CN113719539B - Fault-tolerant control system and control method for displacement sensor of magnetic bearing - Google Patents
Fault-tolerant control system and control method for displacement sensor of magnetic bearing Download PDFInfo
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- CN113719539B CN113719539B CN202110980689.9A CN202110980689A CN113719539B CN 113719539 B CN113719539 B CN 113719539B CN 202110980689 A CN202110980689 A CN 202110980689A CN 113719539 B CN113719539 B CN 113719539B
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
Abstract
The invention provides a fault-tolerant control system and a fault-tolerant control method for a displacement sensor of a magnetic bearing. The system comprises a magnetic suspension bearing rotor device, a controller, a power amplifier, a thrust disc, a sensor assembly, a fault diagnosis module and a fault-tolerant control module, wherein the thrust disc is connected with a rotor in the magnetic suspension bearing rotor device and moves synchronously. The sensor assembly includes a radial displacement sensor and a composite displacement sensor. According to the invention, the composite displacement sensor is reused and used as a redundant displacement sensor, so that the hardware cost is saved, and the fault-tolerant control algorithm is easy to realize; by additionally arranging the composite displacement sensor and the function multiplexing among the sensor components, multiple redundancy is realized, and the system reliability is improved. The displacement measurement values of the two non-differential sensors are subjected to coordinate transformation to obtain displacement values of two radial degrees of freedom, so that the fault-tolerant control of the sensors is realized, and the reliability of the system is improved.
Description
Technical Field
The invention relates to the technical field of sensor fault-tolerant control, in particular to a fault-tolerant control system and a fault-tolerant control method for a displacement sensor of a magnetic bearing.
Background
Magnetic suspension bearings have the advantages of low loss, no need of lubrication, no contact and the like, and are more and more widely applied in recent years.
The magnetic suspension bearing rotor system consists of a rotor, a displacement sensor, a controller, a power amplifier and a magnetic bearing body. The displacement sensor transmits the displacement value of the rotor to the controller, the controller calculates to obtain a control current signal and then drives the power amplifier to generate a control current, and the control current is introduced into the electromagnet coil to generate an electromagnetic force which acts on the rotor to maintain the rotor to be suspended at a preset position.
In order to realize closed-loop feedback control of a system in a general active magnetic bearing system, at least one displacement sensor is required to be arranged on each degree of freedom of an electromagnetic bearing for real-time detection of a rotor displacement signal. In order to avoid the problem of failure of an electromagnetic bearing caused by the fault of a displacement sensor and improve the reliability of a system, the conventional fault-tolerant control method mainly comprises the steps of configuring a redundant number of sensors on each degree of freedom, or extracting a rotor displacement estimation signal from voltage and current signals of an electromagnetic bearing coil by a self-sensing method.
In the existing fault-tolerant control method of the sensor, redundant sensors are in a standby state under normal conditions, functional multiplexing cannot be realized, the performance cost is low, the self-sensing method is low in displacement calculation accuracy, and the magnetic bearing is poor in stability, so that a solution needs to be provided urgently.
The invention patent with application number CN202010376226.7 discloses a fault-tolerant control system and a control method for a displacement sensor for an active radial magnetic bearing. The control system is matched with the active radial magnetic suspension bearing and comprises a displacement feedback part, a fault diagnosis circuit, a fault-tolerant control module and a feedback execution part; the displacement feedback part is fixedly arranged on the periphery of the rotor of the active radial magnetic suspension bearing in an asymmetrical mode, the output of the displacement feedback part is respectively and electrically connected with the input of the fault diagnosis circuit and the input of the fault-tolerant control module, the output of the fault diagnosis circuit is electrically connected with the input of the fault-tolerant control module, the output of the fault-tolerant control module is electrically connected with the input of the feedback execution part, and the output of the feedback execution part is electrically connected with an electromagnetic coil in the active radial magnetic suspension bearing.
However, the fault-tolerant control system of the sensor has the defect that common-mode noise in displacement of each degree of freedom cannot be eliminated due to the adoption of an asymmetric sensor arrangement mode, and the added 2 redundant displacement sensors do not play an additional role when no fault occurs, so that the cost performance is low.
