CN113587794A - Electromagnetic bearing rotor displacement measuring method and device and electromagnetic bearing system - Google Patents
Electromagnetic bearing rotor displacement measuring method and device and electromagnetic bearing system Download PDFInfo
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- 239000000523 sample Substances 0.000 claims description 18
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- 230000001939 inductive effect Effects 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a method and a device for measuring the displacement of an electromagnetic bearing rotor and an electromagnetic bearing system, wherein the method comprises the following steps: receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor; averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor. According to the electromagnetic bearing rotor displacement measuring method, the electromagnetic bearing rotor displacement measuring device and the electromagnetic bearing system, the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range is subjected to averaging processing, so that the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for measuring the displacement of an electromagnetic bearing rotor and an electromagnetic bearing system.
Background
Electrical bounce is a source of error in the output signal of a proximity probe sensor system caused by non-uniform conductivity/resistivity/permeability of the surface of the material of the measured object, such as a rotating shaft. The non-uniformity may be caused by scratches, rust, nicks, or template marks, etc. Electrical run-out is a change in the sensor output signal that is not due to a change in the true gap, i.e., the non-uniform physical properties of the material cause anisotropy in the measured body on the rotor, thereby creating a non-linear characteristic in the displacement sensor output signal.
The electromagnetic bearing-rotor system is a mechanical mechanism mainly comprising an electromagnet and a rotor, when the rotor rotates, a displacement sensor measures the displacement of the rotor in real time, and if nonlinear or high-frequency noise exists on the measured surface of the rotor to a certain degree, the electrical bounce problem can occur, so that the stability of the rotor in the operation process is reduced.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method and an apparatus for measuring displacement of an electromagnetic bearing rotor, and an electromagnetic bearing system.
The invention provides a method for measuring the displacement of an electromagnetic bearing rotor, which comprises the steps of receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor; averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
According to the method for measuring the displacement of the electromagnetic bearing rotor provided by the invention, the averaging processing is performed on the radial displacement signal within the preset rotation angle to obtain a processed displacement signal, and the method specifically comprises the following steps: sampling the radial displacement signals within the preset rotation angle to obtain a preset number of discrete displacement signals; and averaging the discrete displacement signals of the preset number to obtain the processed displacement signals.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the preset rotation angle is smaller than a preset angle threshold value.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the preset angle threshold is 30 degrees.
According to the displacement measuring method for the electromagnetic bearing rotor, provided by the invention, the displacement sensor comprises an inductive sensor.
The invention also provides a device for measuring the displacement of the electromagnetic bearing rotor, which comprises: a receiving module to: receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor; a processing module to: averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
The invention also provides an electromagnetic bearing system, which comprises a displacement sensor, a controller, a power amplifier, an electromagnet, a rotor and an electromagnetic bearing rotor displacement measuring device; wherein: the displacement sensor is used for measuring a radial displacement signal of the rotor; the electromagnetic bearing rotor displacement measuring device is used for averaging the radial displacement signals within a preset rotation angle to obtain processed displacement signals; the controller is used for generating an electromagnetic force control signal based on the processed displacement signal; the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
The invention also provides an electromagnetic bearing system, which comprises a displacement sensor, a controller, a power amplifier, an electromagnet and a rotor, wherein the displacement sensor comprises a plurality of measuring probes, the plurality of measuring probes are used for measuring the radial displacement of the rotor, and the plurality of measuring probes are distributed in a preset angle range; the controller is used for generating an electromagnetic force control signal based on the displacement signal output by the displacement sensor; the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
According to the electromagnetic bearing rotor displacement measuring method, the device and the electromagnetic bearing system, the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range is subjected to averaging processing, so that the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for measuring the displacement of an electromagnetic bearing rotor provided by the present invention;
FIG. 2 is a schematic structural diagram of an electromagnetic bearing rotor displacement measuring device provided by the present invention;
FIG. 3 is one of the schematic structural views of an electromagnetic bearing system provided by the present invention;
fig. 4 is a second schematic structural diagram of an electromagnetic bearing system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages 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 obvious 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.
