CN113700747A - Levitation control device and method of magnetic levitation system and magnetic levitation system - Google Patents
Levitation control device and method of magnetic levitation system and magnetic levitation system Download PDFInfo
- Publication number
- CN113700747A CN113700747A CN202111137701.6A CN202111137701A CN113700747A CN 113700747 A CN113700747 A CN 113700747A CN 202111137701 A CN202111137701 A CN 202111137701A CN 113700747 A CN113700747 A CN 113700747A
- Authority
- CN
- China
- Prior art keywords
- rotor
- current
- floating
- bearing
- radial bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005339 levitation Methods 0.000 title claims description 100
- 238000007667 floating Methods 0.000 claims abstract description 162
- 238000005070 sampling Methods 0.000 claims abstract description 17
- 239000000126 substance Substances 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 58
- 238000010586 diagram Methods 0.000 description 20
- 230000001681 protective effect Effects 0.000 description 14
- 230000008569 process Effects 0.000 description 8
- 238000013459 approach Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
-
- 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
-
- 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
-
- 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
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a floating control device and method of a magnetic suspension system and the magnetic suspension system, the device comprises: the control unit is used for controlling the first end of the rotor to float in the floating stage of the rotor; the sampling unit is used for sampling the current position of the first end of the rotor and recording the current position as a current first position; the control unit is used for controlling the first end of the rotor to be suspended at the first set position and controlling the second end of the rotor to float under the condition that the current first position is determined to reach the first set position; the sampling unit is used for sampling the current position of the second end of the rotor and recording the current position as a current second position; and the control unit is also used for controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position so as to finish the floating control of the rotor in the floating stage. This scheme, through the one end in the preceding journal bearing of the rotor of floating earlier and the back journal bearing, the floating mode of the other end of floating again can reduce the rotor and float instantaneous impulse current.
Description
Technical Field
The invention belongs to the technical field of magnetic suspension, and particularly relates to a floating control device and method of a magnetic suspension system and the magnetic suspension system, in particular to a device and method for realizing magnetic suspension floating logic and the magnetic suspension system.
Background
Magnetic levitation systems, such as magnetic levitation motor systems, mainly comprise: high-speed motor, magnetic suspension bearing, rotor, magnetic suspension controller, converter, etc. The magnetic suspension motor system needs to control the rotor to rotate at a high speed and suspend stably.
Before floating, the rotor is clung to the protective bearing. In the related scheme, the floating mode of the rotor in the magnetic suspension bearing is that current is injected into a front shaft position coil and a rear shaft position coil of the rotor at the same time, so that the position of the rotor moves. Under the floating mode in the relevant scheme, the impact current is larger at the moment of rotor floating, which affects the suspension stability of the magnetic suspension bearing.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a floating control device and method of a magnetic suspension system and the magnetic suspension system, which aim to solve the problem that in the floating process of a rotor in a magnetic suspension bearing, the impact current at the moment of the rotor floating is larger in a mode that the front end and the rear end of the rotor are electrified and floated simultaneously, so that the stability of the magnetic suspension bearing is influenced, and achieve the effect of reducing the impact current at the moment of the rotor floating by floating one end of a front radial bearing and a rear radial bearing of the rotor firstly and then floating the other end in the floating process of the rotor in the magnetic suspension bearing.
The invention provides a floating control device of a magnetic suspension system, wherein the magnetic suspension system comprises: a rotor; the levitation control device of the magnetic levitation system comprises: a sampling unit and a control unit; wherein the control unit is configured to control the first end of the rotor to float during a floating phase of the rotor; the first end of the rotor is one of the front end of the rotor and the rear end of the rotor; the sampling unit is configured to sample the current position of the first end of the rotor, and the current position is recorded as a current first position; the control unit is further configured to determine whether the current first position has reached a first set position; and, in the event that it is determined that the current first position has reached the first set position, controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float; a second end of the rotor being the other of the front end of the rotor and the rear end of the rotor; the sampling unit is further configured to sample a current position of the second end of the rotor, and the current position is recorded as a current second position; the control unit is further configured to determine whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
In some embodiments, the magnetic levitation system further comprises: a bearing; the bearing, comprising: a front radial bearing and a rear radial bearing; the bearing is provided with a bearing coil; the front radial bearing is provided with a front radial bearing coil; the rear radial bearing having a rear radial bearing coil; the rotor is positioned at one end of the front radial bearing and is the front end of the rotor; the rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
In some embodiments, wherein the control unit controls the first end of the rotor to float comprises: energizing the coils of the first end of the rotor and de-energizing the coils of the second end of the rotor; the control unit, control the second end of rotor floats, include: when the coil at the first end of the rotor is energized, the coil at the second end of the rotor is energized.
