CN113280043B - Magnetic bearing control device and method and magnetic suspension system - Google Patents
Magnetic bearing control device and method and magnetic suspension system Download PDFInfo
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- CN113280043B CN113280043B CN202110564753.5A CN202110564753A CN113280043B CN 113280043 B CN113280043 B CN 113280043B CN 202110564753 A CN202110564753 A CN 202110564753A CN 113280043 B CN113280043 B CN 113280043B
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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
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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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- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a control device and a method of a magnetic bearing and a magnetic suspension system, wherein the device comprises: the sampling unit is used for sampling the control current of the magnetic bearing coil in the running process of the magnetic bearing rotor; the control unit determines whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil; if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent out; and the switching unit acts according to the electromagnetic force adjusting instruction to adjust the number of the sub-coils connected into the control loop of the magnetic bearing among more than two sub-coils, so as to realize the adjustment of the electromagnetic force of the magnetic bearing coil. According to the scheme, when the magnetic bearing rotor is impacted by a large external force, the overlarge coil current of the magnetic bearing coil or the output of the magnetic bearing is adjusted, so that the operation stability of the magnetic bearing system is ensured.
Description
Technical Field
The invention belongs to the technical field of magnetic suspension, and particularly relates to a magnetic bearing control device, a magnetic bearing control method and a magnetic suspension system, in particular to a magnetic bearing control device with variable coil turns, a magnetic suspension system and a magnetic bearing control method with variable coil turns.
Background
In a magnetic bearing system (i.e., a magnetic suspension bearing system), when a magnetic bearing rotor is impacted by a large external force, if the coil current of a magnetic bearing coil is too large or the magnetic bearing output is insufficient, the operational stability of the magnetic suspension bearing is affected.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a control device and a control method of a magnetic bearing and a magnetic suspension system, which are used for solving the problem that when a magnetic bearing rotor is impacted by a large external force, if the coil current of a magnetic bearing coil is overlarge or the magnetic bearing output is insufficient, the operation stability of the magnetic bearing system is influenced, and the effect of ensuring the operation stability of the magnetic bearing system by adjusting the coil current of the magnetic bearing coil to be overlarge or the magnetic bearing output when the magnetic bearing rotor is impacted by the large external force is achieved.
The present invention provides a magnetic bearing control device, including: a magnetic bearing coil and a magnetic bearing rotor; the magnetic bearing coil, comprising: more than two sub-coils; a control device for a magnetic bearing comprising: the device comprises a sampling unit, a switching unit and a control unit; the switching unit can switch and control the number of sub-coils which are connected to a control circuit of the magnetic bearing in more than two sub-coils; wherein the sampling unit is configured to sample the control current of the magnetic bearing coils during operation of the magnetic bearing rotor; the control unit is configured to determine whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil; if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent out; the switching unit is configured to act according to the electromagnetic force adjusting instruction to adjust the number of sub-coils in a control loop of the magnetic bearing among the two or more sub-coils, so as to adjust the electromagnetic force of the magnetic bearing coils.
In some embodiments, further comprising: the control unit is configured to issue a floating instruction when the magnetic bearing rotor floats; the switching unit is configured to act according to the floating command so as to enable a first part of the sub-coils in the two or more sub-coils to be connected into a control loop of the magnetic bearing; wherein the switching unit operates according to the electromagnetic force adjustment instruction to adjust the number of sub-coils in a control circuit connected to the magnetic bearing among two or more sub-coils, thereby adjusting the electromagnetic force of the magnetic bearing coil, and the switching unit includes: and operating according to the electromagnetic force adjusting command so that a second part of the sub-coils in the more than two sub-coils are also connected into the control loop of the magnetic bearing, and increasing the number of the sub-coils in the control loop of the magnetic bearing in the more than two sub-coils so as to increase the electromagnetic force of the magnetic bearing coils.
In some embodiments, the number of magnetic bearing coils is four or more; in each of the magnetic bearing coils, two or more of the sub-coils, including: a first portion of said sub-coils and a second portion of said sub-coils; a first portion of the sub-coils comprising: a first sub-coil; a second portion of the sub-coils comprising: a second sub-coil; the switching unit includes: a first switch module, a second switch module and a third switch module; wherein the first switch module and the second switch module are connected in series; the first end part of the first sub-coil is connected into a control loop of the magnetic bearing; a second end portion of the first sub-coil connected to a common terminal of the first and second switch modules; the first end part of the second sub-coil is connected into a control loop of the magnetic bearing through the first switch module and the second switch module; and the second end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the third switch module.
In some embodiments, further comprising: the sampling unit is further configured to sample the position parameters of the magnetic bearing rotor under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats; the control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor is within a set accuracy range according to the position parameter of the magnetic bearing rotor; and if the displacement accuracy of the magnetic bearing rotor is not within the set accuracy range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil.
In some embodiments, further comprising: the control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor has been adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor after controlling the operation of the magnetic bearing rotor according to the adjusted control current of the magnetic bearing coils; and if the displacement accuracy of the magnetic bearing rotor is not adjusted to be within the set accuracy range, determining whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil.
In accordance with the above apparatus, a magnetic levitation system is provided in another aspect of the present invention, including: the control device for a magnetic bearing described above.
In accordance with the above magnetic levitation system, a further aspect of the present invention provides a method for controlling a magnetic bearing, the magnetic bearing including: a magnetic bearing coil and a magnetic bearing rotor; the magnetic bearing coil, comprising: more than two sub-coils; a method of controlling a magnetic bearing, comprising: sampling control currents of the magnetic bearing coils during operation of the magnetic bearing rotor; determining whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil; if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent out; and performing action according to the electromagnetic force adjusting instruction to adjust the number of sub-coils in a control loop of the magnetic bearing among more than two sub-coils, so as to adjust the electromagnetic force of the magnetic bearing coil.