Fig. 1 is a schematic flow chart of a method for measuring the displacement of an electromagnetic bearing rotor provided by the present invention, as shown in fig. 1, the method includes:
s110, receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor;
and S120, averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
The radial displacement refers to the distance between the outermost edge of the circumference of the rotor and a probe of the displacement sensor, the distance changes in the operation process of the electromagnetic bearing rotor, and the displacement sensor can sense the change of the distance and convert the change of the distance into an electric signal to be output.
And after receiving the radial displacement signal output by the displacement sensor, carrying out averaging processing on the radial displacement signal within a preset rotation angle to obtain a processed displacement signal. The purpose of averaging the radial displacement signals is to equalize the radial displacement signals of each measurement location to obtain a processed displacement signal. The averaging process may be performed by using a feasible mathematical statistic means, for example, an average value of curves corresponding to the radial displacement signal within a preset rotation angle may be obtained. The obtained processed displacement signal can weaken the displacement change of individual points caused by scratches, rusting and the like, avoid the position control of the rotor caused by unreal displacement change and improve the running stability of the rotor.
The controller generates an electromagnetic force control signal based on the displacement signal obtained after the averaging processing, and the electromagnetic force control signal acts on the electromagnet to generate an electromagnetic force, so that the electromagnetic force control on the rotor is finally realized.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range is subjected to averaging processing, so that the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
According to the method for measuring the displacement of the electromagnetic bearing rotor provided by the invention, the averaging processing is performed on the radial displacement signal within the preset rotation angle to obtain a processed displacement signal, and the method specifically comprises the following steps: sampling the radial displacement signals within the preset rotation angle to obtain a preset number of discrete displacement signals; and averaging the discrete displacement signals of the preset number to obtain the processed displacement signals.
Sampling radial displacement signals obtained within a preset rotation angle, wherein in the sampling process, the sampling is based on the size of the rotation angle, for example, the preset rotation angle is 20 degrees, and sampling is performed every 10 degrees, so that 3 samples are obtained in the process, and assuming that the measured radial displacements are respectively 5mm, 6mm and 7mm, the displacement signals obtained by averaging based on the above data are: (5+6+ 7)/3-6 mm, i.e. 6mm displacement signal after processing when the rotor has rotated 20 degrees.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the displacement signal subjected to averaging is finally obtained by performing discrete sampling and averaging on the radial displacement of the rotor, and then the electromagnetic force control signal is generated based on the averaged displacement signal, so that the adverse effect caused by electrical bounce is effectively reduced.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the preset rotation angle is smaller than a preset angle threshold value.
The preset rotation angle threshold value is an optimal value obtained on the basis of a large number of experiments, an optimal rotor rotation angle interval is obtained on the basis of the optimal value, and in the interval, the real-time accurate control of the electromagnet on the rotor operation process can be ensured, and the electric jumping phenomenon can be effectively weakened.
According to the electromagnetic bearing rotor displacement measuring method provided by the invention, the rotation angle of the rotor is locked in the preset angle threshold interval, and meanwhile, the accurate control of the rotor operation process is ensured and the electric jumping phenomenon is effectively weakened.
According to the method for measuring the displacement of the electromagnetic bearing rotor, provided by the invention, the preset angle threshold is 30 degrees.
In an electromagnetic bearing-rotor system, the rotor operates at a high speed, and in order to ensure good control of the operation of the rotor by the electromagnet, the electromagnet needs to quickly and effectively react to the rotor, and once the radial displacement of the rotor is detected to change, the rotor needs to be timely corrected by means of the electromagnetic force generated by the electromagnet. In the process, if the preset angle is set to be too large, the problem that the control of the electromagnet on the rotor is delayed can occur, and if the preset angle is set to be too small, the electric jumping phenomenon can not be effectively weakened, so that the preset angle threshold is set to be 30 degrees.