In some embodiments, the first end of the rotor is a front end of the rotor; the second end of the rotor is the rear end of the rotor.
In accordance with the above apparatus, a magnetic levitation system is provided in another aspect of the present invention, including: the levitation control device of the magnetic levitation system described above.
In matching with the above magnetic levitation system, a further aspect of the present invention provides a levitation control method for a magnetic levitation system, where the magnetic levitation system includes: a rotor; the levitation control method of the magnetic levitation system comprises the following steps: controlling the first end of the rotor to float in the floating stage of the rotor; the first end of the rotor is one of the front end of the rotor and the rear end of the rotor; sampling the current position of the first end of the rotor, and recording as a current first position; determining whether the current first position has reached a first set position; and, in the event that it is determined that the current first position has reached the first set position, controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float; a second end of the rotor being the other of the front end of the rotor and the rear end of the rotor; sampling the current position of the second end of the rotor, and recording as a current second position; determining whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
In some embodiments, the magnetic levitation system further comprises: a bearing; the bearing, comprising: a front radial bearing and a rear radial bearing; the bearing is provided with a bearing coil; the front radial bearing is provided with a front radial bearing coil; the rear radial bearing having a rear radial bearing coil; the rotor is positioned at one end of the front radial bearing and is the front end of the rotor; the rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
In some embodiments, wherein controlling the first end of the rotor to float comprises: energizing the coils of the first end of the rotor and de-energizing the coils of the second end of the rotor; controlling the second end of the rotor to float, comprising: when the coil at the first end of the rotor is energized, the coil at the second end of the rotor is energized.
In some embodiments, the first end of the rotor is a front end of the rotor; the second end of the rotor is the rear end of the rotor.
Therefore, in the floating process of the rotor in the magnetic suspension bearing, one end of the rotor (namely one end of the front radial bearing and the rear radial bearing) is controlled to float firstly during the floating of the rotor, and then the other end of the rotor (namely the other end of the front radial bearing and the rear radial bearing) is controlled to float; therefore, the instantaneous impact current of the rotor during floating can be reduced by floating one end of the front radial bearing and the rear radial bearing of the rotor firstly and then floating the other end of the front radial bearing and the rear radial bearing of the rotor.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a levitation control apparatus of a magnetic levitation system of the present invention;
FIG. 2 is a schematic control flow diagram of an embodiment of a magnetic bearing in a magnetic levitation motor system;
FIG. 3 is a schematic structural diagram of a rotor at a front radial bearing in a magnetic levitation motor system;
FIG. 4 is a schematic structural diagram of a magnetic levitation motor system with a rotor in an un-levitated state;
FIG. 5 is a schematic structural diagram of a floating end of a rotor in a magnetic levitation motor system;
FIG. 6 is a schematic structural diagram of a complete rotor levitation in a magnetic levitation motor system;
FIG. 7 is a schematic current waveform diagram of a rotor in a related scheme of a levitation mode in a magnetic levitation motor system;
FIG. 8 is a schematic view of current waveforms in a floating mode in which the front end of the rotor floats first and then the rear end of the rotor floats in a magnetic levitation motor system;
fig. 9 is a flowchart illustrating a levitation control method of the magnetic levitation system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to an embodiment of the present invention, there is provided a levitation control apparatus of a magnetic levitation system. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The magnetic levitation system comprises: and a rotor. The rotor has a rotor front end and a rotor rear end. The levitation control device of the magnetic levitation system comprises: a sampling unit and a control unit.
Wherein the control unit is configured to control the first end of the rotor to float during a floating phase of the rotor. The first end of the rotor is one of a front end of the rotor and a rear end of the rotor.
The sampling unit is configured to sample a current position of the first end of the rotor, and the current position is recorded as a current first position.
The control unit is further configured to determine whether the current first position has reached a first set position; and controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float when it is determined that the current first position has reached the first set position. The second end of the rotor is the other of the front end of the rotor and the rear end of the rotor.
The sampling unit is further configured to sample a current position of the second end of the rotor, which is recorded as a current second position.
The control unit is further configured to determine whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
Fig. 2 is a schematic control flow diagram of an embodiment of a magnetic suspension bearing in a magnetic suspension motor system. The control principle of the magnetic suspension bearing is that a position sensor monitors the position of a rotor in real time, as shown in fig. 2, the position sensor compares the position with a given reference position, the position is converted into a current signal through a position controller, a control current is obtained under the action of the current controller, and the control current is sent to a bearing coil to generate corresponding electromagnetic force to drive the rotor to move. As shown in fig. 2, the control flow of the magnetic suspension bearing includes:
and 11, giving a reference position to obtain a given position. The sensor feeds back real-time position information of the bearing coil.