In some embodiments, further comprising: sending a floating instruction under the condition that the magnetic bearing rotor floats; operating according to the floating command so as to enable a first part of the sub-coils in the more than two sub-coils to be connected into a control loop of the magnetic bearing; wherein, the adjusting electromagnetic force instruction is used for adjusting the number of the sub-coils in the control loop of the magnetic bearing among more than two sub-coils to realize the adjustment of the electromagnetic force of the magnetic bearing coil, and the adjusting electromagnetic force instruction comprises the following steps: and operating according to the electromagnetic force adjusting command so that a second part of the sub-coils in the more than two sub-coils are also connected into the control loop of the magnetic bearing, and increasing the number of the sub-coils in the control loop of the magnetic bearing in the more than two sub-coils so as to increase the electromagnetic force of the magnetic bearing coils.
In some embodiments, further comprising: sampling position parameters of the magnetic bearing rotor under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats; determining whether the displacement precision of the magnetic bearing rotor is within a set precision range according to the position parameters of the magnetic bearing rotor; and if the displacement accuracy of the magnetic bearing rotor is not within the set accuracy range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil.
In some embodiments, further comprising: determining whether the displacement accuracy of the magnetic bearing rotor is adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor after controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil; and if the displacement accuracy of the magnetic bearing rotor is not adjusted to be within the set accuracy range, determining whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil.
Therefore, according to the scheme of the invention, each magnetic bearing coil is set into two parts of coils, and a coil switch switching module is arranged at each magnetic bearing coil; when detecting that the magnetic bearing rotor is impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to perform impact resistance protection; therefore, when the magnetic bearing rotor is impacted by a large external force, the overlarge coil current of the magnetic bearing coil or the magnetic bearing output is adjusted, so that the operation stability of the magnetic bearing system is ensured.
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 technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic diagram of the construction of one embodiment of a magnetic bearing radial control system;
FIG. 2 is a force effect schematic of an embodiment of a magnetic bearing in the radial forward X direction;
FIG. 3 is a schematic structural view of one embodiment of a control device for a magnetic bearing of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of a variable coil control system of an embodiment of a magnetic bearing in the radial forward X direction;
FIG. 5 is a flow diagram of an embodiment of magnetic bearing shock protection logic;
FIG. 6 is a schematic flow chart diagram of one embodiment of a method of controlling a magnetic bearing of the present invention;
FIG. 7 is a schematic flow chart illustrating one embodiment of controlling the magnetic bearing coils in the levitating condition of the magnetic bearing rotor in the method of the present invention;
FIG. 8 is a schematic flow chart illustrating one embodiment of adjusting the control currents to the magnetic bearing coils during or after the levitation of the magnetic bearing rotor in the method of the present invention;
fig. 9 is a schematic flow chart illustrating an embodiment of adjusting the external force impact after adjusting the control current of the magnetic bearing coil in the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
Fig. 1 is a schematic structural diagram of an embodiment of a magnetic bearing radial control system, and in particular, a schematic structural diagram of an overall control of a magnetic bearing radial control system with four degrees of radial freedom. As shown in fig. 1, a radial four-degree-of-freedom magnetic bearing radial control system includes: a sensor (i.e., a displacement sensor), a displacement sensor signal conversion circuit, a controller, and a power amplifier. And the displacement sensor is arranged at the magnetic bearing with four radial degrees of freedom. In the magnetic bearing system, a displacement sensor detects the suspension position information of a magnetic bearing rotor, a displacement feedback value is fed back to a controller in real time through a displacement sensor signal conversion circuit, and the control current is obtained through the adjustment of the controller. The power amplifier detects the current of the magnetic bearing coil in real time through the current sensor to obtain a current feedback value, compares the current feedback value with the control current output by the controller to regulate the current, changes the current of the magnetic bearing coil to further realize the position control of the magnetic bearing rotor, and enables the magnetic bearing rotor to be stably suspended at a given reference position. Once the magnetic bearing rotor is impacted by a large external force, effective electromagnetic force needs to be provided by increasing the coil current of the magnetic bearing coil, and when the current of the magnetic bearing coil is too large, the magnetic bearing coil is possibly burnt, the rotor falls off, and the compressor is damaged.
In the magnetic bearing radial control system shown in fig. 1, a double closed-loop control system is a displacement control system and a current control system. The power amplifier refers to current loop control, a current sensor is arranged in the current loop control, the current sensor detects current in real time, and the feedback current and the output of the displacement controller are subjected to differential regulation.
In the example shown in fig. 1, in the radial control of the magnetic bearing, current differential control is adopted, two current differentials in the front X direction (FX) in the radial direction, two current differentials in the front Y direction (FY), two current differentials in the rear X direction (RX) in the radial direction, and two current differentials in the rear Y direction (RY) in the radial direction, and a total of 8 closed current control channels are provided, and only one current control channel will be described below.
Fig. 2 is a force action diagram of an embodiment of the magnetic bearing in the radial forward X direction, which can schematically show the electromagnetic force condition of the rotor shaft of a single coil. As shown in fig. 2, a path of electromagnetic force FX1 in the front radial direction X of the magnetic bearing system is:
wherein, the formula (1) is an exemplary description of the rotor stress under a single coil, mu0Air permeability (H/m); n is the number of turns of the coil winding of the magnetic bearing coil; a is the cross-sectional area (m) of the magnetic circuit of the stator core2) (ii) a i is the coil current; and x is the length of an air gap between the stator and the rotor core.
According to an embodiment of the present invention, a control device for a magnetic bearing is provided. Referring to fig. 3, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The magnetic bearing, comprising: a magnetic bearing coil and a magnetic bearing rotor. The magnetic bearing coil, comprising: more than two sub-coils. More than two sub-coils are arranged in parallel. A control device for a magnetic bearing comprising: the device comprises a sampling unit, a switching unit and a control unit. The switching unit is provided between the two or more sub-coils and the control unit, and is capable of switching and controlling the number of sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils. In each of the magnetic bearing coils, two or more of the sub-coils are connected to the switching unit. The control circuit of the magnetic bearing may be a control circuit including a sub-coil connected to the control circuit among the magnetic bearing coils, a power amplifier, a controller, a displacement sensor signal conversion circuit, and a displacement sensor, and may be as shown in fig. 1, 2, and 4.