According to the method for measuring the displacement of the electromagnetic bearing rotor, the preset angle threshold is set to be 30 degrees, so that the electric jumping phenomenon is effectively weakened on the premise that an electromagnet can timely control the rotor.
According to the displacement measuring method for the electromagnetic bearing rotor, provided by the invention, the displacement sensor comprises an inductive sensor.
Three types of inductive sensors which are widely applied in an electromagnetic bearing system all utilize the self-inductance or mutual-inductance principle of an electrified coil to carry out related measurement: the single probe of the single inductance coil of the eddy current sensor measures through the self-inductance of the coil; variable reluctance sensors also measure by self-inductance, but typically have more than one coil. For electromagnetic bearing-rotor systems, which need to provide accurate displacement measurements in complex environments, eddy current sensors and variable reluctance sensors are more widely used in magnetic bearings with their simpler structure and measurement requirements.
According to the method for measuring the displacement of the electromagnetic bearing rotor, the induction type sensor is used as the displacement sensor, so that the electromagnetic bearing-rotor system can provide accurate measurement in a complex environment, and the accurate control of an electromagnet on the operation process of the rotor is finally realized.
Fig. 2 is a schematic structural diagram of an electromagnetic bearing rotor displacement measuring apparatus provided in the present invention, and as shown in fig. 2, the apparatus 200 includes a receiving module 210 and a processing module 220, wherein:
a receiving module 210, configured to: receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor;
a processing module 220 for: averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range is subjected to averaging processing, so that the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
According to the present invention, when the processing module 220 is configured to average the radial displacement signal within the preset rotation angle to obtain a processed displacement signal, the processing module is specifically configured to: sampling the radial displacement signals within the preset rotation angle to obtain a preset number of discrete displacement signals; and averaging the discrete displacement signals of the preset number to obtain the processed displacement signals.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the averaged displacement signal is finally obtained by performing discrete sampling and averaging on the radial displacement of the rotor, and then the electromagnetic force control signal is generated based on the averaged displacement signal, so that the adverse effect caused by electrical bounce is effectively reduced.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the preset rotation angle is smaller than the preset angle threshold.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the rotation angle of the rotor is locked in the preset angle threshold interval, and meanwhile, the accurate control of the rotor operation process is ensured and the electric jumping phenomenon is effectively weakened.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the preset angle threshold is 30 degrees.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the preset angle threshold is set to be 30 degrees, so that the electric jumping phenomenon is effectively weakened on the premise that the electromagnet can timely control the rotor.
According to the displacement measuring device for the electromagnetic bearing rotor, provided by the invention, the displacement sensor comprises an inductive sensor.
According to the electromagnetic bearing rotor displacement measuring device provided by the invention, the electromagnetic bearing-rotor system can provide accurate measurement in a complex environment by using the inductive sensor as the displacement sensor, and finally, the accurate control of the electromagnet on the rotor operation process is realized.
Fig. 3 is a schematic structural diagram of an electromagnetic bearing system provided in the present invention, and as shown in fig. 3, the electromagnetic bearing system includes: displacement sensor, controller, power amplifier, electromagnet, rotor and the electromagnetic bearing rotor displacement measuring device of the above embodiments, wherein,
the displacement sensor is used for measuring a radial displacement signal of the rotor;
the electromagnetic bearing rotor displacement measuring device is used for averaging the radial displacement signals within a preset rotation angle to obtain processed displacement signals;
the controller is used for generating an electromagnetic force control signal based on the processed displacement signal;
the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
It should be noted that the electromagnetic force control signal sent by the controller belongs to a weak current signal, and the control of the electromagnet cannot be directly and well realized based on the weak current signal, so a power amplifier circuit is additionally arranged between the controller and the electromagnet, the electromagnet is controlled after the electromagnetic force control signal sent by the controller is amplified, and finally, the effective control of the rotor operation process is realized.