And step 12, obtaining a position difference value after the given position and the real-time position information pass through a comparator. And the position difference value is processed by a position controller to obtain the given current.
And step 13, comparing the given current with the feedback current of the bearing coil, namely the real-time current, to obtain a current difference value. And the current difference value is processed by the current controller to obtain a current control value. The current control value controls the bearing coil, i.e. the current control value is injected into the magnetic bearing and converted into an electromagnetic force controlling the rotor position. In the magnetic suspension bearing system, the electromagnetic force in each direction on the magnetic suspension bearing is changed by changing the current of the winding of the bearing coil, so that the rotor can realize stable suspension.
Under the floating mode of the related scheme, in the floating process, because the electromagnetic force is inversely proportional to the magnetic circuit air gap, when the rotor is in the non-floating state, the magnetic circuit air gap of the magnetic bearing is larger, so that the rotor can be separated from the non-floating state only by overcoming the gravity with enough current, and the floating is realized. Under the mode of floating in the relevant scheme, the moment of floating, impulse current is great, and this requirement to the power is higher, if mains voltage supplies inadequately, can not reach the rotor and realize the required instantaneous power that floats, can make the rotor float the difficulty, can lead to the rotor to float the failure when serious. Some solutions increase the supply voltage of the power supply, but with a consequent increase in costs.
The scheme of the invention provides a magnetic suspension floating logic, wherein during the floating of a rotor, one end (namely one end of a front radial bearing and a rear radial bearing) of the rotor is controlled to float, and then the other end of the rotor is floated, so that the impact current at the moment of the floating of the rotor is reduced. Compared with the mode that the front end and the rear end of the rotor simultaneously float in the floating mode in the related scheme, the scheme provided by the invention can reduce the impact current at the moment of rotor floating and improve the floating stability of the magnetic suspension bearing. Therefore, the problem that in a magnetic suspension motor system, in a rotor floating stage in a floating mode in a related scheme, impact current is large, and if power supply is insufficient, the rotor is difficult to float and even fails is solved.
In some embodiments, the magnetic levitation system further comprises: and a bearing. The bearing, comprising: a front radial bearing and a rear radial bearing. The bearing has a bearing coil. The front radial bearing has a front radial bearing coil. The rear radial bearing has a rear radial bearing coil. The rotor is located at one end of the front radial bearing and is the front end of the rotor. The rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
Fig. 3 is a schematic structural diagram of a rotor at a front radial bearing in a magnetic levitation motor system. Hereinafter, for convenience of description, both ends of the rotor will be referred to as a front end of the rotor and a rear end of the rotor. And one end of the floating front and rear journal bearings described, including the x-direction (e.g., FX) and y-direction (e.g., FY) of that end, as shown in fig. 3.
In some embodiments, wherein the control unit controls the first end of the rotor to float comprises: the control unit is in particular further configured to energize the coils of the first end of the rotor and to de-energize the coils of the second end of the rotor.
The control unit, control the second end of rotor floats, include: the control unit is further configured to energize the coil of the second end of the rotor if the coil of the first end of the rotor is energized.
Fig. 4 is a schematic structural diagram of a magnetic levitation motor system with a rotor in an un-levitated state. Fig. 5 is a schematic structural diagram of a floating end of a rotor in a magnetic suspension motor system, and fig. 6 is a schematic structural diagram of a complete floating of the rotor in the magnetic suspension motor system.
As shown in fig. 4, the rotor, when not floating, falls on the protective bearing. The levitation style of the related solution is that the rotor is not yet levitated and initially falls on the protective bearing, as shown in fig. 4. When the rotor floats, the coils at the front end and the rear end are electrified, the two ends of the rotor are simultaneously separated from the protective bearing, oscillate up and down and finally suspend at a reference position, as shown in fig. 6. The floating mode of the solution of the present invention is that the rotor is not yet floating and initially falls on the protective bearing, as shown in fig. 4. When the rotor is floated, the rotor is floated in two steps, wherein the coil at one end is firstly electrified, the coil at the other end is not electrified, and the end is floated at the reference position, as shown in fig. 5. The other end of the rotor is then electrically levitated, eventually at the reference position, as shown in fig. 6. The floating mode of the scheme of the invention can reduce the impact current at the moment of floating the rotor and prevent the rotor from floating difficultly when a power supply cannot provide instantaneous high power.
The control current is injected when the rotor is electrified, and the rotor is controlled to move. In the related scheme, control current is injected to two ends of the rotor at the same time, and the two ends of the rotor are controlled to be separated from the protective bearings at the same time, so that floating is completed. The scheme of the invention emphasizes step-by-step control, firstly injecting control current into one end to separate the end from the protective bearing and float the end; and injecting a control current to the other end, and controlling the other end to be separated from the protective bearing, so that the whole rotor is floated. The measurement results of the two technologies are shown in fig. 7 and fig. 8, and the method of the invention can achieve the effect of reducing the impact current.