Wherein the sampling unit is configured to sample the control current of the magnetic bearing coils during operation of the magnetic bearing rotor, in particular in case of operation of the magnetic bearing rotor after levitation. Specifically, the sampling unit includes: and a current sensor. The current sensor is configured to sample the control current of the magnetic bearing coils during operation of the magnetic bearing rotor, in particular in the case of operation of the magnetic bearing rotor after levitation. The control current may be the current output by a power amplifier in the control loop of the magnetic bearing.
The control unit is configured to determine whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil. And if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent. The electromagnetic force adjustment command is a command capable of adjusting the number of sub-coils connected to a control circuit of the magnetic bearing. Of course, if the magnetic bearing rotor is not impacted by an external force, the magnetic bearing rotor is controlled to maintain the current operation state.
The switching unit is configured to act according to the electromagnetic force adjusting instruction so as to adjust the number of sub-coils in a control loop of the magnetic bearing, among the two or more sub-coils, to realize adjustment of the electromagnetic force of the magnetic bearing coil, that is, the number of the sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils is increased to adjust the electromagnetic force of the magnetic bearing coil, so that the electromagnetic force of the magnetic bearing coil is increased, and when the magnetic bearing rotor is impacted by a large external force, if the coil current of the magnetic bearing coil is too large or the magnetic bearing output is insufficient, the operation stability of the magnetic bearing system is affected, therefore, when the magnetic bearing rotor is impacted by a large external force, the overlarge coil current of the magnetic bearing coil or the magnetic bearing output is adjusted to ensure the operation stability of the magnetic bearing system.
Specifically, the switching unit may be a switch switching module. The two or more sub-coils may be at least two part coil windings. Thus, the aspect of the present invention provides an impact-resistant magnetic bearing control scheme by providing a switch switching module and coil winding, that is, by providing each magnetic bearing coil as two-part coils and a coil switch switching module at each magnetic bearing coil. When the displacement sensor detects that the magnetic bearing rotor is impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to carry out shock resistance protection, so that the running stability of the magnetic bearing rotor is improved, and the problem that the magnetic bearing rotor is unstable in a short time due to overlarge coil current of the magnetic bearing coil or insufficient magnetic bearing force when the magnetic bearing rotor is impacted by sudden large external force is solved.
In some embodiments, further comprising: the process of controlling the magnetic bearing coils in the case of floating of the magnetic bearing rotor can be seen in particular in the following exemplary description.
The control unit is configured to issue a levitation command in case the magnetic bearing rotor is levitated. The levitation command is used for enabling the switching unit to perform a first action so that a first part of the sub-coils in the two or more sub-coils and the control unit form a loop and are connected into a control loop of the magnetic bearing.
And the switching unit is configured to operate according to the floating command so that a first part of the sub-coils in the two or more sub-coils are connected to a control loop of the magnetic bearing, namely, so that the first part of the sub-coils in the two or more sub-coils and the control unit form a loop and are connected to the control loop of the magnetic bearing. Wherein, the first part of two or more sub-coils includes: at least one of the two or more sub-coils.
Wherein the switching unit operates according to the electromagnetic force adjustment instruction to adjust the number of sub-coils in a control circuit connected to the magnetic bearing among two or more sub-coils, thereby adjusting the electromagnetic force of the magnetic bearing coil, and the switching unit includes: the switching unit is further configured to operate according to the adjustment electromagnetic force command, so that a second part of the sub-coils of the two or more sub-coils is also connected to the control circuit of the magnetic bearing, and the number of the sub-coils of the two or more sub-coils connected to the control circuit of the magnetic bearing is increased, so as to increase the electromagnetic force of the coils of the magnetic bearing. Wherein, the second part of more than two sub-coils of the sub-coil includes: at least one of the sub-coils, except for a first part of the sub-coils, of the two or more sub-coils remains.
Therefore, when the magnetic bearing rotor is impacted by large external force, the electromagnetic force of the magnetic suspension bearing is effectively increased by increasing the number of turns of the coil on the magnetic yoke of the electromagnetic bearing, and the operation stability of the magnetic bearing system is improved. The change of the coil winding structure of the magnetic bearing coil is realized by switching the switches of the two parts of coils through the coil switch switching module, so that the increase of electromagnetic force is realized, and the change of electromagnetic control force applied to the rotor is realized by switching the coils.
In some embodiments, the number of magnetic bearing coils is four or more. In each of the magnetic bearing coils, two or more of the sub-coils, including: a first portion of the sub-coils and a second portion of the sub-coils. A first portion of the sub-coils comprising: a first sub-coil. A second portion of the sub-coils comprising: and a second sub-coil. The first sub-coil, in the example shown in fig. 4 a dashed coil. The second sub-coil, such as the solid-line coil in the example shown in fig. 4.
The switching unit includes: the first switch module, the second switch module and the third switch module. A first switch module such as switch K1, a second switch module such as switch K2, and a third switch module such as switch K3.
Wherein the first switch module and the second switch module are connected in series. And the first end part of the first sub-coil is connected into a control loop of the magnetic bearing. And the second end part of the first sub-coil is connected to the common end of the first switch module and the second switch module.
And the first end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the first switch module and the second switch module. And the second end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the third switch module. The second switch module and the second switch module have a common end, and the second switch module and the third switch module are connected into a control loop of the magnetic bearing from the common end of the second switch module and the third switch module.
Fig. 4 is a schematic structural diagram of an embodiment of a variable coil control system of an embodiment of a magnetic bearing in a radial forward X direction. Fig. 4 may show a control structure of a single coil. The example shown in fig. 4 may be a modified coil structure performed under the structure of the example shown in fig. 1, fig. 4 exemplarily shows a modified coil structure performed for one coil (modified coil structure schematically distinguished as shown by a dotted line and a solid line), and the remaining three coils in fig. 4 are modified coil structures identical to the modified coil structure schematically distinguished as shown by a dotted line and a solid line.
