CN114611296A - Modeling simulation method, device and medium for magnetic suspension rotor system - Google Patents
Modeling simulation method, device and medium for magnetic suspension rotor system Download PDFInfo
- Publication number
- CN114611296A CN114611296A CN202210242217.8A CN202210242217A CN114611296A CN 114611296 A CN114611296 A CN 114611296A CN 202210242217 A CN202210242217 A CN 202210242217A CN 114611296 A CN114611296 A CN 114611296A
- Authority
- CN
- China
- Prior art keywords
- magnetic suspension
- model
- rotor system
- bearing
- modeling
- 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.)
- Granted
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 176
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000004088 simulation Methods 0.000 title claims abstract description 41
- 238000004891 communication Methods 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000001364 causal effect Effects 0.000 claims description 16
- 238000005094 computer simulation Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 238000005339 levitation Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000006399 behavior Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000000354 decomposition reaction Methods 0.000 claims description 4
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 4
- 238000011160 research Methods 0.000 abstract description 7
- 230000005611 electricity Effects 0.000 abstract description 4
- 238000012827 research and development Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000007667 floating Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000006880 cross-coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a modeling simulation method, equipment and medium for a magnetic suspension rotor system, belonging to the field of engineering simulation and comprising the following steps: s1, decomposing the magnetic suspension rotor system to obtain a corresponding model library framework and a corresponding component; s2, analyzing the physical and model characteristics of the components under the model base architecture; s3, constructing a corresponding basic model and a corresponding component model by adopting a modeling mode matched with the characteristics of the model and the component model; s4, establishing a component model connector and a boundary model; and S5, building a magnetic suspension rotor system model and injecting system parameter values. The invention is based on the same platform, realizes the integrated modeling simulation of multiple subjects and multiple fields such as machinery, electricity, electromagnetism, control and the like, and overcomes the limitation of the cross-platform modeling simulation of different subjects; meanwhile, the method has the advantages of simplicity in operation, strong reusability and expandability, provides a virtual platform tool for the performance research of the magnetic suspension rotor system, and reduces the research and development cost and period.
Description
Technical Field
The invention relates to the field of engineering simulation, in particular to a magnetic suspension rotor system modeling simulation method, equipment and medium.
Background
The magnetic suspension rotor system is a system for supporting a rotor by using a magnetic suspension bearing, has the advantages of no mechanical contact, no friction, no noise, long service life, no need of lubrication and the like, and is widely applied to the fields of aviation, aerospace, energy sources, traffic, mechanical industry and the like. The system generally comprises a magnetic bearing, a magnetic rotating shaft, a control system, a power amplifier, a sensor, related accessories and the like, and relates to multiple fields and multiple subjects of structural dynamics, electromagnetic fields, control and electronic circuits. Because the research of structure dynamics, a control system, magnetic field analysis and the like are respectively carried out in different fields in the research and design process of the magnetic suspension rotor, the separation phenomenon of mechanical, control, electronic and magnetic field design exists, and the comprehensive performance of the magnetic suspension rotor system is difficult to clearly analyze. On the other hand, the magnetic suspension bearing comprises a mechanical system and an electric power electronic system, the cost is relatively high, and every design cannot be manufactured into a prototype for experimental study. Therefore, aiming at the magnetic suspension rotor system, a unified model of multiple disciplines such as magnetic suspension bearing dynamics, a control system, magnetic field analysis and the like is established, and the simulation and analysis in the multiple disciplines field are carried out, so that the errors in the early stage of the magnetic suspension rotor product design can be reduced as much as possible, and the product development period is shortened.