In the related magnetic bearing system (namely, the magnetic suspension bearing system), during the floating period of the rotor, the coils in the front radial bearing and the rear radial bearing of the rotor are simultaneously injected with enough control current to control the whole rotor to be under the action of electromagnetic force, so that the whole rotor is separated from the protective bearing and approaches to a given reference position. Fig. 7 is a schematic current waveform diagram of a rotor in a related scheme of a levitation mode in a magnetic levitation motor system. Fig. 7 can show the current measurement waveform at the power supply in the floating mode of the related scheme, and the ordinate of the oscilloscope represents the current value. As shown in fig. 7, the result of the instantaneous measurement of the levitation indicates that the maximum difference of the instantaneous current before and after the rotor levitation reaches approximately 6.6A, which indicates that the impact current generated to separate the rotor from the non-levitation state is large, and if the power supply cannot provide instantaneous high power, the rotor levitation is difficult.
According to the scheme, the floating mode that one end of the front radial bearing and one end of the rear radial bearing of the rotor are floated firstly and then the other end of the rotor is floated is adopted, the problems that the impact current is large, the required instantaneous power is large, and the rotor is difficult to float in the mode that the front end and the rear end of the rotor are electrified and float in the floating mode in the related scheme are solved, the impact current at the moment of floating the rotor is reduced, and the floating performance of the magnetic suspension bearing is improved.
In some embodiments, the first end of the rotor is a front end of the rotor. The second end of the rotor is the rear end of the rotor.
In the scheme of the invention, in the magnetic suspension floating logic, the floating of the rotor is divided into two steps, which specifically comprise:
step 21, the first step of floating is to inject a control current into the coil of the front radial bearing of the rotor, the coil of the rear radial bearing of the rotor is not electrified, so that the front end of the rotor is separated from the non-floating state and approaches to a given reference position, the sensor monitors the position of the front end of the rotor in real time until the front end of the rotor is stabilized at the given reference position, and as shown in fig. 5, the second step of floating can be performed. Fig. 8 is a schematic view of a current waveform in a floating mode in which the front end of the rotor floats first and then the rear end of the rotor floats later in a magnetic levitation motor system, as shown in fig. 8, a current variation waveform (a) at the moment of floating the front end of the rotor shows that the maximum difference value of instantaneous currents before and after floating the front end of the rotor is 1.8A, namely, an impact current caused at the moment of floating the front shaft of the rotor is small, and compared with the floating mode of a related scheme, the requirement that a power supply can provide instantaneous high power is avoided.
Step 22, a floating second step, as shown in fig. 5, after the sensor detects that the front end of the rotor is stably suspended at the given reference position, a control current is injected into the coil of the radial bearing behind the rotor to float the rear end of the rotor, so that the rear end of the rotor approaches to the given reference position, and finally the whole rotor is stably suspended at the given reference position, as shown in fig. 6. As shown in fig. 8, the instantaneous current variation waveform (b) of the rear end floating of the rotor shows that the maximum difference between the instantaneous currents before and after the rear end floating of the rotor is 2.2A, that is, the impact current caused at the moment of the rear shaft floating of the rotor is relatively small, thereby completing the stable floating of the entire rotor. Compared with the floating mode of the related scheme, the impact current generated by the floating mode in the scheme of the invention can be obviously reduced.
Therefore, in the scheme of the invention, the two ends of the rotor are floated step by step, the front shaft is floated first, and then the rear shaft is floated to control the whole rotor to be stably suspended at a given reference position, the impact current at the moment of floating the rotor can be reduced by sectional floating, the floating difficulty is prevented when a power supply cannot provide instantaneous high power, and the floating performance of the magnetic suspension system is improved.
By adopting the technical scheme of the invention, in the floating process of the rotor in the magnetic suspension bearing, one end of the rotor (namely one end of the front radial bearing and the rear radial bearing) is controlled to float firstly during the floating of the rotor, and then the other end of the rotor (namely the other end of the front radial bearing and the rear radial bearing) is controlled to float. Therefore, the instantaneous impact current of the rotor during floating can be reduced by floating one end of the front radial bearing and the rear radial bearing of the rotor firstly and then floating the other end of the front radial bearing and the rear radial bearing of the rotor.
According to an embodiment of the present invention, there is also provided a magnetic levitation system corresponding to a levitation control apparatus of the magnetic levitation system. The magnetic levitation system may include: the levitation control device of the magnetic levitation system described above.
Since the processing and functions of the magnetic levitation system of the present embodiment substantially correspond to the embodiments, principles, and examples of the apparatus, reference may be made to the related descriptions in the embodiments without being detailed in the description of the present embodiment, which is not described herein again.
