CN113294440A - Flywheel rotor position detection method and device - Google Patents

Flywheel rotor position detection method and device Download PDF

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Publication number
CN113294440A
CN113294440A CN202110587908.7A CN202110587908A CN113294440A CN 113294440 A CN113294440 A CN 113294440A CN 202110587908 A CN202110587908 A CN 202110587908A CN 113294440 A CN113294440 A CN 113294440A
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radial
position information
axial
magnetic bearing
flywheel rotor
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CN113294440B (en
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李树胜
王佳良
李光军
汪大春
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Beijing Honghui International Energy Technology Development Co ltd
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Beijing Honghui International Energy Technology Development Co ltd
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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
    • F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • F16C32/044—Active magnetic bearings
    • F16C32/0474—Active magnetic bearings for rotary movement
    • F16C32/0489—Active magnetic bearings for rotary movement with active support of five degrees of freedom, e.g. two radial magnetic bearings combined with an axial bearing
    • 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
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/55—Flywheel systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids

Abstract

The invention provides a method and a device for detecting the position of a flywheel rotor, which are applied to a control system of a magnetic bearing; a plurality of sensor coils are pre-installed on the magnetic pole of the magnetic bearing winding; acquiring a plurality of radial position information of a flywheel rotor in the same radial direction and a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits connected with the sensor coils; based on the plurality of radial position information and the plurality of axial position information, radial position information and axial position information of the flywheel rotor are determined. In the method, a plurality of sensor coils are arranged on the magnetic pole of the magnetic bearing winding, and a plurality of position information of the flywheel rotor in the same direction at the same moment is obtained through a plurality of measuring circuits, so that the volume and the weight of the system are reduced, and the cost is further reduced; in addition, the final position information of the flywheel rotor is determined through the plurality of position information, so that the stability and the reliability of the magnetic suspension control system are improved, and the position detection precision is further improved.

Description

Flywheel rotor position detection method and device
Technical Field
The invention relates to the technical field of magnetic bearings, in particular to a method and a device for detecting the position of a flywheel rotor.
Background
The magnetic bearing has the advantages of no mechanical friction and abrasion, no need of lubrication and maintenance, capability of allowing the flywheel rotor to rotate at high speed and the like, and is particularly suitable for a support system of the flywheel rotor. In order to ensure that the full magnetic bearing system can realize five-degree-of-freedom full suspension, the control system needs to determine the position information of the flywheel rotor, including the radial and axial position information. In the related art, the position information of the flywheel rotor is determined by mounting a position sensor on the flywheel rotor, or by a sensorless control technique. However, the installation of the position sensor increases the axial dimension of the magnetic bearing, which is not favorable for the optimization design of the overall structure, and the position sensor is limited by the structure of the magnetic bearing and cannot be installed at a position synchronous with the displacement of the flywheel rotor, so that the measurement displacement is different from the displacement of the flywheel rotor, which affects the precision of the position measurement. In addition, the sensorless control technology generally determines the position information of the flywheel rotor according to the current or voltage signal on the electromagnet coil, which may generate a large current ripple, and meanwhile, the interference resistance is poor, resulting in poor stability and reliability of the control system.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for detecting a position of a flywheel rotor, so as to improve stability and reliability of a magnetic levitation control system and improve detection accuracy.
In a first aspect, an embodiment of the present invention provides a method for detecting a position of a flywheel rotor, where the method is applied to a control system of a magnetic bearing; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; the magnetic bearing is provided with a plurality of position measuring circuits in advance; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measuring circuit; the method comprises the following steps: obtaining a plurality of radial position information of the flywheel rotor of the magnetic bearing in the same radial direction at the current moment and a plurality of axial position information of the flywheel rotor of the magnetic bearing in the same axial direction at the current moment through a plurality of position measuring circuits; determining radial position information of the flywheel rotor based on the plurality of radial position information; based on the plurality of axial position information, axial position information of the flywheel rotor is determined.
Further, the plurality of position measurement circuits includes: a first radial position measurement circuit; two or four first radial sensor coils are connected in the first radial position measuring circuit; the two first radial sensor coils comprise: a radial sensor coil in the first radial magnetic bearing winding magnetic pole, and a radial sensor coil in the radial magnetic bearing winding magnetic pole that is symmetric to the first radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole is any one radial magnetic bearing winding magnetic pole in any group of iron cores in the magnetic bearings; the four first radial sensor coils comprise: a radial sensor coil in parallel or in series with one radial sensor coil in the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the second radial magnetic bearing winding magnetic pole, and a radial sensor coil in parallel or in series with one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole and the second radial magnetic bearing winding magnetic pole share the same iron core; the method comprises the following steps of obtaining a plurality of radial position information of a flywheel rotor in the same radial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits, wherein the steps comprise: and acquiring first radial position information of the flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a first radial position measuring circuit.
Further, the plurality of position measurement circuits includes: a second radial position measurement circuit; four second radial sensor coils are connected in the second radial position measuring circuit; the four second radial sensor coils comprise: one radial sensor coil in the first radial magnetic bearing winding magnetic pole, one radial sensor coil in the second radial magnetic bearing winding magnetic pole, one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole, and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial sensor coil is different from the second radial sensor coil; the step of obtaining a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits further comprises the following steps: acquiring second radial position information of a flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a second radial position measuring circuit; wherein the same radial direction includes directions of X axis and/or Y axis perpendicular to each other.
Further, the plurality of axial sensor coils includes a plurality of upper axial sensor coils and a plurality of lower axial sensor coils; the number of the upper axial sensor coils is the same as that of the lower axial sensor coils; the plurality of position measurement circuits further includes: a first axial position measurement circuit; two or four first axial sensor coils are connected in the first axial position measuring circuit; the two first axial sensor coils comprise: an upper axial sensor coil and a lower axial sensor coil; the four first axial sensor coils comprise: the two upper axial sensor coils are connected in series or in parallel, and the two lower axial sensor coils are connected in series or in parallel; the step of obtaining a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits further comprises the following steps: and acquiring first axial position information of a flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a first axial position measuring circuit.
