CN114253127A - Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle - Google Patents
Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle Download PDFInfo
- Publication number
- CN114253127A CN114253127A CN202111400580.XA CN202111400580A CN114253127A CN 114253127 A CN114253127 A CN 114253127A CN 202111400580 A CN202111400580 A CN 202111400580A CN 114253127 A CN114253127 A CN 114253127A
- Authority
- CN
- China
- Prior art keywords
- rotor
- displacement
- control
- current
- bias current
- 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
- 239000000725 suspension Substances 0.000 title claims abstract description 37
- 238000010892 electric spark Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000003801 milling Methods 0.000 title claims abstract description 13
- 238000013519 translation Methods 0.000 title claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 63
- 238000003754 machining Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005339 levitation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
A method for controlling radial translational variable bias current of a micro electric spark milling magnetic suspension spindle belongs to the technical field of micro electric spark machining. The control method comprises the following steps: s1, starting a micro electric spark machining suspension servo spindle system with X, Y, Z-direction stroke; s2, calculating the control current according to the position deviation of the rotor by a PID control algorithm; s3, measuring the relation between the rotor displacement and the control current when the magnetic suspension main shaft is positioned in a translation displacement direction of X, Y; s4, taking the control current measured according to the target displacement of the rotor as a variable bias current item and forming a new bias current item together with the fixed bias current; and S5, the new bias current item and the new control current calculated by the PID control algorithm according to the position deviation of the rotor act together to control the displacement of the rotor of the radial magnetic bearing, so that the displacement overshoot is reduced, and the system stability is improved.
Description
Technical Field
The invention belongs to the technical field of micro electric spark machining, and particularly relates to a radial translation variable bias current control method for a micro electric spark milling magnetic suspension spindle.
Background
The magnetic suspension servo driving spindle system has strong servo tracking capability, can realize the rapid adjustment of the discharge gap state in the electric spark machining process, and has wide application prospect in micro electric spark machining. At present, a magnetic suspension main shaft is mainly used for machining micro electric spark micro holes, and when the magnetic suspension main shaft is subjected to electric spark milling machining, the track of a main shaft rotor gradually deteriorates along with deviation from a balance position, and even the system is unstable. Therefore, a stable control method for radial translation of the rotor during electric spark milling of the magnetic suspension spindle is needed to keep the stability of the electric spark milling process and widen the micro electric spark processing range of the magnetic suspension spindle.
Disclosure of Invention
The invention aims to solve the problems in the background technology, and further provides a method for controlling radial translational variable bias current of a micro electric spark milling magnetic suspension spindle;
the technical scheme adopted by the invention is as follows: the method for controlling the radial translational variable bias current of the micro electric spark milling magnetic suspension spindle comprises the following steps:
s1, starting a micro electric spark machining suspension servo spindle system with X, Y, Z-direction stroke;
s2, calculating the control current according to the position deviation of the rotor by a PID control algorithm;
s3, measuring the relation between the rotor displacement and the control current when the magnetic suspension main shaft is positioned in a translation displacement direction of X, Y;
s4, taking the control current measured according to the target displacement of the rotor as a variable bias current item and forming a new bias current item together with the fixed bias current;
and S5, the new bias current item and the new control current calculated by the PID control algorithm according to the position deviation of the rotor act together to control the displacement of the rotor of the radial magnetic bearing, so that the displacement overshoot is reduced, and the system stability is improved.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention uses the control current measured according to the target displacement of the rotor as a new bias current item which is formed by a variable bias current item and a fixed bias current, reduces the fluctuation of the new control current calculated by a PID control algorithm according to the position deviation of the rotor, reduces the displacement overshoot and improves the stability of the system.
Drawings
FIG. 1 is a magnetic levitation spindle structure;
FIG. 2 is a general functional block diagram of a magnetic suspension spindle control system;
FIG. 3 is a PID control scheme for a magnetic levitation spindle radial magnetic bearing;
FIG. 4 is the upper radial magnetic bearing coil control current when the magnetic suspension spindle is suspended;
FIG. 5 shows the lower radial magnetic bearing coil control current when the magnetic suspension spindle is suspended;
FIG. 6 is a block diagram of a variable bias current PID controller control system based on spindle rotor displacement;
wherein: 1. a radial magnetic bearing; 2. a rotary drive motor; 3. a gear transmission pair; 4. a magnetic coupling transmission mechanism; 5. a main shaft rotor; 6. a displacement sensor; 7. an electric brush; 8. an axial magnetic bearing; 9. an electrode holder; 10. and a fine electrode.