The Modelica language is an open, object-oriented and equation-based computer language, can span different fields, conveniently realizes modeling of multiple fields of complex physical system machinery, electronics, electric power, hydraulic pressure, thermal engineering and control, and is widely applied to industries of aviation, aerospace, automobiles, ships and the like. The Modelica language is applied to modeling and simulation of the magnetic suspension rotor system, so that multi-field and multi-disciplinary physical simulation can be conveniently and rapidly realized, and the comprehensive performance of the magnetic suspension rotor system is analyzed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a magnetic suspension rotor system modeling simulation method, equipment and medium, can realize the integrated modeling simulation in multiple subjects and multiple fields such as machinery, electricity, electromagnetism, control and the like based on the same platform, overcomes the limitation of cross-platform modeling simulation of different subjects, is simple to operate, has strong reusability and expandability, provides a virtual platform tool for the performance research of a magnetic suspension rotor system, and reduces the research and development cost and period.
The purpose of the invention is realized by the following scheme:
a modeling simulation method of a magnetic suspension rotor system comprises the following steps:
s1, decomposing the magnetic suspension rotor system to obtain a corresponding model library framework and a corresponding component;
s2, analyzing the physical and model characteristics of the components under the model base architecture;
s3, constructing a corresponding basic model and a corresponding component model by adopting a modeling mode matched with the characteristics of the model and the component model;
s4, establishing a component model connector and a boundary model;
and S5, building a magnetic suspension rotor system model and injecting system parameter values.
Further, in step S1, when the magnetic suspension rotor system is decomposed, the system decomposition is performed only according to the physical boundary and the basic assumption of the model, and the cross-coupling between the components is not considered, so as to obtain the typical components of the magnetic suspension rotor system, where the entire magnetic suspension rotor system is a combination of the components according to a set rule; according to the physical model of the component, the model behavior is naturally described without considering the calculation sequence, and the component has non-causal characteristics; meanwhile, the component model without consideration of interactive coupling has independence and does not depend on the external environment, and boundary conditions can be freely changed for different systems.
Further, the magnetic suspension rotor system comprises a five-degree-of-freedom magnetic suspension rotor system, and the corresponding model library architecture and the basic component obtained by decomposing the five-degree-of-freedom magnetic suspension rotor system comprise: the magnetic suspension rotating shaft, the left radial magnetic suspension bearing, the axial magnetic suspension bearing, the right radial magnetic suspension bearing, the power amplifier, the PID controller and the displacement sensor. The displacement sensor collects and communicates the displacement offset of the magnetic suspension rotating shaft to the PID controller, the PID controller communicates the control output result to the power amplifier according to the target reference position data, and the power amplifier communicates proper current and voltage values to the left radial magnetic suspension bearing, the axial magnetic suspension bearing and the right radial magnetic suspension bearing; the model of the magnetic suspension rotating shaft is realized by a rotor dynamics equation, and the models of the left radial magnetic suspension bearing, the axial magnetic suspension bearing and the right radial magnetic suspension bearing are realized by an electromagnetic dynamics equation.
Further, in step S2, the method includes the sub-steps of: the left radial magnetic suspension bearing, the axial magnetic suspension bearing and the right radial magnetic suspension bearing control the magnitude of electromagnetic force by controlling the current value of the electromagnetic coil; the left radial magnetic bearing controls X, Y electromagnetic force through X, Y direction current value, the right radial magnetic bearing controls X, Y electromagnetic force through X, Y direction current value, and the axial magnetic bearing controls Z direction electromagnetic force through Z direction current value, so that stable operation and control of the bearing and the rotor are realized; the magnetic suspension rotating shaft adopts a five-degree-of-freedom mathematical equation to describe a relation between acting force of the rotating shaft in X, Y and Z directions and a rotating inertia; the PID controller adopts a PID control mode to carry out proper operation on a position deviation signal detected by the sensor, and drives the power amplifier to quickly and properly change current through an operation result so as to enable the rotor to return to a reference position, so that the rotor is positioned with high precision; the power amplifier receives the control signal of the PID controller and provides the current needed by the electromagnetic force to the electromagnetic coils of the left radial magnetic suspension bearing, the axial magnetic suspension bearing and the right radial magnetic suspension bearing.