Further, the plurality of position measurement circuits further includes: a second axial position measurement circuit; four second axial sensor coils are connected in the second axial position measuring circuit; the four second axial sensor coils include: two upper axial sensor coils and two lower axial sensor coils; the first axial sensor coil is different from the second axial sensor coil; the method comprises the following steps of obtaining a plurality of axial position information of a flywheel rotor in the same axial direction in a magnetic bearing at the current moment through a plurality of position measuring circuits, wherein the steps comprise: and acquiring second axial position information of the flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a second axial position measuring circuit.
Further, the plurality of radial position information includes: first radial position information and second radial position information; the step of determining radial position information of the flywheel rotor based on the plurality of radial position information, comprising: calculating a first absolute value of a difference between the first radial position information and the second radial position information; determining an average value of the first radial position information and the second radial position information as final radial position information of the flywheel rotor if the first absolute value is less than or equal to a preset first threshold; and if the first absolute value is larger than a preset first threshold value, determining the final radial position information of the flywheel rotor according to the radial position information of the flywheel rotor at the previous moment.
Further, the step of determining the final radial position information of the flywheel rotor according to the radial position information of the flywheel rotor at the previous time includes: determining first target position information which is closest to the radial position information of the flywheel rotor at the previous moment from the first radial position information and the second radial position information; the first target position information is determined as final radial position information of the flywheel rotor.
Further, the plurality of axial position information includes: first axial position information and second axial position information; the step of determining axial position information of the flywheel rotor based on the plurality of axial position information includes: calculating a second absolute value of a difference between the first axial position information and the second axial position information; determining an average value of the first axial position information and the second axial position information as final axial position information of the flywheel rotor if the second absolute value is less than or equal to a preset second threshold; and if the second absolute value is larger than a preset second threshold value, determining the final axial position information of the flywheel rotor according to the axial position information of the flywheel rotor at the previous moment.
Further, the step of determining the final axial position information of the flywheel rotor according to the axial position information of the flywheel rotor at the previous time includes: determining second target position information which is closest to the axial position information of the flywheel rotor at the previous moment from the first axial position information and the second axial position information; the second target position information is determined as final axial position information of the flywheel rotor.
In a second aspect, an embodiment of the present invention provides a position detecting device for a flywheel rotor, the device is disposed in a control system of a magnetic bearing; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; a plurality of position measuring circuits are preset in the magnetic bearing; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measuring circuit; the device comprises: the first position acquisition module is used for acquiring a plurality of pieces of radial position information of the flywheel rotor of the magnetic bearing in the same radial direction at the current moment and a plurality of pieces of axial position information of the flywheel rotor of the magnetic bearing in the same axial direction at the current moment through a plurality of position measurement circuits; the radial position determining module is used for determining the radial position information of the flywheel rotor based on a plurality of pieces of radial position information; and the axial position determining module is used for determining the axial position information of the flywheel rotor based on the plurality of axial position information.
The embodiment of the invention has the following beneficial effects:
the invention provides a method and a device for detecting the position of a flywheel rotor, which are applied to a control system of a magnetic bearing; a plurality of sensor coils are pre-installed on the magnetic pole of the magnetic bearing winding; or a plurality of position measuring circuits connected with the sensor coils are used for acquiring a plurality of radial position information of the flywheel rotor in the same radial direction and a plurality of axial position information in the same axial direction in the magnetic bearing at the current moment; based on the plurality of radial position information and the plurality of axial position information, radial position information and axial position information of the flywheel rotor are determined. In the method, a plurality of sensor coils are arranged on the magnetic pole of the magnetic bearing winding, and a plurality of measuring circuits connected with the sensor coils are used for acquiring a plurality of position information of the flywheel rotor in the same direction at the same moment, so that the volume and the weight of the system are reduced, and the cost is further reduced; in addition, the final position information of the flywheel rotor is determined through the plurality of position information, so that the stability and the reliability of the magnetic suspension control system are improved, and the position detection precision is further 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 claims hereof as well as the appended 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 block diagram of closed-loop control of magnetic bearing position provided by an embodiment of the present invention;
FIG. 2 is a flowchart of a method for detecting a position of a flywheel rotor according to an embodiment of the present invention;
FIG. 3 is a schematic view of a radial magnetic bearing application provided by an embodiment of the present invention;
FIG. 4 is a schematic view of another radial magnetic bearing application provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first radial position measurement circuit according to an embodiment of the present invention;
fig. 6 is an internal schematic diagram of a differential signal conditioning AD598 according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a second radial position measurement circuit according to an embodiment of the present invention;
FIG. 8 is a schematic view of an axial magnetic bearing application provided by an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a position detecting device for a flywheel rotor according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent 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.
The existing magnetic bearing has the advantages of no mechanical friction and abrasion, no need of lubrication and maintenance, permission of high-speed rotation of a flywheel rotor and the like, and is particularly suitable for a support system of the flywheel rotor. In order to ensure that the full magnetic bearing system can realize five-degree-of-freedom full suspension, the control system needs to determine the position information of the flywheel rotor, including the radial and axial position information. In the related art, position information of a flywheel rotor is determined by mounting a position sensor on the flywheel rotor or by a sensorless control technique; as shown in fig. 1, the magnetic bearing position closed-loop control block feeds back the position of the flywheel rotor through a position sensor by means of closed-loop control. However, the installation of the position sensor increases the axial dimension of the magnetic bearing, which is not favorable for the optimization design of the overall structure, and the position sensor is limited by the structure of the magnetic bearing and cannot be installed at a position synchronous with the displacement of the flywheel rotor, so that the measurement displacement is different from the displacement of the flywheel rotor, which affects the precision of the position measurement. In addition, the sensorless control technology generally determines the position information of the flywheel rotor according to the current or voltage signal on the electromagnet coil, which may generate a large current ripple, and meanwhile, the interference resistance is poor, resulting in poor stability and reliability of the control system. Based on the above, the embodiment of the invention provides a method and a device for detecting the position of a flywheel rotor, and the technology can be applied to a magnetic bearing system, and especially can be applied to a flywheel energy storage system.