Detailed Description
Referring to fig. 1 to 6, the method for controlling radial translation variable bias current of a magnetic suspension spindle for micro electric spark milling comprises the following steps:
s1, starting a micro electric spark machining suspension servo spindle system with X, Y, Z-direction stroke;
s2, calculating the control current according to the position deviation of the rotor by a PID control algorithm;
s3, measuring the relation between the rotor displacement and the control current when the magnetic suspension main shaft is positioned in a translation displacement direction of X, Y;
s4, taking the control current measured according to the target displacement of the rotor as a variable bias current item and forming a new bias current item together with the fixed bias current;
and S5, the new bias current item and the new control current calculated by the PID control algorithm according to the position deviation of the rotor act together to control the displacement of the rotor of the radial magnetic bearing, so that the displacement overshoot is reduced, and the system stability is improved.
The step S2 is implemented by the following steps:
s21, comparing the position of a rotor detected by the micro electric spark machining suspension servo spindle system through an eddy current displacement sensor with a set position;
s22, taking the deviation e (t) as an input variable of a PID controller, calculating the deviation according to a set rule by the PID controller, and controlling the PWM wave duty ratio adjustment quantity corresponding to the control current by the output variable;
and S23, the power amplifier outputs control current I (t) to the magnetic bearing coil according to the obtained control PWM wave duty ratio (the positive and negative of the power amplifier input PWM wave duty ratio of the axial magnetic bearing represent the direction of the coil control current), and drives the spindle rotor to quickly and accurately suspend at the target position.
The step S3 is implemented by the following steps:
s31, detecting the control current of the radial magnetic bearings at two ends when the rotor is stably suspended to obtain a relation coordinate graph of the control current and the rotor displacement when the rotor is balanced;
s32, fitting the relation between the coil control current of the radial magnetic bearing and the rotor displacement when the micro electric spark machining miniaturized magnetic suspension spindle is suspended, and setting the relation between the rotor displacement of the control current when the rotor is balanced as follows: i.e. iy＝a0y+b0(ii) a Wherein: iy — control current (A); y-rotor displacement in the radial plane (m).
The specific principle is as follows:
as shown in fig. 1, the magnetic levitation spindle includes: the device comprises a radial magnetic bearing 1, a rotary driving motor 2, a gear transmission pair 3, a magnetic coupling transmission mechanism 4, a main shaft rotor 5, a displacement sensor 6, an electric brush 7, an axial magnetic bearing 8, an electrode clamp 9 and a micro electrode 10;
the upper and lower radial magnetic bearings 1 are respectively controlled independently and are linked to realize the suspension, linear and circular motion of the spindle rotor 5 in a radial plane; the rotary driving motor 2, the gear transmission pair 3 and the magnetic coupling transmission mechanism 4 drive the main shaft rotor 5 to rotate in a non-contact same frequency manner, the magnetic coupling transmission mechanism 4 can also provide restoring force for balancing the self weight of the main shaft rotor 5, and the same frequency rotation of the magnetic coupling transmission mechanism 4 can also realize flexible loading of a micro electric discharge machining pulse power supply so as to avoid reduction of main shaft response frequency caused by rigid contact; the spindle rotor 5 and the electrode clamp 9 drive the micro-electrode 10 to process. The displacement sensor 6 detects the displacement of the spindle rotor 5 in X, Y and Z directions, and inputs the displacement to the control system of the magnetic suspension servo drive spindle 20 as the basis of suspension motion control, wherein 4 displacement sensors 6 vertically arranged in the radial direction at the upper end and the lower end detect the displacement of the spindle rotor 5 in the radial plane, and 1 displacement sensor 6 arranged in the axial direction is used for detecting the displacement of the spindle rotor 5 in the axial direction. The brush 7 is connected to an electric discharge machining power source and the spindle rotor 5, and supplies energy necessary for fine electric discharge machining. The axial magnetic bearing 8 realizes axial suspension, feeding and retraction of the spindle rotor 5. The micro-drive processing of the magnetic suspension rotor is completed by driving the rotor in X, Y and Z directions through the radial magnetic bearing 1 and the axial magnetic bearing 8.