Fig. 4 is a schematic structural diagram of an embodiment of a variable coil control system of an embodiment of the magnetic bearing in the radial forward X direction. As shown in fig. 4, the structure of the magnetic bearing changing coil control structure along the radial forward X direction is added with a coil switch switching module, and by analyzing along the radial forward X direction, when the magnetic bearing initially floats and the displacement sensor detects that the displacement accuracy is not poor, the switch K1 and the switch K3 are always open, the switch K2 is closed, and the electromagnetic force FX1 along the radial forward X direction is
The formula (2) is the rotor stress under a single coil when the coil switch is switched in the switch switching mode 1, and the switch switching mode 1 is the mode when the magnetic bearing rotor normally operates. Equation (2) represents an electromagnetic force in a switching mode.
When large external force impacts exist and the displacement sensor is poor in displacement detection precision, the switch K1 and the switch K3 are closed, the switch K2 is opened, and the radial front X-direction one-path electromagnetic force FX1' is as follows:
the formula (3) is the rotor stress under a single coil when the coil switch is switched in the switch switching mode 2, and the switch switching mode 2 is the mode when the magnetic bearing rotor is impacted by external force. Equation (3) represents the electromagnetic force in another switching mode.
It should be noted that, the winding mode of the magnetic bearing coil is switched by the switch switching module, when the magnetic bearing rotor is impacted by external force, the output of the magnetic bearing coil is changed from formula (2) to formula (3), and the output is obviously increased, so that the problem that when the magnetic bearing rotor is impacted by large external force, if the coil current of the magnetic bearing coil is too large or the magnetic bearing output is not enough, the operation stability of the magnetic bearing system is affected can be avoided, and therefore, when the magnetic bearing rotor is impacted by large external force, the coil current of the magnetic bearing coil is too large or the magnetic bearing output is adjusted, so as to ensure the operation stability of the magnetic bearing system.
In the formula (1), the formula (2) and the formula (3), values of the parameters used may be different according to the design of the coil. And, it is verified that the electromagnetic force of the designed coil structure is four times that of the coil structure which is not designed when the coil current is not changed.
In some embodiments, further comprising: the process of adjusting the control currents of the magnetic bearing coils during or after levitation of the magnetic bearing rotor can be seen in particular in the following exemplary description.
The sampling unit is further configured to sample the position parameter of the magnetic bearing rotor under the condition that the magnetic bearing rotor is floated or under the condition that the magnetic bearing rotor is not impacted by external force after being floated. Specifically, the sampling unit further includes: a displacement sensor configured to sample a position parameter of the magnetic bearing rotor in a case where the magnetic bearing rotor is floated or in a case where the magnetic bearing rotor is not impacted by an external force after floating. The position parameter may be levitation position information.
The control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor is within a set accuracy range according to the position parameter of the magnetic bearing rotor. And the number of the first and second groups,
the control unit is further configured to adjust the control current of the magnetic bearing coil if the displacement accuracy of the magnetic bearing rotor is not within the set accuracy range, and to control the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil. Of course, if the displacement accuracy of the magnetic bearing rotor is within a set accuracy range, the magnetic bearing rotor is controlled to maintain the current operating state.
In particular, it may be determined whether a position parameter of the magnetic bearing rotor is within a set position parameter range. And if the position parameter of the magnetic bearing rotor is within the set position parameter range, determining that the displacement precision of the magnetic bearing rotor is within the set precision range. And if the position parameter of the magnetic bearing rotor is not in the set position parameter range, determining that the displacement precision of the magnetic bearing rotor is not in the set precision range.
In some embodiments, further comprising: the following exemplary description may be referred to for a further adjustment of the external force impact after the adjustment of the control current of the magnetic bearing coil.
The control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor has been adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor after controlling the operation of the magnetic bearing rotor according to the adjusted control current of the magnetic bearing coil, preferably after controlling the operation of the magnetic bearing rotor for a set time according to the adjusted control current of the magnetic bearing coil. And the number of the first and second groups,
the control unit is further configured to determine whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil if the displacement accuracy of the magnetic bearing rotor is not adjusted to be within the set accuracy range. Of course, if the displacement accuracy of the magnetic bearing rotor is adjusted to be within the set accuracy range, the magnetic bearing rotor is controlled to maintain the current operation state.
Specifically, the control unit determining whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil includes: determining whether the control current of the magnetic bearing coil reaches a set upper protection limit, and if the control current of the magnetic bearing coil reaches the set upper protection limit, determining that the magnetic bearing rotor is impacted by external force; and if the control current of the magnetic bearing coil does not reach the set upper protection limit, controlling the magnetic bearing rotor to maintain the current operation state.
Fig. 5 is a flow diagram of an embodiment of magnetic bearing shock protection logic. As shown in fig. 5, is an impact protection logic for a magnetic bearing, comprising:
step 1, when external force impact occurs, firstly, the current of a coil is changed in a mode of adjusting and controlling the current through the adjustment of a controller, and the electromagnetic force is increased, so that the magnetic bearing rotor can be suspended stably.
Specifically, whether the displacement accuracy of the magnetic bearing rotor is poor or not is judged, and if yes, the controller works to adjust the control current. Otherwise, continuously judging whether the displacement accuracy of the magnetic bearing rotor is poor.
For example: the displacement accuracy, i.e. the suspension accuracy, ranges from 30 micrometers to-30 micrometers, preferably 0 micrometer. The displacement accuracy is considered poor when the difference between the levitation accuracy and the set accuracy is generally greater than 50 microns.
And 2, when the current sensor detects that the output current reaches the upper protection limit and the displacement sensor detects that the displacement precision is still poor, the coil switch switching module works to further increase the electromagnetic force and enable the magnetic bearing rotor to be suspended stably.
Specifically, after the controller operates to adjust the control current, it is determined whether the displacement accuracy of the magnetic bearing rotor is improved, and if so, the current adjustment is ended. Otherwise, judging whether the control current reaches the set protection upper limit. If the control current reaches the set upper protection limit, the coil switch switching module is controlled to work, and if the control switch K1 and the switch K3 are also closed, namely the switch K1, the switch K2 and the switch K3 are all closed, so that the output of the magnetic bearing coil is increased.