By adopting the technical scheme of the invention, in the floating process of the rotor in the magnetic suspension bearing, one end of the rotor (namely one end of the front radial bearing and the rear radial bearing) is controlled to float firstly during the floating of the rotor, and then the other end of the rotor (namely the other end of the front radial bearing and the rear radial bearing) is controlled to float, so that the impact current at the moment of floating the rotor can be reduced, and the floating stability of the magnetic suspension bearing is improved.
According to the embodiment of the invention, a levitation control method of a magnetic levitation system corresponding to the magnetic levitation system is also provided, as shown in the flow chart of fig. 9, which is an embodiment of the method of the invention. The magnetic levitation system comprises: and a rotor. The rotor has a rotor front end and a rotor rear end.
The levitation control method of the magnetic levitation system comprises the following steps: step S110 to step S150.
At step S110, in the floating stage of the rotor, controlling the first end of the rotor to float. The first end of the rotor is one of a front end of the rotor and a rear end of the rotor.
At step S120, a current position of the first end of the rotor is sampled, denoted as a current first position.
At step S130, determining whether the current first position has reached a first set position; and controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float when it is determined that the current first position has reached the first set position. The second end of the rotor is the other of the front end of the rotor and the rear end of the rotor.
At step S140, the current position of the second end of the rotor is sampled, denoted as the current second position.
At step S150, determining whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
Fig. 2 is a schematic control flow diagram of an embodiment of a magnetic suspension bearing in a magnetic suspension motor system. The control principle of the magnetic suspension bearing is that a position sensor monitors the position of a rotor in real time, as shown in fig. 2, the position sensor compares the position with a given reference position, the position is converted into a current signal through a position controller, a control current is obtained under the action of the current controller, and the control current is sent to a bearing coil to generate corresponding electromagnetic force to drive the rotor to move. As shown in fig. 2, the control flow of the magnetic suspension bearing includes:
and 11, giving a reference position to obtain a given position. The sensor feeds back real-time position information of the bearing coil.
And step 12, obtaining a position difference value after the given position and the real-time position information pass through a comparator. And the position difference value is processed by a position controller to obtain the given current.
And step 13, comparing the given current with the feedback current of the bearing coil, namely the real-time current, to obtain a current difference value. And the current difference value is processed by the current controller to obtain a current control value. The current control value controls the bearing coil, i.e. the current control value is injected into the magnetic bearing and converted into an electromagnetic force controlling the rotor position. In the magnetic suspension bearing system, the electromagnetic force in each direction on the magnetic suspension bearing is changed by changing the current of the winding of the bearing coil, so that the rotor can realize stable suspension.
Under the floating mode of the related scheme, in the floating process, because the electromagnetic force is inversely proportional to the magnetic circuit air gap, when the rotor is in the non-floating state, the magnetic circuit air gap of the magnetic bearing is larger, so that the rotor can be separated from the non-floating state only by overcoming the gravity with enough current, and the floating is realized. Under the mode of floating in the relevant scheme, the moment of floating, impulse current is great, and this requirement to the power is higher, if mains voltage supplies inadequately, can not reach the rotor and realize the required instantaneous power that floats, can make the rotor float the difficulty, can lead to the rotor to float the failure when serious. Some solutions increase the supply voltage of the power supply, but with a consequent increase in costs.
The scheme of the invention provides a magnetic suspension floating logic, wherein during the floating of a rotor, one end (namely one end of a front radial bearing and a rear radial bearing) of the rotor is controlled to float, and then the other end of the rotor is floated, so that the impact current at the moment of the floating of the rotor is reduced. Compared with the mode that the front end and the rear end of the rotor simultaneously float in the floating mode in the related scheme, the scheme provided by the invention can reduce the impact current at the moment of rotor floating and improve the floating stability of the magnetic suspension bearing. Therefore, the problem that in a magnetic suspension motor system, in a rotor floating stage in a floating mode in a related scheme, impact current is large, and if power supply is insufficient, the rotor is difficult to float and even fails is solved.
In some embodiments, the magnetic levitation system further comprises: and a bearing. The bearing, comprising: a front radial bearing and a rear radial bearing. The bearing has a bearing coil. The front radial bearing has a front radial bearing coil. The rear radial bearing has a rear radial bearing coil. The rotor is located at one end of the front radial bearing and is the front end of the rotor. The rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
Fig. 3 is a schematic structural diagram of a rotor at a front radial bearing in a magnetic levitation motor system. Hereinafter, for convenience of description, both ends of the rotor will be referred to as a front end of the rotor and a rear end of the rotor. And one end of the floating front and rear journal bearings described, including the x-direction (e.g., FX) and y-direction (e.g., FY) of that end, as shown in fig. 3.