For the understanding of the present embodiment, first, a detailed description will be given of a position detection method of a flywheel rotor, which is disclosed in the present embodiment and is applied to a control system of a magnetic bearing; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; a plurality of position measuring circuits are preset in the magnetic bearing; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measuring circuit;
for example, two radial sensor coils are usually wound on each magnetic pole of the radial magnetic bearing winding, eight axial sensor coils are usually wound on each magnetic pole of the axial magnetic bearing winding, the axial sensor coils are respectively located at the upper side and the lower side of the axial magnetic bearing, four axial sensor coils are axially wound on the upper side, and four axial sensor coils are axially wound on the lower side. The radial sensor coil and the axial sensor coil can be understood as a position sensor probe; the position measuring circuit is used for acquiring radial position information between the radial sensor coil and the flywheel rotor and is also used for acquiring axial position information between the axial sensor coil and the flywheel rotor. In particular, each measuring circuit comprises a plurality of radial sensor coils, usually located at different radial magnetic bearing winding pole positions; in addition. Each measurement circuit includes a different radial sensor coil and a different axial sensor coil.
As shown in fig. 2, the method comprises the following steps:
step S202, acquiring a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment and a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits;
the plurality of position measurement circuits typically includes a plurality of radial position measurement circuits and a plurality of axial position measurement circuits; the radial position measuring circuit is provided with radial sensor coils with different positions and numbers, that is, a plurality of different radial position measuring circuits are formed by different connection modes of the radial sensor coils with different positions and numbers, for example, a variable air gap type differential inductance type position measuring circuit and a differential transformer type position measuring circuit, so that a plurality of radial position information of the flywheel rotor in the same radial direction at the same moment can be obtained, and the position information of the flywheel rotor from the radial sensor coils (namely, the magnetic poles of the radial magnetic bearing windings) in the radial position measuring circuit or the distance of the flywheel rotor from the center position of the radial magnetic bearing can be understood.
In addition, the axial position measuring circuit may be provided with axial sensor coils at different positions and numbers, that is, the axial position measuring circuit configured by different connection manners of the axial sensor coils at different positions and numbers may obtain a plurality of pieces of axial position information of the flywheel rotor in the same axial direction at the same time, which may be understood as position information of the flywheel rotor from the axial sensor coils (that is, magnetic poles of the radial magnetic bearing winding) in the axial position measuring circuit or a distance of the flywheel rotor from a center position of the radial magnetic bearing.
The position information is generally a voltage value output by the position measuring circuit, the magnitude of the voltage value indicates the distance, and the positive and negative of the voltage value indicates the distance direction. For example, the voltage value is a positive voltage, and a larger voltage value indicates that the flywheel rotor is farther away from the center of the magnetic bearing along the positive direction; when the voltage value is negative, the larger the voltage is, the farther the flywheel rotor is away from the center position of the magnetic bearing in the negative direction is. The central position of the radial magnetic bearing can be understood as the center of the coordinate axes.
Step S204, determining radial position information of the flywheel rotor based on the plurality of radial position information;
generally, in the related art, only one radial position information can be obtained by one measurement circuit, and in order to improve the measurement accuracy, a plurality of radial position information can be obtained by a plurality of different measurement circuits. Determining the average value as the radial position information of the flywheel rotor by analyzing the plurality of radial position information, for example, calculating the average value of the plurality of radial position information; for example, the radial position information of the flywheel rotor is determined by calculating a smaller value or a larger value of the plurality of radial position information or a value that is the smallest difference from the position information at the previous time.
In step S206, the axial position information of the flywheel rotor is determined based on the plurality of axial position information.
Similarly, the axial position information of the flywheel rotor may be determined by analyzing the plurality of axial position information, for example, calculating an average value of the plurality of axial position information; for example, the axial position information of the flywheel rotor is determined by calculating a smaller value or a larger value among the plurality of axial position information or a value that is the smallest difference from the position information at the previous time.
The flywheel rotor position detection method is applied to a control system of a magnetic bearing; a plurality of sensor coils are pre-installed on the magnetic pole of the magnetic bearing winding; or a plurality of position measuring circuits connected with the sensor coils are used for acquiring a plurality of radial position information of the flywheel rotor in the same radial direction and a plurality of axial position information in the same axial direction in the magnetic bearing at the current moment; based on the plurality of radial position information and the plurality of axial position information, radial position information and axial position information of the flywheel rotor are determined. In the method, a plurality of sensor coils are arranged on the magnetic pole of the magnetic bearing winding, and a plurality of measuring circuits connected with the sensor coils are used for acquiring a plurality of position information of the flywheel rotor in the same direction at the same moment, so that the volume and the weight of the system are reduced, and the cost is further reduced; in addition, the final position information of the flywheel rotor is determined through the plurality of position information, so that the stability and the reliability of the magnetic suspension control system are improved, and the position detection precision is further improved.