According to the electromagnetic bearing system provided by the invention, through the averaging processing of the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range, the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
Fig. 4 is a second schematic structural diagram of an electromagnetic bearing system provided by the present invention, as shown in fig. 4, the electromagnetic bearing system includes: displacement sensor, controller, power amplifier, electromagnet and rotor, wherein,
the displacement sensor comprises a plurality of measuring probes, the measuring probes are used for measuring the radial displacement of the rotor, and the measuring probes are distributed in a preset angle range;
the controller is used for generating an electromagnetic force control signal based on the displacement signal output by the displacement sensor;
the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
It should be noted that, the displacement sensor is set in a multi-probe form, each probe correspondingly acquires one displacement signal, and as shown in fig. 4, the displacement sensor is set in a 3-probe form, when the rotor is at a certain position, 3 displacement signals are acquired by the 3 probes, and then the sensor obtains one total displacement signal based on the 3 displacement signals, where the total displacement signal may be an averaged displacement signal of the displacement signals acquired by the 3 probes. Since the 3 probes are within the preset angle range, that is, at a certain moment, the averaged displacement signals at different positions within the preset angle range can be obtained.
The total displacement signal is transmitted to a controller, the controller makes an electromagnetic force control signal based on the total displacement signal, the electromagnetic force control signal is amplified by a power amplification circuit and finally reaches an electromagnet, and effective control over a rotor is achieved based on the electromagnetic force of the electromagnet.
According to the electromagnetic bearing system provided by the invention, through the averaging processing of the radial displacement of the electromagnetic bearing rotor within a certain rotation angle range, the controller sends out an electromagnetic force control signal based on the processed displacement signal, the vibration of the rotor caused by electrical bounce is effectively reduced, the stability of the operation process of the rotor is ensured, and the operation performance of the rotor is improved.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for measuring the displacement of an electromagnetic bearing rotor is characterized by comprising the following steps:
receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor;
averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
2. The method for measuring the displacement of the electromagnetic bearing rotor according to claim 1, wherein the step of averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals specifically comprises:
sampling the radial displacement signals within the preset rotation angle to obtain a preset number of discrete displacement signals;
and averaging the discrete displacement signals of the preset number to obtain the processed displacement signals.
3. The method of claim 1, wherein the predetermined angle of rotation is less than a predetermined angle threshold.
4. The method of claim 3, wherein the predetermined angular threshold is 30 degrees.
5. The method of claim 1, wherein the displacement sensor comprises an inductive sensor.
6. An electromagnetic bearing rotor displacement measuring device, comprising:
a receiving module to: receiving a radial displacement signal of the rotor within a preset rotation angle, which is acquired by a displacement sensor;
a processing module to: averaging the radial displacement signals within the preset rotation angle to obtain processed displacement signals, so that a controller generates electromagnetic force control signals based on the processed displacement signals, and the electromagnetic force control signals are used for generating electromagnetic force in an electromagnet to perform active electromagnetic force control on the rotor.
7. An electromagnetic bearing system comprising a displacement sensor, a controller, a power amplifier, an electromagnet and a rotor, and further comprising the electromagnetic bearing rotor displacement measuring device of claim 6; wherein:
the displacement sensor is used for measuring a radial displacement signal of the rotor;
the electromagnetic bearing rotor displacement measuring device is used for averaging the radial displacement signals within a preset rotation angle to obtain processed displacement signals;
the controller is used for generating an electromagnetic force control signal based on the processed displacement signal;
the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
8. The utility model provides an electromagnetic bearing system, includes displacement sensor, controller, power amplifier, electro-magnet and rotor, its characterized in that:
the displacement sensor comprises a plurality of measuring probes, the measuring probes are used for measuring the radial displacement of the rotor, and the measuring probes are distributed in a preset angle range;
the controller is used for generating an electromagnetic force control signal based on the displacement signal output by the displacement sensor;
the power amplifier is used for generating electromagnetic force in the electromagnet after the electromagnetic force control signal is subjected to power amplification so as to perform active electromagnetic force control on the rotor.
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