In view of the above, there is a need to design an improved fault-tolerant control system and control method for a displacement sensor of a magnetic suspension bearing to solve the above problems.
Disclosure of Invention
The invention aims to provide a fault-tolerant control system and a fault-tolerant control method for a displacement sensor of a magnetic suspension bearing.
In order to achieve the above purpose, the invention provides a fault-tolerant control system of a magnetic suspension bearing displacement sensor, which comprises a magnetic suspension bearing rotor device, a controller, a power amplifier, a thrust disc, a sensor assembly, a fault diagnosis module and a fault-tolerant control module, wherein the thrust disc is connected with a rotor in the magnetic suspension bearing rotor device and moves synchronously;
the sensor assembly comprises a plurality of radial displacement sensors for measuring rotor displacement data and a composite displacement sensor for measuring thrust disc displacement data; the composite displacement sensor and the radial displacement sensor are arranged in a non-coplanar manner.
As a further improvement of the invention, a plurality of radial displacement sensors are arranged in a coplanar manner, a planar rectangular coordinate system is established on a plane perpendicular to a central axis of the rotor by taking the center of the rotor in the magnetic suspension bearing rotor device as an origin, and the radial displacement sensors comprise a first radial displacement sensor, a second radial displacement sensor and a third radial displacement sensor, wherein the first radial displacement sensor, the second radial displacement sensor and the third radial displacement sensor are arranged in the positive and negative directions of an X axis and are mutually symmetrically arranged, and the second radial displacement sensor and the third radial displacement sensor are arranged in the positive and negative directions of a Y axis and are mutually symmetrically arranged.
As a further improvement of the invention, a first connecting line formed by the third radial displacement sensor and the circle center of the rotor is not coincident with the X axis or the Y axis.
As a further improvement of the invention, a plurality of grooves are arranged at equal intervals on the edge of the outer circle of the thrust disc, and the composite displacement sensor is arranged on the outer side of the thrust disc in the radial direction and used for measuring the surface distance between the composite displacement sensor and the thrust disc, so that the radial displacement information and the rotation position angle information of the rotor can be obtained simultaneously.
As a further improvement of the present invention, a second connection line formed between the composite displacement sensor and the center of the thrust disc and a first connection line formed between the third radial displacement sensor and the center of the rotor are arranged in a non-planar manner, and are not parallel or intersected; the second connecting line is not parallel to or intersected with the X axis and the Y axis.
As a further improvement of the present invention, the fault-tolerant control module comprises a filtering module and a displacement calculation module; the filtering module is used for filtering the measured value of the composite displacement sensor to obtain the effective displacement of the non-groove part on the edge of the thrust disc; and the displacement calculation module is used for obtaining displacement calculation values of all degrees of freedom according to the fault form of the sensor.
As a further improvement of the present invention, the fault diagnosis module performs comprehensive sampling analysis on the measurement values of the composite displacement sensor and the radial displacement sensor to determine whether a fault occurs in the sensor.
As a further improvement of the invention, the magnetic suspension bearing rotor device is one of a permanent magnet bias hybrid magnetic bearing rotor device and a pure electromagnetic magnetic bearing rotor device.