It should be noted that the variable coil control scheme provided by the invention can be used in a magnetic suspension bearing system, and is also suitable for other application occasions using bearing coil control, such as an electric spindle, a fan, a rotor bearing and the like.
Through a large number of tests, the technical scheme of the invention is adopted, each magnetic bearing coil is set into two parts of coils, and a coil switch switching module is arranged at each magnetic bearing coil. When the magnetic bearing rotor is detected to be impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to perform impact resistance protection. Therefore, when the magnetic bearing rotor is impacted by a large external force, the overlarge coil current of the magnetic bearing coil or the magnetic bearing output is adjusted, so that the operation stability of the magnetic bearing system is ensured.
There is also provided, in accordance with an embodiment of the present invention, a magnetic levitation system corresponding to a control device for a magnetic bearing. The magnetic levitation system may include: the control device for a magnetic bearing described above.
Since the processing and functions of the magnetic levitation system of the present embodiment substantially correspond to the embodiments, principles, and examples of the apparatus, reference may be made to the related descriptions in the embodiments without being detailed in the description of the present embodiment, which is not described herein again.
Through a large number of tests, the technical scheme of the invention is adopted, each magnetic bearing coil is set into two parts of coils, and a coil switch switching module is arranged at each magnetic bearing coil. When the magnetic bearing rotor is detected to be impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to carry out anti-impact protection, the electromagnetic force of the magnetic suspension bearing is effectively increased by adjusting the number of turns of the coils on the magnetic bearing yoke, and the running stability of the magnetic bearing system is improved.
According to an embodiment of the present invention, there is also provided a control method of a magnetic bearing corresponding to a magnetic levitation system, as shown in fig. 6, which is a schematic flow chart of an embodiment of the method of the present invention. The magnetic bearing, comprising: magnetic bearing coils and a magnetic bearing rotor. The magnetic bearing coil, comprising: more than two sub-coils. More than two sub-coils are arranged in parallel. A method of controlling a magnetic bearing, comprising: step S110 to step S130.
At step S110, the control currents of the magnetic bearing coils are sampled during operation of the magnetic bearing rotor, in particular in case of operation of the magnetic bearing rotor after levitation. In particular, by means of a sampling unit, the control current of the magnetic bearing coils is sampled during operation of the magnetic bearing rotor, in particular in the case of operation of the magnetic bearing rotor after levitation. The sampling unit includes: and a current sensor. The current sensor is configured to sample the control current of the magnetic bearing coils during operation of the magnetic bearing rotor, in particular in the case of operation of the magnetic bearing rotor after levitation. The control current may be the current output by a power amplifier in the control loop of the magnetic bearing.
At step S120, it is determined whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coils. And if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent. The electromagnetic force adjustment command is a command capable of adjusting the number of sub-coils connected to a control circuit of the magnetic bearing. Specifically, whether the magnetic bearing rotor is impacted by an external force is determined by a control unit according to a control current of the magnetic bearing coil. And if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent. Of course, if the magnetic bearing rotor is not subjected to the external impact, the magnetic bearing rotor is controlled to maintain the current operation state.
In step S130, the magnetic bearing controller operates according to the electromagnetic force adjustment command to adjust the number of sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils, so as to adjust the electromagnetic force of the magnetic bearing coils. Specifically, the switching unit is operated according to the electromagnetic force adjusting instruction to adjust the number of the sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils, so as to adjust the electromagnetic force of the magnetic bearing coils, that is, the number of the sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils is increased to adjust the electromagnetic force of the magnetic bearing coil, so that the electromagnetic force of the magnetic bearing coil is increased, and when the magnetic bearing rotor is impacted by a large external force, if the coil current of the magnetic bearing coil is too large or the magnetic bearing output is insufficient, the operation stability of the magnetic bearing system is affected, therefore, when the magnetic bearing rotor is impacted by a large external force, the overlarge coil current of the magnetic bearing coil or the magnetic bearing output is adjusted to ensure the operation stability of the magnetic bearing system.
Wherein the switching unit is provided between the two or more sub-coils and the control unit, and is capable of switching and controlling the number of sub-coils connected to the control circuit of the magnetic bearing among the two or more sub-coils. In each of the magnetic bearing coils, two or more of the sub-coils are connected to the switching unit. The control circuit of the magnetic bearing may be a control circuit formed by a sub-coil connected to the control circuit in the magnetic bearing coil, a power amplifier, a controller, a displacement sensor signal conversion circuit, and a displacement sensor, and may refer to the examples shown in fig. 1, fig. 2, and fig. 4. Specifically, the switching unit may be a switch switching module. The two or more sub-coils may be at least two part coil windings. Thus, the aspect of the present invention provides an impact-resistant magnetic bearing control scheme by providing a switch switching module and coil winding, that is, by providing each magnetic bearing coil as two-part coils and a coil switch switching module at each magnetic bearing coil. When the displacement sensor detects that the magnetic bearing rotor is impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to carry out shock resistance protection, so that the running stability of the magnetic bearing rotor is improved, and the problem that the magnetic bearing rotor is unstable in a short time due to overlarge coil current of the magnetic bearing coil or insufficient magnetic bearing force when the magnetic bearing rotor is impacted by sudden large external force is solved.
In some embodiments, further comprising: the process of controlling the magnetic bearing coil under the condition of floating of the magnetic bearing rotor.
The following further describes, with reference to a schematic flow chart of an embodiment of controlling the magnetic bearing coils in the case of floating the magnetic bearing rotor in the method of the present invention shown in fig. 7, a specific process of controlling the magnetic bearing coils in the case of floating the magnetic bearing rotor, including: step S210 and step S220.
Step S210, when the magnetic bearing rotor floats, issues a floating command. The levitation command is used for enabling the switching unit to perform a first action so that a first part of the sub-coils in the two or more sub-coils and the control unit form a loop and are connected into a control loop of the magnetic bearing. In particular, a levitation command is issued by a control unit in the case of levitation of the magnetic bearing rotor.