In a specific embodiment, the plurality of position measurement circuits includes: a first radial position measurement circuit; two or four first radial sensor coils are connected in the first radial position measuring circuit; wherein the two first radial sensor coils comprise: a radial sensor coil in the first radial magnetic bearing winding magnetic pole, and a radial sensor coil in the radial magnetic bearing winding magnetic pole that is symmetric to the first radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole is any one radial magnetic bearing winding magnetic pole in any group of iron cores in the magnetic bearings; the four first radial sensor coils comprise: a sensor coil in parallel or series connection with a radial sensor coil in the first radial magnetic bearing winding magnetic pole and a radial sensor coil in the second radial magnetic bearing winding magnetic pole, and a sensor coil in parallel or series connection with one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole and the second radial magnetic bearing winding magnetic pole share the same iron core;
first, referring to fig. 3 and fig. 4, an application schematic diagram of a radial magnetic bearing includes four iron cores, which are a first iron core, a second iron core, a third iron core, and a fourth iron core, respectively, and each iron core includes two winding poles of the radial magnetic bearing. The winding magnetic poles of the radial magnetic bearing of the eight-stage radial magnetic bearing are respectively A-stage, B-stage, C-stage, D-stage, E-stage, F-stage, G-stage and H-stage, and the central position is the central position of the flywheel rotor; the upper radial magnetic bearing and the lower radial magnetic bearing in the figure are identical in structure. Wherein, every two radial magnetic bearing winding magnetic poles share one group of iron cores, and an independent magnetic bearing coil is wound on each radial magnetic bearing winding magnetic pole and is used for generating magnetic force; meanwhile, two radial sensor coils, namely C1-C16, are wound on the winding magnetic pole of each radial magnetic bearing in a parallel mode and are used for detecting the radial position information of the flywheel rotor.
Referring to fig. 5, a first radial position measuring circuit is shown, which is a differential inductive position signal measuring circuit, in which two first radial sensor coils, such as the first radial sensor coil 1 and the first radial sensor coil 2 in fig. 5, are connected to the circuit in the manner shown in fig. 5, and if the radial position includes the X-axis direction shown in fig. 3, the two first radial sensor coils in fig. 5 may be one radial sensor coil in the a-stage and one radial sensor coil in the E-stage symmetrical to the a-stage, or one radial sensor coil in the B-stage and one radial sensor coil in the F-stage symmetrical to the B-stage; for example, the first radial sensor coil 1 is C1 and the first radial sensor coil 2 is C5, or the first radial sensor coil 1 is C2 and the first radial sensor coil 2 is C6.
If the first radial position measurement circuit includes four radial sensor coils, the two first radial sensor coils in fig. 5 may also be coils in which one radial sensor coil in stage a is connected in series or in parallel with one radial sensor coil in stage B, and one radial sensor coil in stage E is connected in series or in parallel with one radial sensor coil in stage F; for example, the first radial sensor coil 1 is a coil in which C1 is connected in parallel or in series with C2, and the first radial sensor coil 2 is a coil in which C5 is connected in parallel or in series with C6.
If radial position information in the Y-axis direction perpendicular to the above-mentioned X-axis is detected, the two radial sensor coils in fig. 5 may be one radial sensor coil in the C-stage and one radial sensor coil in the G-stage, or one radial sensor coil in the D-stage and one radial sensor coil in the H-stage at this time; for example, the first radial sensor coil 1 is C3 and the first radial sensor coil 2 is C7, or the first radial sensor coil 1 is C4 and the first radial sensor coil 2 is C8.
If the first radial position measurement circuit includes four radial sensor coils, the two first radial sensor coils in fig. 5 may also be coils in which one radial sensor coil in stage C is connected in series or in parallel with one radial sensor coil in stage D, and one radial sensor coil in stage G is connected in series or in parallel with one radial sensor coil in stage H; for example, the first radial sensor coil 1 is a coil in which C3 is connected in parallel or in series with C4, and the first radial sensor coil 2 is a coil in which C7 is connected in parallel or in series with C8.
Based on the first radial position measurement circuit, the step of obtaining a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment through a plurality of position measurement circuits comprises the following steps: and acquiring first radial position information of the flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a first radial position measuring circuit.
Continuing with the circuit diagram shown in fig. 5, taking the pole a and the pole E of the radial magnetic bearing winding as an example, LC1 is the inductance value of the coil C1, and LC5 is the inductance value of the coil C5, which will change with the change of the position between the pole coil of the radial magnetic bearing winding and the flywheel rotor, and the differential position information of the flywheel rotor from the pole a and the pole E of the two radial magnetic bearing winding can be obtained according to the two inductance values. The detection of the magnetic pole position signals of other radial magnetic bearing windings is the same as the above.
Specifically, as shown in the internal schematic diagram of the differential signal conditioning AD598 in fig. 6, a is the input voltage at the terminal of the pin 10 (pin 10 in fig. 5), B is the input voltage at the terminal of the pin 11 (pin 11 in fig. 5), and R isSCALETo fix the conditioning resistance, IREFFor fixed reference current, differential signal output
Figure BDA0003088012320000121
According to the circuit in FIG. 5, the differential signal output of the A pole and the E pole of the two radial magnetic bearing winding magnetic poles can be obtained
Figure BDA0003088012320000122
I.e. the output voltage V of the first radial position measuring circuit mentioned aboveOUTWherein V isLC1、VLC5The measured voltages at the two ends of the inductor are respectively. The position information of the specific flywheel rotor in the X-axis direction can be calculated according to the relationship between the output voltage V and the trigonometric function, for example, the output voltage VOUTThe position information of the flywheel rotor in the X-axis direction can be obtained according to the cosine theorem and the included angle between the connecting line of the A-level and the E-level and the X-axis direction for the position information of the flywheel rotor in the direction of the connecting line of the A-level and the E-level.
The plurality of position measurement circuits include: a second radial position measurement circuit; four second radial sensor coils are connected in the second radial position measuring circuit; the four second radial sensor coils comprise: one radial sensor coil in the first radial magnetic bearing winding magnetic pole, one radial sensor coil in the second radial magnetic bearing winding magnetic pole, one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole, and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial sensor coil is different from the second radial sensor coil;
referring to fig. 7, a second radial position measuring circuit is shown, which is a differential transformer position signal measuring circuit, in which four second radial sensor coils, such as the second radial sensor coil 1, the second radial sensor coil 2, the second radial sensor coil 3, and the second radial sensor coil 4 shown in fig. 7, are connected; the connection mode of the four radial sensor coils and the circuit is shown in fig. 7, and the second radial sensor coil 1 and the second radial sensor coil 2 are respectively used as a primary coil and a secondary coil, and the second radial sensor coil 3 and the second radial sensor coil 4 are respectively used as a primary coil and a secondary coil, which form a pair along the X-axis or Y-axis direction and respectively form an angle of 180 degrees in two directions of the X-axis or Y-axis.