In order to achieve the above object, the present invention further provides a fault-tolerant control method for a displacement sensor of a magnetic suspension bearing, wherein the fault-tolerant control system for the displacement sensor of the magnetic suspension bearing is adopted to perform fault-tolerant control, and the fault-tolerant control method comprises the following steps:
s1, starting a magnetic suspension bearing rotor device, synchronously rotating a rotor and a thrust disc, and measuring displacement data in real time by a sensor assembly to obtain a relation between a radial displacement measurement value measured by a radial displacement sensor and an effective displacement measurement value of a non-groove part on the edge of the thrust disc measured by a composite displacement sensor under a normal condition;
s2, intercepting and filtering the displacement measurement value of the composite displacement sensor by the fault-tolerant control module, judging the real-time sampling measurement value of the composite displacement sensor according to the relation, taking the fluctuation range of the effective measurement value of the non-groove part as an effective range, outputting the value if the fluctuation range is in the effective range, otherwise, outputting the last sampling measurement value as a current measurement value, and finally performing low-pass filtering processing on the intercepted displacement value to obtain the radial displacement of the rotor;
first radial sensing when each sensor is working normallyThe measured value of the instrument is recorded as s 1 And s 3 The second radial sensor measurement is recorded as s 2 And s 4 Third radial sensor measurement s 5 And recording the measured value of the processed composite displacement sensor as s 6 The relationship between the measured value and the X-axis and Y-axis displacement values X and Y is as follows:
s 1 ＝x；s 2 ＝-y；s 3 ＝-x；s 4 ＝y；
s3, classifying the sensor fault forms, and calculating the degree of freedom displacement corresponding to the classified fault forms;
and S4, the controller obtains a control current signal according to the displacement calculation value obtained by the fault-tolerant control module, drives the power amplification module to obtain a control current, and leads the control current into an electromagnetic coil in the magnetic suspension bearing rotor device to control the rotor.
As a further improvement of the present invention, the specific processes of sensor fault form classification and displacement calculation in step S3 are as follows:
in the first of the failure states, the first,
failure of one of the first radial sensor and the second radial sensor, or failure of the two non-differential sensors, and failure of the third radial sensor and the composite displacement sensor, are arbitrary, with the first radial sensor S 1 A second radial sensor S 2 For the example of failure, the displacements are as follows:
x＝-s 3 ；y＝s 4 ；
in the second state of the fault, the fault state,
two of the first radial sensor and the second radial sensor fail differentially, or three of the sensors fail, and at least one of the third radial sensor and the composite displacement sensor is normal, with the first radial sensor S 1 A second radial sensor S 2 First radial sensor S 3 A third radial sensor S 5 For example, the fault is shifted as follows:
in a third one of the three failure states,
the first radial sensor and the second radial sensor both have faults, the third radial sensor and the composite displacement sensor are normal, and the displacements are as follows:
the beneficial effects of the invention are:
1. according to the fault-tolerant control system of the displacement sensor of the magnetic suspension bearing, the composite displacement sensor is reused and used as a redundant displacement sensor, so that the hardware cost is saved, and a fault-tolerant control algorithm is easy to realize; by additionally arranging the composite displacement sensor and the function multiplexing among the sensor components, multiple redundancy is realized, and the system reliability is improved. The function multiplexing mechanism among the sensor components is as follows: the displacement values of two radial degrees of freedom can be obtained by carrying out coordinate transformation on the displacement measurement values of the two non-differential sensors, so that the fault-tolerant control of the sensors is realized, and the reliability of the system is improved.
2. The fault-tolerant control system of the magnetic suspension bearing displacement sensor provided by the invention adopts the sensor assembly consisting of the radial displacement sensor and the composite displacement sensor, and the radial displacement sensor can obtain a displacement measurement value with multiple degrees of freedom by setting a symmetrical or asymmetrical sensor arrangement mode among the first, the second and the third radial displacement sensors, and is integrated with an effective measurement value of the composite displacement sensor, so that fault-tolerant control and displacement calculation under different sensor fault modes can be realized, and high measurement precision before and after sensor faults can be ensured.
3. According to the fault-tolerant control method for the displacement sensor of the magnetic suspension bearing, provided by the invention, the measurement sampling value of the normal sensor is calculated through the fault-tolerant control module according to the fault form of the sensor, the displacement calculation value of each degree of freedom is obtained, the control current signal is calculated according to the calculation value, and the reliability of the system after the fault is improved.