And step S220, operating according to the floating command so as to enable a first part of the sub-coils in the more than two sub-coils to be connected into a control loop of the magnetic bearing. Specifically, the switching means is operated in accordance with the levitation command so that a first part of the sub-coils of the two or more sub-coils is connected to a control circuit of the magnetic bearing, that is, so that the first part of the sub-coils of the two or more sub-coils forms a circuit with the control means and is connected to the control circuit of the magnetic bearing. Wherein, the first part of two or more sub-coils includes: at least one of the two or more sub-coils.
In step S130, the adjusting step is performed according to the electromagnetic force adjusting command to adjust the number of sub-coils in a control loop of the magnetic bearing connected to two or more sub-coils, so as to adjust the electromagnetic force of the magnetic bearing coil, and the adjusting step includes: and operating according to the electromagnetic force adjusting command so that a second part of the sub-coils in the more than two sub-coils are also connected into the control loop of the magnetic bearing, and increasing the number of the sub-coils in the control loop of the magnetic bearing in the more than two sub-coils so as to increase the electromagnetic force of the magnetic bearing coils. Wherein, the second part of more than two sub-coils of the sub-coil includes: at least one of the sub-coils, except for a first part of the sub-coils, of the two or more sub-coils remains.
Therefore, when the magnetic bearing rotor is impacted by large external force, the electromagnetic force of the magnetic suspension bearing is effectively increased by increasing the number of turns of the coil on the magnetic yoke of the electromagnetic bearing, and the operation stability of the magnetic bearing system is improved. The change of the coil winding structure of the magnetic bearing coil is realized by switching the switches of the two parts of coils through the coil switch switching module, so that the increase of electromagnetic force is realized, and the change of electromagnetic control force applied to the rotor is realized by switching the coils.
In some embodiments, the number of magnetic bearing coils is four or more. In each of the magnetic bearing coils, two or more of the sub-coils, including: a first portion of the sub-coils and a second portion of the sub-coils. A first portion of the sub-coils comprising: a first sub-coil. A second portion of the sub-coils comprising: a second sub-coil. The first sub-coil, in the example shown in fig. 4 a dashed coil. The second sub-coil, such as the solid-line coil in the example shown in fig. 4.
The switching unit includes: the first switch module, the second switch module and the third switch module. A first switch module such as switch K1, a second switch module such as switch K2, and a third switch module such as switch K3.
Wherein the first switch module and the second switch module are connected in series. And the first end part of the first sub-coil is connected into a control loop of the magnetic bearing. And the second end part of the first sub-coil is connected to the common end of the first switch module and the second switch module.
And the first end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the first switch module and the second switch module. And the second end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the third switch module. The second switch module and the second switch module have a common end, and the second switch module and the third switch module are connected into a control loop of the magnetic bearing from the common end of the second switch module and the third switch module.
Fig. 4 is a schematic structural diagram of an embodiment of a variable coil control system of an embodiment of a magnetic bearing in a radial forward X direction. Fig. 4 may show a control structure of a single coil. The example shown in fig. 4 may be a modified coil structure performed under the structure of the example shown in fig. 1, fig. 4 exemplarily shows a modified coil structure performed for one coil (modified coil structure schematically distinguished as shown by a dotted line and a solid line), and the remaining three coils in fig. 4 are modified coil structures identical to the modified coil structure schematically distinguished as shown by a dotted line and a solid line.
Fig. 4 is a schematic structural diagram of an embodiment of a variable coil control system of an embodiment of a magnetic bearing in a radial forward X direction. As shown in fig. 4, the structure of the magnetic bearing changing coil control structure from radial front X direction is added with a coil switch switching module, and by analyzing in radial front X direction, when the initial floating and the displacement sensor detecting displacement accuracy are not poor, the switch K1 and the switch K3 are always open, the switch K2 is closed, and the electromagnetic force FX1' in radial front X direction is
The formula (2) is the rotor stress under a single coil when the coil switch is switched in the switch switching mode 1, and the switch switching mode 1 is the mode when the magnetic bearing rotor normally operates.
When large external force impacts exist and the displacement sensor is poor in displacement detection precision, the switch K1 and the switch K3 are closed, the switch K2 is opened, and the radial front X-direction one-path electromagnetic force FX1' is as follows:
the formula (3) is the rotor stress under a single coil when the coil switch is switched in the switch switching mode 2, and the switch switching mode 2 is the mode when the magnetic bearing rotor is impacted by external force.
It should be noted that, the winding mode of the magnetic bearing coil is switched by the switch switching module, when the magnetic bearing rotor is impacted by external force, the output of the magnetic bearing coil is changed from formula (2) to formula (3), and the output is obviously increased, so that the problem that when the magnetic bearing rotor is impacted by large external force, if the coil current of the magnetic bearing coil is too large or the magnetic bearing output is not enough, the operation stability of the magnetic bearing system is affected can be avoided, and therefore, when the magnetic bearing rotor is impacted by large external force, the coil current of the magnetic bearing coil is too large or the magnetic bearing output is adjusted, so as to ensure the operation stability of the magnetic bearing system.
In the formula (1), the formula (2) and the formula (3), values of the parameters used may be different according to the design of the coil. And, it is verified that the electromagnetic force of the designed coil structure is four times that of the coil structure which is not designed when the coil current is not changed.
In some embodiments, further comprising: and regulating the control current of the magnetic bearing coil under the floating condition or after the floating of the magnetic bearing rotor.
The following further describes a specific process of adjusting the control current of the magnetic bearing coil under or after the floating of the magnetic bearing rotor, steps S310 to S330, with reference to a flowchart of an embodiment of adjusting the control current of the magnetic bearing coil under or after the floating of the magnetic bearing rotor in the method of the present invention shown in fig. 8.