If the radial position includes the X-axis direction as shown in fig. 3, the four second radial sensor coils in fig. 7 may be one radial sensor coil in the a-stage, one radial sensor coil in the B-stage, one radial sensor coil in the E-stage, and one coil in the F-stage. For example, the second radial sensor coil 1 is C9, the second radial sensor coil 2 is C10, the second radial sensor coil 3 is C13, and the second radial sensor coil 4 is C14.
If radial position information in the Y-axis direction perpendicular to the above-described X-axis is detected, the four radial sensor coils in fig. 7 may be one radial sensor coil in the C-stage, one radial sensor coil in the D-stage, one radial sensor coil in the G-stage, and one radial sensor coil in the H-stage at this time. For example, the second radial sensor coil 1 is C11, the second radial sensor coil 2 is C12, the second radial sensor coil 3 is C15, and the second radial sensor coil 4 is C16.
It should be noted that, since the flywheel rotor position is measured at the same time, one radial sensor coil can only be connected to one circuit, that is, the first radial sensor coil is different from the second radial sensor coil. Two or more radial sensor coils are wound on the winding magnetic poles of the radial magnetic bearing in a parallel mode, a plurality of pieces of position information can be obtained at the same time, the final position information of the flywheel rotor is determined based on the plurality of pieces of position information, and the detection precision is improved.
The step of obtaining a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment through a plurality of position measuring circuits further comprises the following steps: acquiring second radial position information of a flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a second radial position measuring circuit; wherein the same radial direction includes directions of X axis and/or Y axis perpendicular to each other.
With reference to the circuit diagram shown in fig. 7, taking the radial sensor coils in the radial magnetic bearing winding magnetic pole a pole, B pole, E pole and F pole to access the circuit, and measuring the radial position information in the X axis direction as an example, LC9 is the inductance value of coil C9, LC10 is the inductance value of coil C10, LC13 is the inductance value of coil C13, and LC14 is the inductance value of coil C14, these four groups of inductance values will change with the change of the position quantity between the radial magnetic bearing winding magnetic pole coil and the flywheel rotor, and the differential position information of the flywheel rotor from the four radial magnetic bearing winding magnetic pole a poles, B poles, E poles and F poles can be obtained according to the magnitude of the transformer output values obtained by these four groups of inductances. The detection of the magnetic pole position information of other radial magnetic bearing windings is the same as the above.
Specifically, in FIG. 7, R2To fix the conditioning resistance, IREFFor fixing the reference current, VLC10、VLC14For measuring the voltages of the two sets of inductors LC10 and LC14, a set of differential signal outputs can be obtained according to the four magnetic bearing winding magnetic poles
Figure BDA0003088012320000141
For example, V when the flywheel rotor is in a central positionOUTThe output is zero; when the flywheel rotor is close to the C9 and C10 coils, VOUTThe output is positive voltage, and the higher the voltage is, the farther the flywheel rotor is from the center position along the positive direction is; when the flywheel rotor is close to the C13 and C14 coils, VOUTThe output is a negative voltage, with a higher voltage indicating that the flywheel rotor is further away from the center position in the negative direction.
Further, the plurality of axial sensor coils includes a plurality of upper axial sensor coils and a plurality of lower axial sensor coils; the number of the upper axial sensor coils is the same as that of the lower axial sensor coils; the plurality of position measurement circuits further includes: a first axial position measurement circuit; two or four first axial sensor coils are connected in the first axial position measuring circuit; the two first axial sensor coils comprise: an upper axial sensor coil and a lower axial sensor coil; the four first axial sensor coils comprise: the two upper axial sensor coils are connected in series or in parallel, and the two lower axial sensor coils are connected in series or in parallel;
first, referring to the application configuration diagram of the axial magnetic bearing shown in fig. 8, as shown in the figure, the axial magnetic bearing adopts an integral ring design, and the magnetic bearing coils are wound in the circumferential direction of the flywheel rotor, and are divided into an upper axial magnetic bearing and a lower axial magnetic bearing. Four sets of axial sensor coils, which can be called position sensor coils, are respectively and laterally superposed on the annular ring of the axial magnetic bearing, and are also divided into an upper four-set coil and a lower four-set coil, wherein the upper four-set coil comprises C17, C18, C21 and C22, and the lower four-set coil comprises C19, C20, C23 and C24.
The first axial position measuring circuit is the same as the circuit diagram in fig. 5, except that the coils connected to the circuit diagram are replaced by the axial sensor coils, specifically, two first axial sensor coils, which may be C17 and C19, C18 and C20, C21 and C23, C22 and C24, are connected to the first axial position measuring circuit; if the first axial position measurement circuit comprises four first axial sensor coils, this may be the coils with C17 and C18 connected in series or in parallel, and the coils with C19 and C20 connected in series or in parallel.
The step of obtaining information on a plurality of axial positions of the flywheel rotor in the same axial direction in the magnetic bearing at the present moment through the plurality of position measurement circuits includes: and acquiring first axial position information of a flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a first axial position measuring circuit.
The specific manner of obtaining the position information is the same as the above-mentioned manner of obtaining the first radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the present moment by the first radial position measurement circuit, and is not described herein again.