4. According to the fault-tolerant control system of the magnetic suspension bearing displacement sensor, the groove structure on the thrust disc can prevent the displacement sampling value of the composite displacement sensor from directly reflecting the actual displacement of the rotor. The mechanism of data processing is: the depth or width of one groove in the thrust disc is different from that of other grooves and is used as a groove for indicating the position angle of the rotor, the displacement of the obtained measurement waveform on the thrust disc and the waveform of a similar square wave superposed with the depth of the groove are compensated for the measurement data of the position, right opposite to the groove, of the sensor according to the depth of the groove corresponding to the rotation angle of the rotor, and then more accurate displacement of the thrust disc can be obtained; the principle that the effective displacement value measured by the composite displacement sensor can accurately reflect the rotor displacement lies in that the rotor displacement change speed is low, the position of the position can be judged to be the outer surface of the thrust disc or the groove through the sudden change of the displacement measurement value of the composite sensor, the accurate thrust disc displacement can be reflected by combining the data correction of the accurate depth of the grooves at different rotor position angles obtained by the early test, the distance between the plane where the thrust disc and the radial sensor are located is very close, and the displacement accurately reflects the rotor displacement at the radial sensor.
Drawings
Fig. 1 is a frame diagram of a fault-tolerant control system of a magnetic bearing displacement sensor provided by the invention.
Fig. 2 is a structural diagram of a fault-tolerant control system of a magnetic bearing displacement sensor provided by the invention.
Fig. 3 is a layout of a sensor assembly provided by the present invention (a in fig. 3 is a front view, and b in fig. 3 is a side view).
Reference numerals
1-first radial sensor S 1 (ii) a 2-first radial sensor S 3 (ii) a 3-second radial sensor S 2 (ii) a 4-second radial sensor S 4 (ii) a 5-third radial sensor S 5 (ii) a 6-composite sensor S 6 。
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the solution of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it should be further noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1-2, the present invention provides a fault-tolerant control system for a displacement sensor of a magnetic suspension bearing, which includes a magnetic suspension bearing rotor device, a controller and a power amplifier, a thrust disc connected to and moving synchronously with a rotor of the magnetic suspension bearing rotor device, a sensor assembly, a fault diagnosis module, and a fault-tolerant control module.
In this embodiment, the magnetic bearing rotor arrangement comprises one axial magnetic bearing, two radial magnetic bearings and a rotor. The magnetic suspension bearing rotor device can be one of a permanent magnet bias hybrid magnetic bearing rotor device and a pure electric excitation magnetic bearing rotor device.
Referring to fig. 2-3, the sensor assembly includes a plurality of radial displacement sensors for measuring rotor displacement data and a plurality of composite displacement sensors for measuring thrust disc displacement data; the composite displacement sensor and the radial displacement sensor are arranged in a non-coplanar manner.
In this embodiment, a plurality of the radial displacement sensors are arranged in a coplanar manner, a planar rectangular coordinate system is established on a plane perpendicular to a central axis of the rotor with a center of the rotor in the magnetic suspension bearing rotor device as an origin, and the radial displacement sensors include a first radial displacement sensor, a second radial displacement sensor and a third radial displacement sensor, wherein the first radial displacement sensor is arranged in a positive-negative direction of an X axis and is symmetrically arranged with respect to the X axis, the second radial displacement sensor is arranged in a positive-negative direction of a Y axis and is symmetrically arranged with respect to the Y axis. The first connecting line that third radial displacement sensor and rotor centre of a circle formed is the contained angle setting of predetermined angle with X axle and Y axle respectively, the angle of contained angle all is greater than 0 and is less than 90, promptly, first connecting line and X axle or Y axle all do not coincide.
In this embodiment, a plurality of grooves are arranged at equal intervals on the edge of the outer circle of the thrust disc, and the composite displacement sensor is arranged on the outer side of the thrust disc in the radial direction and used for measuring the surface distance between the composite displacement sensor and the thrust disc and obtaining the radial displacement information of the thrust disc and the rotation position angle information of the rotor. An included angle between a second connecting line formed between the composite displacement sensor and the circle center of the thrust disc and a first connecting line formed between the third radial displacement sensor and the circle center of the rotor is larger than 0 degree and smaller than 90 degrees; the first connecting line and the second connecting line are arranged in different planes and are not intersected and not parallel; the second connecting line all is greater than 0 and is less than 90 with the contained angle between X axle and the Y axle, promptly, the second connecting line respectively with X axle and Y axle non-intersect and nonparallel setting.