Further, in step S3, the method includes the sub-steps of: and performing statement modeling on the assembly object magnetic suspension rotating shaft, the left radial magnetic suspension bearing, the right radial magnetic suspension bearing, the axial magnetic suspension bearing, the power amplifier, the PID controller and the displacement sensor by using a Modelica language, and converting a physical model of the assembly into a mathematical model expressed by a mathematical equation and having non-causal characteristics.
Further, in step S4, the method includes the sub-steps of: adopting a connector to define a communication interface between the component and the outside; the left radial magnetic bearing and the power amplifier adopt an electrical connector, and the electrical connector is used for transmitting flow variable current and potential variable voltage between the communication components; the magnetic suspension rotating shaft and the left radial magnetic suspension bearing adopt one-dimensional translation connectors, and the one-dimensional translation connectors are used for transmitting flow variable force and potential variable displacement between the communication components; the magnetic floating rotating shaft and external rotating mechanical equipment adopt one-dimensional rotating connectors, and the one-dimensional rotating connectors are used for transmitting flow variable power and potential variable rotating speed between communication components; establishing a boundary model and providing external parameters for the component model; wherein the mechanical boundary delivers rotational speed and power and the electrical boundary delivers current and voltage.
Further, in step S5, the method includes the sub-steps of: and (4) building a magnetic suspension rotor system by using the developed assembly model and connector and adopting a dragging method, and injecting assembly parameters.
Further, after the step S5, a step S6 is included: and S6, according to the requirement of the dynamic analysis of the magnetic suspension rotor system, giving boundary working condition, and performing simulation analysis under the given working condition by using the steps S1-S5.
A computer device comprising a processor and a memory, the memory having stored therein a computer program which, when loaded by the processor, carries out the method of any preceding claim.
A computer-readable storage medium, in which a computer program is stored which is loaded by a processor and which performs the method according to any of the above.
The beneficial effects of the invention include:
the invention realizes the integrated modeling simulation of multiple disciplines and multiple fields such as machinery, electricity, electromagnetism, control and the like based on the same platform, and overcomes the limitation of the cross-platform modeling simulation of different disciplines. The communication mode among the components, the components and the outside adopts generalized kirchhoff law, the connection of interface variable equations can be automatically generated, and the unified physical modeling in multiple disciplines and fields such as machinery, electricity, electromagnetism and control is facilitated.
The method has the advantages of realizing simple operation of the modeling simulation process, having stronger reusability and expandability of the model, providing a virtual platform tool for the performance research of the magnetic suspension rotor system and reducing the research and development cost. A virtual mode of computer modeling simulation is adopted to describe and analyze the rotor system, a physical test is replaced, and the research and development period is greatly shortened compared with the physical test research.
In the embodiment of the invention, the Modelica modeling mechanism-based component modeling and connection mechanism method has the advantages that the system components are independent, the input and output variables and the equation solving sequence do not need to be clearly defined, and a simulation system can automatically determine the causal relationship of the variables according to the equations during system solving.
In the embodiment of the invention, a non-causal method connector mechanism is adopted for realizing the communication interaction between the components and the outside, the input and output variables and the equation solving sequence are not required to be defined, and the system automatically compiles to determine the causal relationship of the variables;
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a magnetic levitation rotor system;
FIG. 2 is a schematic diagram of the degrees of freedom of a radial magnetic bearing;
FIG. 3 is a schematic diagram of the degrees of freedom of an axial magnetic bearing;
FIG. 4 is a schematic view of a left radial magnetic bearing control system;
FIG. 5 is a schematic diagram of force analysis of a five-degree-of-freedom magnetic suspension rotor;
FIG. 6 is a schematic diagram of the displacement of the left radial magnetic bearing in the Y direction;
FIG. 7 is a flow chart of steps of a method of an embodiment of the present invention;
in the figure, 1-magnetic floating rotating shaft, 2-left radial magnetic floating bearing, 3-axial magnetic floating bearing, 4-right radial magnetic floating bearing, 5-power amplifier, 6-PID controller and 7-displacement sensor.