Step S310, under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats, sampling the position parameters of the magnetic bearing rotor. Specifically, the position parameters of the magnetic bearing rotor are sampled by a sampling unit under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats. The sampling unit further comprises: a displacement sensor configured to sample a position parameter of the magnetic bearing rotor in a case where the magnetic bearing rotor is levitated or in a case where the magnetic bearing rotor is not impacted by an external force after levitating. The position parameter may be levitation position information.
Step S320, determining whether the displacement precision of the magnetic bearing rotor is within a set precision range according to the position parameters of the magnetic bearing rotor. And (c) a second step of,
and step S330, if the displacement precision of the magnetic bearing rotor is not within the set precision range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil. Specifically, whether the displacement accuracy of the magnetic bearing rotor is within a set accuracy range is determined by a control unit according to the position parameters of the magnetic bearing rotor. And if the displacement accuracy of the magnetic bearing rotor is not within the set accuracy range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil. Of course, if the displacement accuracy of the magnetic bearing rotor is within a set accuracy range, the magnetic bearing rotor is controlled to maintain the current operating state.
In particular, it may be determined whether a position parameter of the magnetic bearing rotor is within a set position parameter range. And if the position parameter of the magnetic bearing rotor is within the set position parameter range, determining that the displacement precision of the magnetic bearing rotor is within the set precision range. And if the position parameter of the magnetic bearing rotor is not in the set position parameter range, determining that the displacement precision of the magnetic bearing rotor is not in the set precision range.
In some embodiments, further comprising: and adjusting the external force impact condition after adjusting the control current of the magnetic bearing coil.
With reference to the schematic flow chart of an embodiment of adjusting the external force impact condition after adjusting the control current of the magnetic bearing coil in the method of the present invention shown in fig. 9, a specific process of adjusting the external force impact condition after adjusting the control current of the magnetic bearing coil is further described, which includes: step S410 and step S420.
Step S410, after controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil, preferably after controlling the magnetic bearing rotor to operate for a set time according to the adjusted control current of the magnetic bearing coil, determining whether the displacement accuracy of the magnetic bearing rotor has been adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor. And the number of the first and second groups,
step S420, if the displacement accuracy of the magnetic bearing rotor is not adjusted within the set accuracy range, determining whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil. Specifically, after the magnetic bearing rotor is controlled to operate according to the adjusted control current of the magnetic bearing coil through a control unit, whether the displacement precision of the magnetic bearing rotor is adjusted to be within the set precision range or not is determined according to the position parameter of the magnetic bearing rotor. And if the displacement accuracy of the magnetic bearing rotor is not adjusted to be within the set accuracy range, determining whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil. Of course, if the displacement accuracy of the magnetic bearing rotor is adjusted to be within the set accuracy range, the magnetic bearing rotor is controlled to maintain the current operation state.
Specifically, determining whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil includes: determining whether the control current of the magnetic bearing coil reaches a set upper protection limit, and if the control current of the magnetic bearing coil reaches the set upper protection limit, determining that the magnetic bearing rotor is impacted by external force; and if the control current of the magnetic bearing coil does not reach the set upper protection limit, controlling the magnetic bearing rotor to maintain the current operation state.
Fig. 5 is a flow diagram of an embodiment of magnetic bearing shock protection logic. As shown in fig. 5, is an impact protection logic for a magnetic bearing, comprising:
step 1, when external force impact occurs, firstly, the current of a coil is changed in a mode of adjusting and controlling the current through the adjustment of a controller, and the electromagnetic force is increased, so that the magnetic bearing rotor can be suspended stably.
Specifically, whether the displacement accuracy of the magnetic bearing rotor is poor or not is judged, and if yes, the controller works to adjust the control current. Otherwise, continuously judging whether the displacement accuracy of the magnetic bearing rotor is poor.
And 2, when the current sensor detects that the output current reaches the upper protection limit and the displacement sensor detects that the displacement precision is still poor, the coil switch switching module works to further increase the electromagnetic force and enable the magnetic bearing rotor to be suspended stably.
Specifically, after the controller operates to adjust the control current, it is determined whether the displacement accuracy of the magnetic bearing rotor is improved, and if so, the current adjustment is ended. Otherwise, judging whether the control current reaches the set protection upper limit. If the control current reaches the set upper protection limit, the coil switch switching module is controlled to work, and if the control switch K1 and the switch K3 are also closed, namely the switch K1, the switch K2 and the switch K3 are all closed, so that the output of the magnetic bearing coil is increased.
It should be noted that the variable coil control scheme provided by the invention can be used in a magnetic suspension bearing system, and is also applicable to other application occasions using bearing coil control.
Since the processing and functions implemented by the method of this embodiment basically correspond to the embodiments, principles and examples of the magnetic levitation system, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the embodiments, which are not repeated herein.
Through a large number of tests, the technical scheme of the embodiment is adopted, each magnetic bearing coil is set to be two parts of coils, and a coil switch switching module is arranged at each magnetic bearing coil; when detecting that the magnetic bearing rotor is impacted by external force in a certain direction, the coil switch switching module in the direction switches the two parts of coils in the direction in time to perform impact resistance protection; the change of the coil winding structure of the magnetic bearing coil is realized by switching the switches of the two parts of coils through the coil switch switching module, so that the increase of electromagnetic force is realized, and the change of electromagnetic control force applied to the rotor is realized by switching the coils.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (8)
1. A control device for a magnetic bearing, the magnetic bearing comprising: a magnetic bearing coil and a magnetic bearing rotor; the magnetic bearing coil, comprising: more than two sub-coils; a control device for a magnetic bearing comprising: the device comprises a sampling unit, a switching unit and a control unit; the switching unit can switch and control the number of sub-coils which are connected to a control circuit of the magnetic bearing in more than two sub-coils; wherein the content of the first and second substances,
the sampling unit is configured to sample the control current of the magnetic bearing coils during operation of the magnetic bearing rotor;
the control unit is configured to determine whether the magnetic bearing rotor is impacted by an external force according to the control current of the magnetic bearing coil; if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent out;
the switching unit is configured to act according to the electromagnetic force adjusting instruction so as to adjust the number of sub-coils in a control loop of the magnetic bearing, wherein the sub-coils are connected into the control loop of the magnetic bearing, and the electromagnetic force of the magnetic bearing coils is adjusted;
further comprising:
the sampling unit is further configured to sample the position parameters of the magnetic bearing rotor under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats;
the control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor is within a set accuracy range according to the position parameter of the magnetic bearing rotor; and the number of the first and second groups,
and if the displacement precision of the magnetic bearing rotor is not within the set precision range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil.