In this embodiment, the fault-tolerant control module includes a filtering module and a displacement calculation module; the filtering module is used for filtering the measured value of the composite displacement sensor to obtain the effective displacement of the non-groove part on the edge of the thrust disc; and the displacement calculation module obtains displacement calculation values of all degrees of freedom according to the sensor fault mode.
Specifically, a plurality of groove structures are arranged on the thrust disc, wherein the depth or width of one groove is different from that of other grooves and is used as a groove for indicating the position angle of the rotor, the obtained measurement waveforms are the displacement of the thrust disc and the waveform which is similar to a square wave and is superposed with the depth of the groove, and the accurate displacement of the thrust disc can be obtained by compensating the measurement data of the sensor over against the groove according to the depth of the groove corresponding to the rotation angle of the rotor.
And the fault diagnosis module comprehensively samples and analyzes the measurement values of the composite displacement sensor and the radial displacement sensor and judges whether the sensors have faults or not.
And the controller calculates a control current signal according to the displacement value output by the fault-tolerant control module.
The power amplification module generates control current under the drive of the control current signal to control the movement of the rotor.
Example 1
The embodiment 1 of the invention provides a method for carrying out fault-tolerant control by adopting the fault-tolerant control system of the magnetic suspension bearing displacement sensor, which comprises the steps of firstly establishing a corresponding relation between rotor displacement and an effective sampling value of a composite displacement sensor according to the measured values of a rotor at different positions, which are measured by a radial displacement sensor under normal conditions, and the effective sampling value of the composite displacement sensor corresponding to the measured values; and then, after the fault occurs, filtering the composite displacement sensor according to the corresponding relation and the displacement measurement value of the normal sensor to obtain an effective sampling value, finally calculating the displacement of each degree of freedom according to different fault forms, generating a control current signal through a controller, driving a power amplification module by the control current signal to generate control current, and controlling the rotor by the control current through electromagnetic force generated by an electromagnetic coil of the magnetic bearing.
The method specifically comprises the following steps:
s1, starting a magnetic suspension bearing rotor device, synchronously rotating a rotor and a thrust disc, and measuring displacement data in real time by a sensor assembly to obtain the relation between a radial displacement measurement value measured by a radial displacement sensor and an effective displacement measurement value of a non-groove part on the edge of the thrust disc measured by a composite displacement sensor under a normal condition.
S2, intercepting and filtering the displacement measurement value of the composite displacement sensor by the fault-tolerant control module, judging the real-time sampling measurement value of the composite displacement sensor according to the relation, taking the fluctuation range of the effective measurement value of the non-groove part as an effective range (obtaining the effective range of the corresponding sampling value of the composite displacement sensor for measuring the output voltage according to the rotor displacement variation range measured by the normal sensor, wherein the effective range refers to the measurement value range when the probe of the composite displacement sensor is over against the non-groove part of the thrust disc), outputting the value if the effective range is in the effective range, otherwise, outputting the last sampling measurement value as the current measurement value, and finally performing low-pass filtering on the intercepted displacement value to obtain the radial displacement of the rotor;
when each sensor is working normally, the first radial sensor measurement is recorded as s 1 And s 3 The second radial sensor measurement is recorded as s 2 And s 4 Third radial sensor measurement s 5 And recording the measured value of the processed composite displacement sensor as s 6 The relationship between the measured value and the X-axis and Y-axis displacement values X and Y is as follows:
s 1 ＝x；s 2 ＝-y；s 3 ＝-x；s 4 ＝y；
s3, classifying the sensor fault forms, and calculating the degree of freedom displacement corresponding to the classified fault forms:
note: in this embodiment, the first radial sensor is labeled as first radial sensor S 1 And a first radial sensor S 3 (ii) a Marking the second radial sensor as a second radial sensor S 2 And S 4 (ii) a Labeling the third radial sensor as a third radial sensor S 5 (ii) a Labelling of composite sensors as composite sensors S 6 。
In the first of the fault conditions, the fault state,
failure of one of the first radial sensor and the second radial sensor, or failure of the two non-differential sensors, and failure of the third radial sensor and the composite displacement sensor, are arbitrary, with the first radial sensor S 1 A second radial sensor S 2 For example, the fault is shifted as follows:
x＝-s 3 ；y＝s 4 ；
in the second state of the fault, the fault state,
a first radial sensor and a second radial sensorTwo sensors of the radial sensors fail differentially, or three sensors fail, and at least one of the third radial sensor and the composite displacement sensor is normal, with the first radial sensor S 1 A second radial sensor S 2 First radial sensor S 3 A third radial sensor S 5 For example, the fault is shifted as follows:
in a third one of the three failure states,
the first radial sensor and the second radial sensor both have faults, the third radial sensor and the composite displacement sensor are normal, and the displacements are as follows:
and S4, the controller module obtains a control current signal according to the displacement calculation value obtained by the fault-tolerant control module, drives the power amplification module to obtain a control current, and leads the control current into an electromagnetic coil in the magnetic suspension bearing rotor device to control the rotor.