As shown in figure 2, the magnetic suspension spindle radial magnetic bearing adopts two pairs of differential electromagnets to provide forward and reverse acting forces for driving the spindle to move radially and keeping the set position stably suspended, and in a radial plane, the electromagnets in the same coordinate axis direction are provided with a fixed bias current i0And control the current iyDriving, wherein one set of driving currents is (i)0+iy) Another set of drive currents corresponding thereto is (i)0-iy) At this time, the acting force fyExpressed as the difference between the forces of the two sets of electromagnets.
The equation of motion of the rotor can be found as follows:
the driving force received by the rotor can be:
fy-radial magnetic bearing differential drive mode force (N);
f + -forward magnetic bearing force (N);
f-negative magnetic bearing force (N);
i 0-fixed bias current (A);
iy — control current (A);
s 0-unilateral clearance (m) of the radial magnetic bearing and the rotor with the rotor in the center position;
y-rotor displacement in the radial plane (m).
From the formula (2), the coil current of the radial magnetic bearing is composed of bias current and control current, and the designed PID control scheme of the magnetic suspension spindle radial magnetic bearing and the axial magnetic bearing is shown in figure 3.
As can be seen from fig. 3, the PID control technique of the magnetic bearing has the following implementation procedures: the system firstly compares the rotor position detected by the eddy current displacement sensor with a set position, takes the deviation e (t) as the input variable of the PID controller, the PID controller calculates according to a set rule, the output variable is the adjustment quantity of the PWM wave duty ratio corresponding to the control current, and the power amplifier outputs the control current I (t) to the magnetic bearing coil according to the obtained control PWM wave duty ratio (the direction of the control current of the positive and negative representative coils of the power amplifier input PWM wave duty ratio of the axial magnetic bearing) to drive the spindle rotor to be quickly and accurately suspended at the target position.
As can be seen from equation (2), when the spindle rotor is balanced at any point in the Y-direction air gap range, there are:
let I1＝i0+iy，I2＝i0-iyThen, when the rotor is balanced, the difference in current between the opposing pole pairs is:
the relation between the control current and the fixed bias current and the rotor displacement when the rotor is balanced can be obtained as follows:
for a fixed bias current, the control current required for balancing the rotor in the radial plane is proportional to the rotor displacement. The relationship between the coil current and rotor displacement for rotor equilibrium in the radial plane is therefore:
the relationship between the control current and the rotor displacement when the rotor is balanced is shown in fig. 4 and 5 by detecting the control current of the radial magnetic bearings at the two ends when the rotor is stably suspended. As can be seen from fig. 4 and 5, the control current when the rotor is actually suspended stably is related to the rotor displacement, but the actual measurement result is different from the theoretical calculation value of equation (6), because the winding and installation of the radial magnetic bearing coil cannot be completely consistent when the rotor is actually suspended, which cannot be completely the same as the theoretical calculation value. The calculation formula of the control current of each magnetic bearing needs to be recalculated and corrected according to the actual control current so as to obtain more accurate relationship between the coil bias current and the rotor displacement in the radial plane.
Fitting the relation between the control current of the coil of the radial magnetic bearing and the displacement of the rotor when the micro electric spark machining miniaturized magnetic suspension spindle is suspended, and setting the relation of the control current and the displacement of the rotor when the rotor is balanced as follows:
iy＝a0y+b0 (7)
solving the coefficient of formula (7) of the control current of the upper and lower ends of the radial magnetic bearing by using a least square method according to the graphs of 4 and 5 to obtain the coefficient a of the upper and lower ends of the radial magnetic bearing0，b0。
The relation between the coil current and the rotor displacement when the micro electro discharge machining miniaturized magnetic suspension main shaft is balanced in a radial plane can be obtained by the formula (5), the formula (6) and the formula (7):
I＝i0±(a0y+b0) (8)
in the control routine, y is the target rotor displacement. When the rotor translates in the radial direction, in order to reduce the control current fluctuation caused by the rotor displacement deviation, the coil current of the rotor in the target position balance can be directly used as the bias current, and the rotor coil current and the bias current are shown in the formula (9) and the formula (10).