In some embodiments, controlling the first end of the rotor to float in step S110 includes: the coils of the first end of the rotor are energized and the coils of the second end of the rotor are not energized.
Controlling the second end of the rotor to float in step S130, including: when the coil at the first end of the rotor is energized, the coil at the second end of the rotor is energized.
Fig. 4 is a schematic structural diagram of a magnetic levitation motor system with a rotor in an un-levitated state. Fig. 5 is a schematic structural diagram of a floating end of a rotor in a magnetic suspension motor system, and fig. 6 is a schematic structural diagram of a complete floating of the rotor in the magnetic suspension motor system.
As shown in fig. 4, the rotor, when not floating, falls on the protective bearing. The levitation style of the related solution is that the rotor is not yet levitated and initially falls on the protective bearing, as shown in fig. 4. When the rotor floats, the coils at the front end and the rear end are electrified, the two ends of the rotor are simultaneously separated from the protective bearing, oscillate up and down and finally suspend at a reference position, as shown in fig. 6. The floating mode of the solution of the present invention is that the rotor is not yet floating and initially falls on the protective bearing, as shown in fig. 4. When the rotor is floated, the rotor is floated in two steps, wherein the coil at one end is firstly electrified, the coil at the other end is not electrified, and the end is floated at the reference position, as shown in fig. 5. The other end of the rotor is then electrically levitated, eventually at the reference position, as shown in fig. 6. The floating mode of the scheme of the invention can reduce the impact current at the moment of floating the rotor and prevent the rotor from floating difficultly when a power supply cannot provide instantaneous high power.
In the related magnetic bearing system (namely, the magnetic suspension bearing system), during the floating period of the rotor, the coils in the front radial bearing and the rear radial bearing of the rotor are simultaneously injected with enough control current to control the whole rotor to be under the action of electromagnetic force, so that the whole rotor is separated from the protective bearing and approaches to a given reference position. Fig. 7 is a schematic current waveform diagram of a rotor in a related scheme of a levitation mode in a magnetic levitation motor system. Fig. 7 can show the current measurement waveform at the power supply in the floating mode of the related scheme, and the ordinate of the oscilloscope represents the current value. As shown in fig. 7, the result of the instantaneous measurement of the levitation indicates that the maximum difference of the instantaneous current before and after the rotor levitation reaches approximately 6.6A, which indicates that the impact current generated to separate the rotor from the non-levitation state is large, and if the power supply cannot provide instantaneous high power, the rotor levitation is difficult.
According to the scheme, the floating mode that one end of the front radial bearing and one end of the rear radial bearing of the rotor are floated firstly and then the other end of the rotor is floated is adopted, the problems that the impact current is large, the required instantaneous power is large, and the rotor is difficult to float in the mode that the front end and the rear end of the rotor are electrified and float in the floating mode in the related scheme are solved, the impact current at the moment of floating the rotor is reduced, and the floating performance of the magnetic suspension bearing is improved.
In some embodiments, the first end of the rotor is a front end of the rotor. The second end of the rotor is the rear end of the rotor.
In the scheme of the invention, in the magnetic suspension floating logic, the floating of the rotor is divided into two steps, which specifically comprise:
step 21, the first step of floating is to inject a control current into the coil of the front radial bearing of the rotor, the coil of the rear radial bearing of the rotor is not electrified, so that the front end of the rotor is separated from the non-floating state and approaches to a given reference position, the sensor monitors the position of the front end of the rotor in real time until the front end of the rotor is stabilized at the given reference position, and as shown in fig. 5, the second step of floating can be performed. Fig. 8 is a schematic view of a current waveform in a floating mode in which the front end of the rotor floats first and then the rear end of the rotor floats later in a magnetic levitation motor system, as shown in fig. 8, a current variation waveform (a) at the moment of floating the front end of the rotor shows that the maximum difference value of instantaneous currents before and after floating the front end of the rotor is 1.8A, namely, an impact current caused at the moment of floating the front shaft of the rotor is small, and compared with the floating mode of a related scheme, the requirement that a power supply can provide instantaneous high power is avoided.
Step 22, a floating second step, as shown in fig. 5, after the sensor detects that the front end of the rotor is stably suspended at the given reference position, a control current is injected into the coil of the radial bearing behind the rotor to float the rear end of the rotor, so that the rear end of the rotor approaches to the given reference position, and finally the whole rotor is stably suspended at the given reference position, as shown in fig. 6. As shown in fig. 8, the instantaneous current variation waveform (b) of the rear end floating of the rotor shows that the maximum difference between the instantaneous currents before and after the rear end floating of the rotor is 2.2A, that is, the impact current caused at the moment of the rear shaft floating of the rotor is relatively small, thereby completing the stable floating of the entire rotor. Compared with the floating mode of the related scheme, the impact current generated by the floating mode in the scheme of the invention can be obviously reduced.