Detailed Description
All features disclosed in all embodiments in this specification, or all methods or process steps implicitly disclosed, may be combined and/or expanded, or substituted, in any way, except for mutually exclusive features and/or steps.
The technical concept, the technical problems to be solved, the working principle, the working process and the beneficial effects of the present invention are fully explained in detail with reference to the accompanying drawings 1 to 7.
On the basis of a five-degree-of-freedom magnetic suspension rotor system modeling simulation theory and a Modelica technical system, the invention combines the five-degree-of-freedom magnetic suspension rotor system modeling simulation theory and the Modelica technical system, and innovatively constructs a non-causal magnetic suspension rotor system model modeling simulation analysis scheme.
As shown in fig. 1, the magnetic suspension rotor system includes a magnetic suspension rotating shaft 1, a left radial magnetic suspension bearing 2, an axial magnetic suspension bearing 3, a right radial magnetic suspension bearing 4, and the like. The left radial magnetic bearing 2 has X, Y degrees of freedom in two directions in cross section, as shown in fig. 2. The axial magnetic bearing 3 has one degree of freedom in the direction of the axis Z, as shown in fig. 3. The right radial magnetic suspension bearing 4 and the left radial magnetic suspension bearing 2 respectively have X, Y degrees of freedom in two directions on the cross section, and the magnetic suspension rotor system has 5 degrees of freedom. The left radial magnetic bearing control system is shown in fig. 4 and comprises a magnetic suspension rotating shaft 1, a left radial magnetic bearing 2, a power amplifier 5, a PID controller 6 and a displacement sensor 7. The model of the magnetic suspension rotating shaft is mainly realized by a rotor dynamics equation, and the model of the magnetic suspension bearing is mainly realized by an electromagnetic mechanics equation.
Modelica is an object-oriented language, and from an object-oriented perspective, any declared component is essentially an object. In the embodiment of the invention, Modelica is applied for the purpose of constructing an object-oriented declarative magnetic levitation rotor system modeling method.
In the practical application process, the embodiment of the invention performs the following processing: for component model construction, firstly, a rotor system is analyzed, system decomposition is carried out only according to physical boundaries and basic assumptions of the model, interactive coupling between components is not considered, typical components of the rotor system are obtained, and the whole rotor system is formed by combining the components according to a certain rule. According to the physical model of the component, the model behavior is naturally described without considering the calculation sequence, and the method has non-causal characteristics. The component model has independence and is independent of external environment, and boundary conditions can be freely changed for different systems.
In the practical application process, the communication and maintenance constraints among the components and the outside are guaranteed through the connectors based on the Modelica non-causal connection mechanism. And a non-causal method is adopted, a non-causal connection equation is generated according to the generalized kirchhoff law in the data flow direction, the data flow direction is automatically deduced by the equation, and the communication direction is not designated. FIG. 4 is a left radial magnetic bearing control system diagram, the magnetic bearing 1 and the left radial magnetic bearing 2 adopt a one-dimensional translational connector, and the one-dimensional translational connector is utilized to transmit variable data of force and displacement between communication components; the left radial magnetic bearing 2 and the power amplifier 5 adopt an electrical connector, and variable data of current and voltage between communication components are transmitted by the electrical connector; the displacement sensor 7 collects the displacement offset of the magnetic suspension rotating shaft and transmits the displacement offset to the PID controller 6 in a communication mode, the PID controller 6 transmits a control output result to the power amplifier 5 in a communication mode according to target reference position data, and the power amplifier 5 transmits proper current and voltage values to the left radial magnetic suspension bearing 2 in a communication mode. The magnetic suspension rotating shaft 1 and external rotating mechanical equipment adopt one-dimensional rotating connectors, and the one-dimensional rotating connectors are used for transmitting flow variable power and potential variable rotating speed between communication components. The same control system principle is applicable to the axial magnetic suspension bearing 3 and the right radial magnetic suspension bearing 4.