The plurality of position measurement circuits further include: a second axial position measurement circuit; four second axial sensor coils are connected in the second axial position measuring circuit; the four second axial sensor coils include: two upper axial sensor coils and two lower axial sensor coils;
the four second axial sensor coils may be C21, C22, C23 and C24, and specifically, C21 and C22 are respectively used as a primary coil and a secondary coil, and C23 and C24 are respectively used as a primary coil and a secondary coil, and form a pair in the Z-axis direction, and the two directions located on the Z-axis respectively form an angle of 180 °. It should be noted that, since the flywheel rotor position at the same time is measured, one axial sensor coil can only be connected to one circuit, that is, the first axial sensor coil is different from the second axial sensor coil, that is, if C17 and C19 are connected to the first axial position measurement circuit, C21, C22, C23 and C24 are connected to the second axial position measurement circuit.
The step of obtaining information on a plurality of axial positions of the flywheel rotor in the same axial direction in the magnetic bearing at the present moment through the plurality of position measurement circuits includes: and acquiring second axial position information of the flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a second axial position measuring circuit.
The specific manner of obtaining the position information is the same as the above-mentioned manner of obtaining the second radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the present moment by the second radial position measurement circuit, and is not described herein again.
Further, the plurality of pieces of radial position information include: first radial position information and second radial position information; the step of determining radial position information of the flywheel rotor based on the plurality of radial position information, comprising:
(1) calculating a first absolute value of a difference between the first radial position information and the second radial position information;
taking the radial direction as the X axis, the first radial position information being V01, and the second radial position information being V02 as an example, the absolute value | V01-V02| of the difference between V01 and V02 is first calculated to obtain the first absolute value | V01-V02 |.
(2) Determining an average value of the first radial position information and the second radial position information as final radial position information of the flywheel rotor if the first absolute value is less than or equal to a preset first threshold;
the preset first threshold can be set according to actual needs, and can be represented as Vth1, if | V01-V02| ≦ Vth1, then calculate the average of V01 and V02, that is, VX ═ V01+ V02)/2, where Vth1 generally refers to the minimum threshold. VX is determined as the final radial position information of the flywheel rotor.
(3) And if the first absolute value is larger than a preset first threshold value, determining the final radial position information of the flywheel rotor according to the radial position information of the flywheel rotor at the previous moment.
If | V01-V02| is greater than Vth1, the radial position information of the previous moment can be compared with the V01 and the V02 calculated at the current moment, and the final radial position information of the flywheel rotor is determined according to the comparison result.
The step (3) is a specific implementation manner: determining first target position information which is closest to the radial position information of the flywheel rotor at the previous moment from the first radial position information and the second radial position information; the first target position information is determined as final radial position information of the flywheel rotor.
Specifically, the distance between the V01 and the radial position information of the flywheel rotor at the previous time is calculated to obtain a first distance, the distance between the V02 and the radial position information of the flywheel rotor at the previous time is calculated to obtain a second distance, and if the first distance is smaller than the second distance, it is determined that the distance between the V01 and the radial position information of the flywheel rotor at the previous time is the closest, and then the V01 is determined as the final radial position information of the flywheel rotor.
Further, the plurality of pieces of axial position information include: first axial position information and second axial position information; the step of determining axial position information of the flywheel rotor based on the plurality of axial position information includes:
(1) calculating a second absolute value of a difference between the first axial position information and the second axial position information;
(2) determining an average value of the first axial position information and the second axial position information as final axial position information of the flywheel rotor if the second absolute value is less than or equal to a preset second threshold;
(3) and if the second absolute value is larger than a preset second threshold value, determining the final axial position information of the flywheel rotor according to the axial position information of the flywheel rotor at the previous moment.
The step (3) is a specific implementation manner: determining second target position information which is closest to the axial position information of the flywheel rotor at the previous moment from the first axial position information and the second axial position information; the second target position information is determined as final axial position information of the flywheel rotor.
The specific implementation manner of determining the final axial position information is the same as the step of determining the final radial position information, and is not described herein again.
In the above mode, firstly, the current mature inductive position sensor is adopted to realize the real-time detection of the position of the flywheel rotor, and the magnetic bearing stator core and the position sensor core are integrated and designed to be fused on a magnetic circuit, so that the complementary advantages are brought into play, the performability and reliability of the system are improved, the size and the cost of the system are reduced, and the dynamic performance of the control system can be improved to the maximum extent.
In addition, an integrated design scheme of a complete position sensor probe and a sensor position detection method are provided, the method can be directly applied to engineering systems, particularly flywheel energy storage systems, and great promotion effect is provided for improving integration and miniaturization of the flywheel energy storage systems.
And finally, the position of the flywheel rotor is detected in real time by adopting a differential inductance type and differential transformer type position sensor detection method, and the information of the flywheel rotor and the position sensor is fused to obtain accurate position information of the flywheel rotor, so that the accuracy of the position of the flywheel rotor is improved, and the stability of magnetic suspension control is further improved.
In response to the above method embodiment, as shown in fig. 9, the invention provides a position detecting device for a flywheel rotor, which is disposed in a control system of a magnetic bearing; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; a plurality of position measuring circuits are preset in the magnetic bearing; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measuring circuit; the device includes:
the first position obtaining module 91 is configured to obtain, through the multiple position measurement circuits, multiple pieces of radial position information of the flywheel rotor of the magnetic bearing in the same radial direction at the current moment, and multiple pieces of axial position information of the flywheel rotor of the magnetic bearing in the same axial direction at the current moment;
a radial position determination module 92 for determining radial position information of the flywheel rotor based on the plurality of radial position information;
and an axial position determining module 93, configured to determine axial position information of the flywheel rotor based on the plurality of axial position information.