Therefore, in the scheme of the invention, the two ends of the rotor are floated step by step, the front shaft is floated first, and then the rear shaft is floated to control the whole rotor to be stably suspended at a given reference position, the impact current at the moment of floating the rotor can be reduced by sectional floating, the floating difficulty is prevented when a power supply cannot provide instantaneous high power, and the floating performance of the magnetic suspension system is improved.
Since the processing and functions implemented by the method of this embodiment basically correspond to the embodiments, principles and examples of the magnetic levitation system, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the embodiments, which are not repeated herein.
By adopting the technical scheme of the embodiment, in the floating process of the rotor in the magnetic suspension bearing, one end of the rotor (namely, one end of the front radial bearing and the rear radial bearing) is controlled to float firstly during the floating of the rotor, and then the other end of the rotor (namely, the other end of the front radial bearing and the rear radial bearing) is controlled to float, so that the instantaneous impact current of the rotor during floating is reduced, and the floating performance of the magnetic suspension bearing is improved.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A levitation control apparatus of a magnetic levitation system, the magnetic levitation system comprising: a rotor;
the levitation control device of the magnetic levitation system comprises: a sampling unit and a control unit; wherein the content of the first and second substances,
the control unit is configured to control the first end of the rotor to float in the floating stage of the rotor; the first end of the rotor is one of the front end of the rotor and the rear end of the rotor;
the sampling unit is configured to sample the current position of the first end of the rotor, and the current position is recorded as a current first position;
the control unit is further configured to determine whether the current first position has reached a first set position; and, in the event that it is determined that the current first position has reached the first set position, controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float; a second end of the rotor being the other of the front end of the rotor and the rear end of the rotor;
the sampling unit is further configured to sample a current position of the second end of the rotor, and the current position is recorded as a current second position;
the control unit is further configured to determine whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
2. The levitation control apparatus of a magnetic levitation system as recited in claim 1, further comprising: a bearing; the bearing, comprising: a front radial bearing and a rear radial bearing; the bearing is provided with a bearing coil; the front radial bearing is provided with a front radial bearing coil; the rear radial bearing having a rear radial bearing coil; the rotor is positioned at one end of the front radial bearing and is the front end of the rotor; the rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
3. The levitation control apparatus of a magnetic levitation system as recited in claim 2, wherein,
the control unit, control the first end of rotor floats, include:
energizing the coils of the first end of the rotor and de-energizing the coils of the second end of the rotor;
the control unit, control the second end of rotor floats, include:
when the coil at the first end of the rotor is energized, the coil at the second end of the rotor is energized.
4. A levitation control apparatus for a magnetic levitation system as recited in any one of claims 1 through 3, wherein the first end of the rotor is a leading end of the rotor; the second end of the rotor is the rear end of the rotor.
5. A magnetic levitation system, comprising: levitation control apparatus for a magnetic levitation system as claimed in any one of claims 1 to 4.
6. A levitation control method of a magnetic levitation system, the magnetic levitation system comprising: a rotor; the levitation control method of the magnetic levitation system comprises the following steps:
controlling the first end of the rotor to float in the floating stage of the rotor; the first end of the rotor is one of the front end of the rotor and the rear end of the rotor;
sampling the current position of the first end of the rotor, and recording as a current first position;
determining whether the current first position has reached a first set position; and, in the event that it is determined that the current first position has reached the first set position, controlling the first end of the rotor to float at the first set position and controlling the second end of the rotor to float; a second end of the rotor being the other of the front end of the rotor and the rear end of the rotor;
sampling the current position of the second end of the rotor, and recording as a current second position;
determining whether the current second position has reached a second set position; and controlling the second end of the rotor to be suspended at the second set position under the condition that the current second position is determined to reach the second set position, so as to finish the floating control of the rotor in the floating stage.
7. The levitation control method of a magnetic levitation system as recited in claim 6, further comprising: a bearing; the bearing, comprising: a front radial bearing and a rear radial bearing; the bearing is provided with a bearing coil; the front radial bearing is provided with a front radial bearing coil; the rear radial bearing having a rear radial bearing coil; the rotor is positioned at one end of the front radial bearing and is the front end of the rotor; the rotor is located at one end of the rear radial bearing, which is the rear end of the rotor.
8. The levitation control method of a magnetic levitation system as recited in claim 7, wherein,
controlling the first end of the rotor to float, comprising:
energizing the coils of the first end of the rotor and de-energizing the coils of the second end of the rotor;
controlling the second end of the rotor to float, comprising:
when the coil at the first end of the rotor is energized, the coil at the second end of the rotor is energized.