I＝i'0±Δiy (9)
i'0＝i0±(a0y+b0) (10)
At this time, the system control current Δ iyThe current corresponding to the duty ratio adjustment quantity calculated by the PID controller according to the deviation between the rotor target displacement and the actual position of the rotor gradually approaches zero along with the deviation, and the delta iy gradually approaches zero. The bias current comprises a fixed bias current i0And a variable bias current term (a) calculated from the target displacement of the spindle rotor0y+b0). Accordingly, a PID control method based on the displacement of the spindle rotor with variable offset current is proposed, and a control block diagram thereof is shown in fig. 6.
As can be seen from FIG. 6, the power amplifier output current is controlled by a fixed bias current i0Variable bias current term (a)0y+b0) And control current Δ iyThe PWM waveform duty ratio of the corresponding input power amplifier is a fixed bias current item duty ratio, a variable bias current item duty ratio adjustment quantity obtained by calculation according to the target displacement of the main shaft rotor and a duty ratio adjustment quantity obtained by calculation of a PID controller according to the displacement deviation, and the fixed bias current item duty ratio and the variable bias current item duty ratio adjustment quantity obtained by calculation according to the target displacement of the main shaft rotor adjust the bias current i 'of the radial magnetic bearing coil in real time'0The control current fluctuation can be reduced, the rotor displacement overshoot is reduced, the radial translation displacement positioning of the main shaft rotor is controlled, and the stability of the system is improved.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (3)
1. A radial translation variable bias current control method for a micro electric spark milling magnetic suspension spindle is characterized by comprising the following steps: the method comprises the following steps:
s1, starting a micro electric spark machining suspension servo spindle system with X, Y, Z-direction stroke;
s2, calculating the control current according to the position deviation of the rotor by a PID control algorithm;
s3, measuring the relation between the rotor displacement and the control current when the magnetic suspension main shaft is positioned in a translation displacement direction of X, Y;
s4, taking the control current measured according to the target displacement of the rotor as a variable bias current item and forming a new bias current item together with the fixed bias current;
and S5, the new bias current item and the new control current calculated by the PID control algorithm according to the position deviation of the rotor act together to control the displacement of the rotor of the radial magnetic bearing, so that the displacement overshoot is reduced, and the system stability is improved.
2. The method for controlling radial translational variable bias current of the fine electric spark milling magnetic suspension spindle according to claim 1, characterized in that: the step S2 is implemented by the following steps:
s21, comparing the position of the rotor detected by the eddy current displacement sensor with a set position;
s22, taking the deviation e (t) as an input variable of a PID controller, calculating the deviation according to a set rule by the PID controller, and controlling the PWM wave duty ratio adjustment quantity corresponding to the control current by the output variable;
and S23, the power amplifier outputs control current I (t) to the magnetic bearing coil according to the obtained control PWM wave duty ratio to drive the spindle rotor to quickly and accurately suspend at a target position.
3. The method for controlling radial translational variable bias current of the fine electric spark milling magnetic suspension spindle according to claim 2, characterized in that: the step S3 is implemented by the following steps:
s31, detecting the control current of the radial magnetic bearings at two ends when the rotor is stably suspended to obtain a relation coordinate graph of the control current and the rotor displacement when the rotor is balanced;
s32, fitting the relation between the control current of the radial magnetic bearing coil and the rotor displacement, and setting the relation between the control current and the rotor displacement when the rotor is balanced as follows: i.e. iy＝a0y+b0(ii) a Wherein: i.e. iy-controlling the current (a); y-rotor displacement in the radial plane (m).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111400580.XA CN114253127A (en) | 2021-11-19 | 2021-11-19 | Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111400580.XA CN114253127A (en) | 2021-11-19 | 2021-11-19 | Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114253127A true CN114253127A (en) | 2022-03-29 |
Family