2. The control device for a magnetic bearing of claim 1, further comprising:
the control unit is configured to issue a floating instruction when the magnetic bearing rotor floats;
the switching unit is configured to act according to the floating command so as to enable a first part of the sub-coils in the two or more sub-coils to be connected into a control loop of the magnetic bearing;
wherein the switching unit operates according to the electromagnetic force adjustment instruction to adjust the number of sub-coils in a control circuit connected to the magnetic bearing among two or more sub-coils, thereby adjusting the electromagnetic force of the magnetic bearing coil, and the switching unit includes:
and operating according to the electromagnetic force adjusting command so that a second part of the sub-coils in the more than two sub-coils are also connected into the control loop of the magnetic bearing, and increasing the number of the sub-coils in the control loop of the magnetic bearing in the more than two sub-coils so as to increase the electromagnetic force of the magnetic bearing coils.
3. The control device for magnetic bearing according to claim 1 or 2, wherein the number of the magnetic bearing coils is four or more; in each of the magnetic bearing coils, two or more of the sub-coils, including: a first portion of said sub-coils and a second portion of said sub-coils; a first portion of the sub-coils comprising: a first sub-coil; a second portion of the sub-coils comprising: a second sub-coil;
the switching unit includes: a first switch module, a second switch module and a third switch module;
wherein the content of the first and second substances,
the first switch module and the second switch module are connected in series; the first end part of the first sub-coil is connected into a control loop of the magnetic bearing; a second end portion of the first sub-coil connected to a common terminal of the first and second switch modules;
the first end part of the second sub-coil is connected into a control loop of the magnetic bearing through the first switch module and the second switch module; and the second end part of the second sub-coil is connected into a control loop of the magnetic bearing after passing through the third switch module.
4. The control device for magnetic bearing of claim 1, further comprising:
the control unit is further configured to determine whether the displacement accuracy of the magnetic bearing rotor has been adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor after controlling the operation of the magnetic bearing rotor according to the adjusted control current of the magnetic bearing coils; and the number of the first and second groups,
and if the displacement precision of the magnetic bearing rotor is not adjusted to be within the set precision range, determining whether the magnetic bearing rotor is impacted by external force or not according to the control current of the magnetic bearing coil.
5. A magnetic levitation system, comprising: a control device for a magnetic bearing as claimed in any one of claims 1 to 4.
6. A method of controlling a magnetic bearing, the magnetic bearing comprising: a magnetic bearing coil and a magnetic bearing rotor; the magnetic bearing coil, comprising: more than two sub-coils; a method of controlling a magnetic bearing, comprising:
sampling control currents of the magnetic bearing coils during operation of the magnetic bearing rotor;
determining whether the magnetic bearing rotor is impacted by external force according to the control current of the magnetic bearing coil; if the magnetic bearing rotor is impacted by external force, an electromagnetic force adjusting instruction is sent out;
performing action according to the electromagnetic force adjusting instruction to adjust the number of sub-coils in a control loop of the magnetic bearing among more than two sub-coils so as to adjust the electromagnetic force of the magnetic bearing coil;
further comprising:
sampling position parameters of the magnetic bearing rotor under the condition that the magnetic bearing rotor floats or is not impacted by external force after the magnetic bearing rotor floats;
determining whether the displacement precision of the magnetic bearing rotor is within a set precision range according to the position parameters of the magnetic bearing rotor; and the number of the first and second groups,
and if the displacement precision of the magnetic bearing rotor is not within the set precision range, adjusting the control current of the magnetic bearing coil, and controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil.
7. The method of controlling a magnetic bearing of claim 6, further comprising:
sending a floating instruction under the condition that the magnetic bearing rotor floats;
operating according to the floating command so as to enable a first part of the sub-coils in the more than two sub-coils to be connected into a control loop of the magnetic bearing;
wherein the content of the first and second substances,
and performing action according to the electromagnetic force adjusting instruction to adjust the number of sub-coils in a control loop of the magnetic bearing among more than two sub-coils so as to adjust the electromagnetic force of the magnetic bearing coil, wherein the electromagnetic force adjusting method comprises the following steps:
and operating according to the electromagnetic force adjusting command so that a second part of the sub-coils in the more than two sub-coils are also connected into the control loop of the magnetic bearing, and increasing the number of the sub-coils in the control loop of the magnetic bearing in the more than two sub-coils so as to increase the electromagnetic force of the magnetic bearing coils.
8. The method of controlling a magnetic bearing of claim 6, further comprising:
determining whether the displacement accuracy of the magnetic bearing rotor is adjusted to be within the set accuracy range according to the position parameter of the magnetic bearing rotor after controlling the magnetic bearing rotor to operate according to the adjusted control current of the magnetic bearing coil; and the number of the first and second groups,
and if the displacement precision of the magnetic bearing rotor is not adjusted to be within the set precision range, determining whether the magnetic bearing rotor is impacted by external force or not according to the control current of the magnetic bearing coil.
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| CN114135580B (en) * | 2021-11-04 | 2022-07-26 | 珠海格力电器股份有限公司 | Position evaluation method and device for magnetic bearing rotor |
| CN114251358A (en) * | 2021-11-22 | 2022-03-29 | 北京高孚动力科技有限公司 | Active magnetic bearing rotor drop protection method |
| CN114810826B (en) * | 2022-03-30 | 2023-05-05 | 清华大学 | Zero bias control method and device for magnetic bearing and magnetic bearing |
| CN115217846B (en) * | 2022-07-04 | 2023-08-18 | 珠海格力电器股份有限公司 | Magnetic suspension bearing and motor using same |
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