9. The levitation control method for a magnetic levitation system as recited in any one of claims 6 to 8, wherein the first end of the rotor is a front end of the rotor; the second end of the rotor is the rear end of the rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111137701.6A CN113700747A (en) | 2021-09-27 | 2021-09-27 | Levitation control device and method of magnetic levitation system and magnetic levitation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111137701.6A CN113700747A (en) | 2021-09-27 | 2021-09-27 | Levitation control device and method of magnetic levitation system and magnetic levitation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113700747A true CN113700747A (en) | 2021-11-26 |
Family
ID=78662078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111137701.6A Pending CN113700747A (en) | 2021-09-27 | 2021-09-27 | Levitation control device and method of magnetic levitation system and magnetic levitation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113700747A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941653A (en) * | 2022-06-10 | 2022-08-26 | 珠海格力电器股份有限公司 | Control method and device for magnetic suspension bearing, magnetic bearing system and storage medium |
| CN115059689A (en) * | 2022-06-29 | 2022-09-16 | 珠海格力电器股份有限公司 | Rotor floating control method and device, storage medium and bearing controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630546A (en) * | 2019-02-21 | 2019-04-16 | 珠海格力电器股份有限公司 | Magnetic levitation bearing system control method, device and magnetic suspension bearing control system |
| CN209654430U (en) * | 2019-02-21 | 2019-11-19 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system |
-
2021
- 2021-09-27 CN CN202111137701.6A patent/CN113700747A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630546A (en) * | 2019-02-21 | 2019-04-16 | 珠海格力电器股份有限公司 | Magnetic levitation bearing system control method, device and magnetic suspension bearing control system |
| CN209654430U (en) * | 2019-02-21 | 2019-11-19 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941653A (en) * | 2022-06-10 | 2022-08-26 | 珠海格力电器股份有限公司 | Control method and device for magnetic suspension bearing, magnetic bearing system and storage medium |
| CN115059689A (en) * | 2022-06-29 | 2022-09-16 | 珠海格力电器股份有限公司 | Rotor floating control method and device, storage medium and bearing controller |
| CN115059689B (en) * | 2022-06-29 | 2024-03-15 | 珠海格力电器股份有限公司 | Rotor floating control method and device, storage medium and bearing controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113700747A (en) | Levitation control device and method of magnetic levitation system and magnetic levitation system | |
| CN106402157B (en) | The magnetic suspension bearing control system and its control method of settling flux are realized after unstability | |
| CN109787515A (en) | A kind of power consumption control apparatus, magnetic suspension system and its power consumption control method | |
| US10233935B2 (en) | Motor, and motor control system | |
| US20140234139A1 (en) | Magnetic bearing and compressor using the same | |
| CN113280043B (en) | Magnetic bearing control device and method and magnetic suspension system | |
| TW355870B (en) | Electromagnetic drive method and apparatus for driving a rotationally stabilized magnetically levitated object | |
| CN110939654B (en) | Magnetic suspension bearing control method and device, storage medium and magnetic suspension system | |
| CN113374790B (en) | Magnetic suspension rotating shaft reference position detection method and device, medium and bearing controller | |
| CN109217774B (en) | Power-on control method and device for magnetic suspension centrifugal unit, storage medium and motor | |
| EP0168145B1 (en) | Non-linear control type magnetic bearing | |
| US20220089196A1 (en) | Levitation, propulsion and guidance integrated magnetic levitation system and improvement method of guidance and levitation | |
| CN113374791B (en) | Control device and method of magnetic suspension bearing and magnetic suspension bearing system | |
| US5249529A (en) | Self-nulling hybred MAGLEV suspension | |
| CN117092434A (en) | Method and device for detecting magnetic suspension system, magnetic suspension system and storage medium | |
| JP2000170766A (en) | Generator set utilizing magnetic bearing | |
| CN112172536B (en) | Voltage control method, device and system and magnetic suspension train | |
| CN114941653A (en) | Control method and device for magnetic suspension bearing, magnetic bearing system and storage medium | |
| CN113922540B (en) | Motor, control method and device thereof and vehicle | |
| CN106640964A (en) | Method capable of eliminating temperature influence on suspension force of permanent-magnet suspension bearings | |
| CN114635919B (en) | Magnetic suspension bearing system, control method and device thereof and storage medium | |
| JP3624271B2 (en) | Magnetic bearing device | |
| JPH04137299U (en) | Magnetic bearing control device | |
| Hu et al. | Study on abnormal power failure shutdown control of magnetic suspension centrifugal compressor | |
| CN112537208A (en) | Starting method and device for magnetic suspension high-speed train |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211126 |
|
| RJ01 | Rejection of invention patent application after publication |