ID=80793162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111400580.XA Pending CN114253127A (en) | 2021-11-19 | 2021-11-19 | Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114253127A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116707230A (en) * | 2023-08-03 | 2023-09-05 | 西门子(天津)传动设备有限责任公司 | Rotor offset measuring device, stator offset calculating method, device and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1737388A (en) * | 2005-05-18 | 2006-02-22 | 江苏大学 | AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same |
| CN101666353A (en) * | 2009-09-23 | 2010-03-10 | 江苏大学 | Active magnetic bearing using bias magnetic flux commonly in radial direction and in axial direction and control method thereof |
| CN105065452A (en) * | 2015-07-13 | 2015-11-18 | 北京航空航天大学 | Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform |
| CN110231133A (en) * | 2019-06-26 | 2019-09-13 | 北京航空航天大学 | A kind of magnetic suspension bearing electric current rigidity and displacement rigidity measurement method |
| CN110762120A (en) * | 2019-11-18 | 2020-02-07 | 南京航空航天大学 | High-rotation-precision control method based on magnetic suspension bearing rotor system |
| CN112096737A (en) * | 2020-09-16 | 2020-12-18 | 华中科技大学 | Control method and control system of magnetic suspension bearing-rotor device |
-
2021
- 2021-11-19 CN CN202111400580.XA patent/CN114253127A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1737388A (en) * | 2005-05-18 | 2006-02-22 | 江苏大学 | AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same |
| CN101666353A (en) * | 2009-09-23 | 2010-03-10 | 江苏大学 | Active magnetic bearing using bias magnetic flux commonly in radial direction and in axial direction and control method thereof |
| CN105065452A (en) * | 2015-07-13 | 2015-11-18 | 北京航空航天大学 | Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform |
| CN110231133A (en) * | 2019-06-26 | 2019-09-13 | 北京航空航天大学 | A kind of magnetic suspension bearing electric current rigidity and displacement rigidity measurement method |
| CN110762120A (en) * | 2019-11-18 | 2020-02-07 | 南京航空航天大学 | High-rotation-precision control method based on magnetic suspension bearing rotor system |
| CN112096737A (en) * | 2020-09-16 | 2020-12-18 | 华中科技大学 | Control method and control system of magnetic suspension bearing-rotor device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116707230A (en) * | 2023-08-03 | 2023-09-05 | 西门子(天津)传动设备有限责任公司 | Rotor offset measuring device, stator offset calculating method, device and system |
| CN116707230B (en) * | 2023-08-03 | 2023-12-19 | 西门子(天津)传动设备有限责任公司 | Rotor offset measuring device, stator offset calculating method, device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116182765B (en) | Self-calibration control method and device of displacement sensor based on magnetic suspension bearing | |
| JP6130987B2 (en) | Robot drive with magnetic spindle bearing | |
| CN101341002B (en) | Magnetically levitated high-speed spindle for shaping irregular surfaces | |
| CN112186976B (en) | Bearing-free magnetic suspension motor rotor radial position detection device and control method | |
| CN101557184B (en) | Magnetic suspension spherical electromotor system | |
| CN114253127A (en) | Radial translation variable bias current control method for micro electric spark milling magnetic suspension spindle | |
| CN109891109B (en) | Magnetic bearing device and fluid mechanical system | |
| KR20100046155A (en) | Reduced-complexity self-bearing brushless dc motor | |
| CN103427755B (en) | A kind of building method of bearing-free permanent magnet thin-sheet motor rotor radial displacement controller | |
| CN103851082A (en) | Magnetic bearing system and method of controlling the same | |
| CN108368881B (en) | Magnetic bearing device and compressor | |
| CN102136822B (en) | Five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and construction method thereof | |
| JP2012143100A (en) | Control device, and measuring apparatus | |
| CN108044137B (en) | Intelligent motorized spindle bearing rigidity regulation and control method and system and intelligent motorized spindle | |
| CN1605145A (en) | Reaction balanced rotary drive mechanism | |
| CN111288082A (en) | Control system of single-degree-of-freedom magnetic-liquid double-suspension bearing | |
| CN114922935A (en) | Rigid-flexible coupling potential force composite actuating mechanism and constant force control method | |
| CN111185935A (en) | Magnetic suspension robot arm support system | |
| CN111030509B (en) | Device and method for two-dimensional plane suspension movement based on force unbalance driving | |
| CN113935126A (en) | Magnetic suspension fan working efficiency optimization method | |
| CN108429495A (en) | Four winding permanent magnet direct current torque motor control systems | |
| JP2008256084A (en) | Magnetic bearing device and magnetic bearing spindle device | |
| KR101385977B1 (en) | Driving system for controlling electromagnetic actuator in magnetic levitations and magnetic bearings | |
| JPS6166541A (en) | Controlled radial magnetic bearing device | |
| CN208675130U (en) | Four winding permanent magnet direct current torque motor control systems |
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 |