The embodiment of the invention provides a position detection device of a flywheel rotor, which is arranged on a control system of a magnetic bearing; a plurality of sensor coils are pre-installed on the magnetic pole of the magnetic bearing winding; or a plurality of position measuring circuits connected with the sensor coils are used for acquiring a plurality of radial position information of the flywheel rotor in the same radial direction and a plurality of axial position information in the same axial direction in the magnetic bearing at the current moment; based on the plurality of radial position information and the plurality of axial position information, radial position information and axial position information of the flywheel rotor are determined. In the method, a plurality of sensor coils are arranged on the magnetic pole of the magnetic bearing winding, and a plurality of measuring circuits connected with the sensor coils are used for acquiring a plurality of position information of the flywheel rotor in the same direction at the same moment, so that the volume and the weight of the system are reduced, and the cost is further reduced; in addition, the final position information of the flywheel rotor is determined through the plurality of position information, so that the stability and the reliability of the magnetic suspension control system are improved, and the position detection precision is further improved.
Further, the plurality of position measurement circuits include: a first radial position measurement circuit; two or four first radial sensor coils are connected in the first radial position measuring circuit; the two first radial sensor coils comprise: a radial sensor coil in the first radial magnetic bearing winding magnetic pole, and a radial sensor coil in the radial magnetic bearing winding magnetic pole that is symmetric to the first radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole is any one radial magnetic bearing winding magnetic pole in any group of iron cores in the magnetic bearings; the four first radial sensor coils comprise: a radial sensor coil in parallel or in series with one radial sensor coil in the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the second radial magnetic bearing winding magnetic pole, and a radial sensor coil in parallel or in series with one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole and the second radial magnetic bearing winding magnetic pole share the same iron core; the first position acquisition module is further configured to: and acquiring first radial position information of the flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a first radial position measuring circuit.
Further, the plurality of position measurement circuits include: a second radial position measurement circuit; four second radial sensor coils are connected in the second radial position measuring circuit; the four second radial sensor coils comprise: one radial sensor coil in the first radial magnetic bearing winding magnetic pole, one radial sensor coil in the second radial magnetic bearing winding magnetic pole, one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole, and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial sensor coil is different from the second radial sensor coil; the first position acquisition module is further configured to: acquiring second radial position information of a flywheel rotor in the magnetic bearing in the same radial direction at the current moment through a second radial position measuring circuit; wherein the same radial direction includes directions of X axis and/or Y axis perpendicular to each other.
Further, the plurality of axial sensor coils includes a plurality of upper axial sensor coils and a plurality of lower axial sensor coils; the number of the upper axial sensor coils is the same as that of the lower axial sensor coils; the plurality of position measurement circuits further includes: a first axial position measurement circuit; two or four first axial sensor coils are connected in the first axial position measuring circuit; the two first axial sensor coils comprise: an upper axial sensor coil and a lower axial sensor coil; the four first axial sensor coils comprise: the two upper axial sensor coils are connected in series or in parallel, and the two lower axial sensor coils are connected in series or in parallel; the first position acquisition module is further configured to: and acquiring first axial position information of a flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a first axial position measuring circuit.
Further, the plurality of position measurement circuits further include: a second axial position measurement circuit; four second axial sensor coils are connected in the second axial position measuring circuit; the four second axial sensor coils include: two upper axial sensor coils and two lower axial sensor coils; the first axial sensor coil is different from the second axial sensor coil; the first position acquisition module is further configured to: and acquiring second axial position information of the flywheel rotor in the magnetic bearing in the same axial direction at the current moment through a second axial position measuring circuit.
Further, the plurality of pieces of radial position information include: first radial position information and second radial position information; the radial position determination module is further configured to: calculating a first absolute value of a difference between the first radial position information and the second radial position information; determining an average value of the first radial position information and the second radial position information as final radial position information of the flywheel rotor if the first absolute value is less than or equal to a preset first threshold; and if the first absolute value is larger than a preset first threshold value, determining the final radial position information of the flywheel rotor according to the radial position information of the flywheel rotor at the previous moment.
Further, the radial position determining module is further configured to: determining first target position information which is closest to the radial position information of the flywheel rotor at the previous moment from the first radial position information and the second radial position information; the first target position information is determined as final radial position information of the flywheel rotor.
Further, the plurality of pieces of axial position information include: first axial position information and second axial position information; the radial position determination module is further configured to: calculating a second absolute value of a difference between the first axial position information and the second axial position information; determining an average value of the first axial position information and the second axial position information as final axial position information of the flywheel rotor if the second absolute value is less than or equal to a preset second threshold; and if the second absolute value is larger than a preset second threshold value, determining the final axial position information of the flywheel rotor according to the axial position information of the flywheel rotor at the previous moment.
Further, the radial position determining module is further configured to: determining second target position information which is closest to the axial position information of the flywheel rotor at the previous moment from the first axial position information and the second axial position information; the second target position information is determined as final axial position information of the flywheel rotor.
The flywheel rotor position detection device provided by the embodiment of the invention has the same technical characteristics as the flywheel rotor position detection method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The method, the apparatus, and the computer program product of the system for detecting the position of the flywheel rotor according to the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
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 computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. 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.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: 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. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A method of detecting the position of a flywheel rotor, the method being applied to a control system for magnetic bearings; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; the magnetic bearing is provided with a plurality of position measuring circuits in advance; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measurement circuit; the method comprises the following steps:
obtaining a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment and a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through the plurality of position measuring circuits;
determining radial position information of the flywheel rotor based on the plurality of radial position information;
based on the plurality of axial position information, axial position information of the flywheel rotor is determined.