In summary, the invention provides a fault-tolerant control system and a control method for a displacement sensor of a magnetic suspension bearing. The system comprises a magnetic suspension bearing rotor device, a controller, a power amplifier, a thrust disc, a sensor assembly, a fault diagnosis module and a fault-tolerant control module, wherein the thrust disc is connected with a rotor in the magnetic suspension bearing rotor device and moves synchronously. The sensor assembly comprises a plurality of radial displacement sensors for measuring rotor displacement data and a composite displacement sensor for measuring thrust disc displacement data; the composite displacement sensor and the radial displacement sensor are arranged in a non-coplanar manner. According to the invention, the composite displacement sensor is reused and used as a redundant displacement sensor, so that the hardware cost is saved, and the fault-tolerant control algorithm is easy to realize; by additionally arranging the composite displacement sensor and the function multiplexing among the sensor components, multiple redundancy is realized, and the system reliability is improved. The displacement measurement values of the two non-differential sensors are subjected to coordinate transformation to obtain displacement values of two radial degrees of freedom, so that the fault-tolerant control of the sensors is realized, and the reliability of the system is improved.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a magnetic suspension bearing displacement sensor fault-tolerant control system, includes magnetic suspension bearing rotor device, controller and power amplifier, its characterized in that: the magnetic suspension bearing rotor device also comprises a thrust disc, a sensor assembly, a fault diagnosis module and a fault-tolerant control module, wherein the thrust disc is connected with a rotor in the magnetic suspension bearing rotor device and moves synchronously;
the sensor assembly comprises a plurality of radial displacement sensors for measuring rotor displacement data and a composite displacement sensor for measuring thrust disc displacement data; the composite displacement sensor and the radial displacement sensor are not coplanar with each other;
the radial displacement sensors are arranged in a coplanar manner, a planar rectangular coordinate system is established on a plane perpendicular to the central axis of the rotor by taking the center of the rotor in the magnetic suspension bearing rotor device as the origin, and each radial displacement sensor comprises a first radial displacement sensor, a second radial displacement sensor and a third radial displacement sensor, wherein the first radial displacement sensors are arranged in the positive and negative directions of the X axis and are mutually symmetrically arranged, the second radial displacement sensors are arranged in the positive and negative directions of the Y axis and are mutually symmetrically arranged, and the third radial displacement sensors are arranged in the positive and negative directions of the Y axis;
a first connecting line formed by the third radial displacement sensor and the center of the rotor is not overlapped with the X axis or the Y axis;
the composite displacement sensor is arranged on the outer side of the thrust disc in the radial direction and used for measuring the surface distance between the composite displacement sensor and the thrust disc, and the radial displacement information and the rotation position angle information of the rotor can be obtained simultaneously through data processing of the fault-tolerant control module;
a second connecting line formed by the composite displacement sensor and the circle center of the thrust disc and a first connecting line formed by the third radial displacement sensor and the circle center of the rotor are arranged in a non-planar mode and are not parallel to each other or intersected with each other; the second connecting line is not parallel to or intersected with the X axis and the Y axis.
