position sensor and the power amplifier have no faults;
a second determining module, configured to determine the first detection result as: the power amplifier is not faulty and the position sensor is faulty;
a third determining module, configured to determine the first detection result as: the position sensor and/or the power amplifier are/is faulty.
Optionally, the apparatus further comprises: a second comparing unit and a fourth determining unit, wherein:
the second comparison unit is used for comparing the current signal of the power amplifier with a preset current threshold value to obtain a current comparison result;
and the fourth determining unit is used for determining a second detection result according to the current comparison result.
Optionally, the fourth determining unit includes a fourth determining module, a fifth determining module and a sixth determining module, wherein:
a fourth determining module, configured to determine the second detection result as: the power amplifier is not faulty and the position sensor is faulty;
a fifth determining module, configured to determine a second detection result as follows if the current comparison result indicates that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor changes when the position of the rotor changes: the power amplifier is faulty and the position sensor is not faulty;
a sixth determining module, configured to determine a second detection result as follows if the current comparison result is that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor when the position of the rotor changes does not change: both the power amplifier and the position sensor are faulty.
Optionally, the apparatus further comprises a fifth determining unit:
and the fifth determining unit is used for determining that the magnetic suspension bearing is in an invalid suspension state when the AND operation result is 0.
Optionally, the position sensor is a 5-way sensor comprising: the device comprises an axial sensor, an upper radial X sensor, an upper radial Y sensor, a lower radial X sensor and a lower radial Y sensor.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In an optional embodiment, the present embodiment further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps of the method of the foregoing method embodiment.
In an alternative embodiment, the present embodiment also provides a computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of the above method embodiment.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present embodiment, it should be noted that the terms "middle", "upper", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present embodiment.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the embodiments provided in the present embodiment, it should be understood that the disclosed method and apparatus may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of 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 of devices or units through some communication interfaces, and may be in an electrical, mechanical 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 network 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present embodiment or parts of the technical solution may be essentially implemented in the form of a software product stored in a storage medium and including 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 removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A magnetic suspension bearing suspension state detection method is characterized by comprising the following steps:
in the initialization process of the magnetic suspension bearing, acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier; the position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used for adjusting the position of the rotor;
acquiring a second voltage signal of the position sensor in a suspension state of the magnetic suspension bearing;
performing AND operation on the first detection result and/or the second detection result and the third detection result to obtain an AND operation result; wherein the first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state or not;
and when the AND operation result is 1, determining that the magnetic suspension bearing is in an effective suspension state.
2. The method of claim 1, wherein the first voltage signal comprises: before performing and operation on the first detection result and/or the second detection result and the third detection result to obtain an and operation result, the method further includes:
determining a voltage difference value according to a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial top end and a voltage signal of the position sensor when the magnetic suspension bearing is positioned at the axial or radial bottom end;
comparing the voltage difference value with a first preset voltage threshold value and a second preset voltage threshold value to obtain a voltage comparison result; wherein the second preset voltage threshold is less than the first preset voltage threshold;
and determining the first detection result according to the voltage comparison result.
3. The method of claim 2, wherein determining the first detection result from the voltage comparison result comprises:
if the voltage comparison result is that the voltage difference value is larger than the first preset voltage threshold value, determining that the position sensor and the power amplifier have no fault according to the first detection result;
if the voltage comparison result is that the voltage difference value is larger than the second preset voltage threshold and smaller than the first preset voltage threshold, determining that the power amplifier is not in fault and the position sensor is in fault according to the first detection result;
and if the voltage comparison result shows that the voltage difference value is smaller than or equal to the second preset voltage threshold, determining the first detection result as that the position sensor and/or the power amplifier have faults.
4. The method of claim 1, wherein before performing an and operation on the first detection result and/or the second detection result, and the third detection result to obtain an and operation result, the method further comprises:
comparing the current signal of the power amplifier with a preset current threshold value to obtain a current comparison result;
and determining a second detection result according to the current comparison result.
5. The method of claim 4, wherein determining a second detection result based on the current comparison comprises:
if the current comparison result indicates that the current signal of the power amplifier is greater than the preset current threshold value and the first detection result indicates that the position sensor and/or the power amplifier is faulty, determining that the second detection result indicates that the power amplifier is not faulty and the position sensor is faulty;
if the current comparison result indicates that the current signal of the power amplifier is smaller than or equal to the preset current threshold and the voltage signal of the position sensor changes when the position of the rotor changes, determining that the power amplifier has a fault and the position sensor has no fault according to the second detection result;
and if the current comparison result indicates that the current signal of the power amplifier is less than or equal to the preset current threshold and the voltage signal of the position sensor does not change when the position of the rotor changes, determining the second detection result as that both the power amplifier and the position sensor have faults.
6. The method of claim 1, further comprising:
and when the AND operation result is 0, determining that the magnetic suspension bearing is in an invalid suspension state.
7. The method of claim 1, wherein the position sensor is a 5-way sensor comprising: the device comprises an axial sensor, an upper radial X sensor, an upper radial Y sensor, a lower radial X sensor and a lower radial Y sensor.
8. A magnetic suspension bearing suspension state detection device is characterized by comprising:
the first acquisition unit is used for acquiring a first voltage signal of a position sensor and/or a current signal of a power amplifier in the initialization process of the magnetic suspension bearing; the position sensor is used for detecting the position of a rotor in the magnetic suspension bearing; the power amplifier is used for adjusting the position of the rotor;
the second acquisition unit is used for acquiring a second voltage signal of the position sensor in a suspension state of the magnetic suspension bearing;
the AND operation unit is used for carrying out AND operation on the first detection result and/or the second detection result and the third detection result to obtain an AND operation result; wherein the first detection result is a detection result corresponding to a first voltage signal of the position sensor, the second detection result is a detection result corresponding to a current signal of the power amplifier, and the third detection result is a detection result corresponding to a second voltage signal of the position sensor; the first detection result and the second detection result are used for reflecting whether the position sensor and the power amplifier have faults or not; the third detection result is used for reflecting whether the magnetic suspension bearing is in a suspension state or not;
and the first determination unit is used for determining that the magnetic suspension bearing is in an effective suspension state when the AND operation result is 1.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any of claims 1 to 7.
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yi Cunyu Inventor after: Sha Honglei Inventor after: Hong Shenping Inventor after: Yu Tianye Inventor after: Li Kai Inventor after: Liu Wanhu Inventor before: Yi Cunyu Inventor before: Sha Honglei Inventor before: Hong Shenping Inventor before: Yu Tianye Inventor before: Wang Xiaolu Inventor before: Li Kai Inventor before: Liu Wanhu |