2. The method of claim 1, wherein the plurality of position measurement circuits comprises: a first radial position measurement circuit; two or four first radial sensor coils are connected in the first radial position measuring circuit;
two of the first radial sensor coils comprise: a radial sensor coil in a first radial magnetic bearing winding pole, and a radial sensor coil in a radial magnetic bearing winding pole that is symmetric to the first radial magnetic bearing winding pole; the first radial magnetic bearing winding magnetic pole is any one radial magnetic bearing winding magnetic pole in any group of iron cores in the magnetic bearings;
the four first radial sensor coils comprise: a radial sensor coil in parallel or in series with one radial sensor coil in the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the second radial magnetic bearing winding magnetic pole, and a radial sensor coil in parallel or in series with one radial sensor coil in the radial magnetic bearing winding magnetic pole that is symmetric to the first radial magnetic bearing winding magnetic pole and one radial sensor coil in the radial magnetic bearing winding magnetic pole that is symmetric to the second radial magnetic bearing winding magnetic pole; the first radial magnetic bearing winding magnetic pole and the second radial magnetic bearing winding magnetic pole share the same iron core;
the step of obtaining a plurality of radial position information of the flywheel rotor in the same radial direction in the magnetic bearing at the current moment through the plurality of position measurement circuits comprises the following steps:
and acquiring first radial position information of a flywheel rotor in the magnetic bearing in the same radial direction at the current moment through the first radial position measuring circuit.
3. The method of claim 2, wherein the plurality of position measurement circuits comprises: a second radial position measurement circuit; four second radial sensor coils are connected in the second radial position measuring circuit;
the four second radial sensor coils comprise: one radial sensor coil in the first radial magnetic bearing winding magnetic pole, one radial sensor coil in the second radial magnetic bearing winding magnetic pole, one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the first radial magnetic bearing winding magnetic pole, and one radial sensor coil in the radial magnetic bearing winding magnetic pole symmetrical to the second radial magnetic bearing winding magnetic pole; the first radial sensor coil is different from the second radial sensor coil;
the step of obtaining a plurality of radial position information of the flywheel rotor in the magnetic bearing in the same radial direction at the current moment through the plurality of position measurement circuits further includes:
acquiring second radial position information of a flywheel rotor in the magnetic bearing in the same radial direction at the current moment through the second radial position measuring circuit; wherein the same radial direction includes directions of an X axis and/or a Y axis perpendicular to each other.
4. The method of claim 1, wherein the plurality of axial sensor coils comprises a plurality of upper axial sensor coils and a plurality of lower axial sensor coils; wherein the number of the upper axial sensor coils is the same as the number of the lower axial sensor coils; the plurality of position measurement circuits further comprises: a first axial position measurement circuit; two or four first axial sensor coils are connected in the first axial position measuring circuit;
the two first axial sensor coils comprise: an upper axial sensor coil and a lower axial sensor coil; the four first axial sensor coils comprise: the two upper axial sensor coils are connected in series or in parallel, and the two lower axial sensor coils are connected in series or in parallel;
the step of obtaining a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through the plurality of position measurement circuits further includes:
and acquiring first axial position information of a flywheel rotor in the magnetic bearing in the same axial direction at the current moment through the first axial position measuring circuit.
5. The method of claim 4, wherein the plurality of position measurement circuits further comprises: a second axial position measurement circuit; four second axial sensor coils are connected in the second axial position measuring circuit; the four second axial sensor coils include: two upper axial sensor coils and two lower axial sensor coils; the first axial sensor coil is different from the second axial sensor coil;
the step of obtaining a plurality of axial position information of the flywheel rotor in the same axial direction in the magnetic bearing at the current moment through the plurality of position measurement circuits further includes:
and acquiring second axial position information of a flywheel rotor in the magnetic bearing in the same axial direction at the current moment through the second axial position measuring circuit.
6. The method of claim 1, wherein the plurality of radial position information comprises: first radial position information and second radial position information;
determining radial position information of the flywheel rotor based on the plurality of radial position information, comprising:
calculating a first absolute value of a difference between the first radial position information and the second radial position information;
determining an average value of the first radial position information and the second radial position information as final radial position information of the flywheel rotor if the first absolute value is less than or equal to a preset first threshold;
and if the first absolute value is larger than the preset first threshold, determining final radial position information of the flywheel rotor according to the radial position information of the flywheel rotor at the previous moment.
7. The method of claim 6, wherein the step of determining the final radial position information of the flywheel rotor based on the radial position information of the flywheel rotor at the previous time comprises:
determining first target position information which is closest to the radial position information of the flywheel rotor at the previous moment from the first radial position information and the second radial position information;
determining the first target position information as final radial position information of the flywheel rotor.
8. The method of claim 1, wherein the plurality of axial position information comprises: first axial position information and second axial position information;
determining axial position information of the flywheel rotor based on the plurality of axial position information, comprising:
calculating a second absolute value of a difference between the first axial position information and the second axial position information;
determining an average value of the first axial position information and the second axial position information as final axial position information of the flywheel rotor if the second absolute value is less than or equal to a preset second threshold value;
and if the second absolute value is larger than the preset second threshold, determining the final axial position information of the flywheel rotor according to the axial position information of the flywheel rotor at the previous moment.
9. The method of claim 8, wherein determining the final axial position information of the flywheel rotor based on the axial position information of the flywheel rotor at the previous time comprises:
determining second target position information which is closest to the axial position information of the flywheel rotor at the previous moment from the first axial position information and the second axial position information;
determining the second target position information as final axial position information of the flywheel rotor.
10. A flywheel rotor position detection device, characterized in that the device is arranged in a control system of a magnetic bearing; a plurality of radial sensor coils are pre-installed on the winding magnetic pole of the radial magnetic bearing of the magnetic bearing; a plurality of axial sensor coils are pre-installed on the winding magnetic pole of the axial magnetic bearing of the magnetic bearing; a plurality of position measuring circuits are preset in the magnetic bearing; a plurality of radial sensor coils or a plurality of axial sensor coils are connected in the position measurement circuit; the device comprises:
the first position acquisition module is used for acquiring a plurality of pieces of radial position information of the flywheel rotor of the magnetic bearing in the same radial direction at the current moment and a plurality of pieces of axial position information of the flywheel rotor of the magnetic bearing in the same axial direction at the current moment through the plurality of position measurement circuits;
a radial position determination module for determining radial position information of the flywheel rotor based on the plurality of radial position information;
an axial position determination module configured to determine axial position information of the flywheel rotor based on the plurality of axial position information.
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