2. The fault-tolerant control system of a magnetic suspension bearing displacement sensor of claim 1, characterized in that: the fault-tolerant control module comprises a filtering module and a displacement calculation module; the filtering module is used for filtering the measured value of the composite displacement sensor to obtain the effective displacement of the non-groove part on the edge of the thrust disc; and the displacement calculation module obtains displacement calculation values of all degrees of freedom according to the sensor fault mode.
3. The fault-tolerant control system of a magnetic suspension bearing displacement sensor of claim 1, characterized in that: and the fault diagnosis module comprehensively samples and analyzes the measurement values of the composite displacement sensor and the radial displacement sensor and judges whether the sensors have faults or not.
4. The fault-tolerant control system of a magnetic bearing displacement sensor of claim 1, characterized in that: the magnetic suspension bearing rotor device is one of a permanent magnet bias hybrid magnetic bearing rotor device and a pure electric excitation magnetic bearing rotor device.
5. A fault-tolerant control method for a displacement sensor of a magnetic suspension bearing is characterized by comprising the following steps: fault-tolerant control is carried out by using the fault-tolerant control system of the magnetic suspension bearing displacement sensor in any one of claims 1 to 4, and the fault-tolerant control system comprises the following steps:
s1, starting a magnetic suspension bearing rotor device, synchronously rotating a rotor and a thrust disc, and measuring displacement data in real time by a sensor assembly to obtain a corresponding relation between a radial displacement measurement value measured by a radial displacement sensor and an effective displacement measurement value of a non-groove part on the edge of the thrust disc measured by a composite displacement sensor under a normal condition;
s2, intercepting and filtering the displacement measurement value of the composite displacement sensor by the fault-tolerant control module, judging the real-time sampling measurement value of the composite displacement sensor according to the relation, taking the fluctuation range of the effective measurement value of the non-groove part as an effective range, outputting the value if the fluctuation range is in the effective range, otherwise, outputting the last sampling measurement value as a current measurement value, and finally performing low-pass filtering processing on the intercepted displacement value to obtain the radial displacement of the rotor;
when each sensor is working normally, the first radial sensor measurement is recorded as s 1 And s 3 The second radial sensor measurement is recorded as s 2 And s 4 Third radial sensor measurement s 5 And recording the measured value of the composite displacement sensor after processing as s 6 The relationship between the measured value and the displacement values in the X-axis and Y-axis directions is as follows:
s3, classifying the sensor fault forms, and calculating the degree of freedom displacement corresponding to the classified fault forms;
and S4, the controller obtains a control current signal according to the displacement calculation value obtained by the fault-tolerant control module, drives the power amplification module to obtain a control current, and leads the control current into an electromagnetic coil in the magnetic suspension bearing rotor device to control the rotor.
6. The fault-tolerant control method for the displacement sensor of the magnetic bearing according to claim 5, characterized in that: marking the first radial sensor as a first radial sensor S 1 And a first radial sensor S 3 (ii) a Marking the second radial sensor as a second radial sensor S 2 And a second radial sensor S 4 (ii) a Labeling the third radial sensor as a third radial sensor S 5 (ii) a Tagging a composite sensor asComposite sensor S 6 ；
The specific processes of sensor fault form classification and displacement calculation in the step S3 are as follows:
in the first of the failure states, the first,
failure of one of the first radial sensor and the second radial sensor, or failure of the two non-differential sensors, and failure of the third radial sensor and the composite displacement sensor, are arbitrary, with the first radial sensor S 1 A second radial sensor S 2 For example, the fault is shifted as follows:
in the second of the two fault conditions, the fault state,
two of the first radial sensor and the second radial sensor are faulty differentially, or three sensors are faulty, and at least one of the third radial sensor and the composite displacement sensor is normal, with the first radial sensor S 1 A second radial sensor S 2 First radial sensor S 3 A third radial sensor S 5 For example, the fault is shifted as follows:
in the third state of the fault, the fault state,
the first radial sensor and the second radial sensor both have faults, the third radial sensor and the composite displacement sensor are normal, and the displacement is as follows:
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