In a specific implementation process, an embodiment of the invention provides a modeling simulation method of a five-degree-of-freedom magnetic suspension rotor system based on Modelica, which comprises the following steps:
the method comprises the following steps: decomposing the five-freedom magnetic suspension rotor system to obtain corresponding model library framework and basic assembly
The magnetic suspension rotor system is composed of a magnetic suspension rotating shaft 1, a left radial magnetic suspension bearing 2, an axial magnetic suspension bearing 3 and a right radial magnetic suspension bearing 4, and is shown in figure 1. The control of the air gap between the bearing and the rotating shaft is mainly completed by a magnetic bearing control system, as shown in figure 4, and the magnetic bearing control system consists of a magnetic rotating shaft 1, a left-right magnetic bearing 2, a power amplifier 5, a PID controller 6 and a displacement sensor 7.
Step two: analyzing physical and model properties of underlying components under a model library architecture
The magnetic suspension bearing controls the magnitude of the electromagnetic force by controlling the current value of the electromagnetic coil, namely the radial magnetic suspension bearing respectively controls the electromagnetic force in the directions X, Y and Z by controlling the current value in the direction X, Y, and the axial bearing respectively controls the electromagnetic force in the directions Z, so that the stable operation and control of the bearing and the rotor are realized. The left radial bearing and the right radial bearing respectively have X, Y-direction freedom degrees, the axial bearing has Z-direction freedom degrees, and the magnetic suspension rotor system has 5 freedom degrees in total, as shown in figure 5. The magnetic suspension rotating shaft adopts a five-degree-of-freedom mathematical equation to describe the relation between acting force of the rotating shaft in X, Y and Z directions and the rotational inertia.
As shown in fig. 4, the displacement sensor 7 is used to detect the offset of the rotating shaft; the PID controller 6 adopts a PID control mode to perform proper operation on the position deviation signal detected by the sensor, and drives the power amplifier to quickly and properly change the current through the operation result so as to enable the rotor to return to the reference position, thereby positioning the rotor with high precision; the power amplifier 5 receives the control signal of the PID controller and supplies the current required for generating the electromagnetic force to the electromagnetic coil of the magnetic suspension bearing.
Step three: constructing corresponding basic model and component model by adopting a modeling mode matched with the characteristics of the basic model and the component model
And performing statement modeling on the magnetic suspension rotating shaft, the left radial magnetic suspension bearing, the right radial magnetic suspension bearing, the axial bearing, the power amplifier, the PID controller and the displacement sensor of the component object by using a Modelica language, and converting a physical model of the component into a mathematical model expressed by a mathematical equation and having non-causal characteristics. Based on the Modelica non-causal property, the model does not need to consider input and output variables and also does not need to consider the calculation sequence.
Step four: building component model connectors and boundary models
The connector is used for defining a communication interface between the component and the outside. According to the generalized kirchhoff law, the junction potential variables are equal, and the sum of the flow variables is zero. In the embodiment of the invention, the magnetic bearing 2 and the power amplifier 5 adopt an electrical connector, and the electrical connector is utilized to transmit the flow variable current and the potential variable voltage between the communication components; the magnetic suspension rotating shaft 1 and the left radial magnetic suspension bearing 2 adopt a one-dimensional translation connector, and the one-dimensional translation connector is utilized to transmit flow variable force and potential variable displacement between the communication components. The magnetic suspension rotating shaft 1 and external rotating mechanical equipment adopt one-dimensional rotating connectors, and the one-dimensional rotating connectors are used for transmitting flow variable power and potential variable rotating speed between communication components.
And establishing a boundary model, providing external parameters for the component model, transmitting the rotating speed and power by the mechanical boundary, and transmitting current and voltage by the electrical boundary.
Step five: building a magnetic suspension rotor system model and injecting system parameter values
And (4) building a magnetic suspension rotor system by using the developed assembly model and connector and adopting a dragging method, and injecting assembly parameters. The parameters corresponding to different component models are different, as shown in table 1, including the interface models and model parameters corresponding to different component models in the magnetic levitation rotor system.
TABLE 1
Step six: simulation analysis according to given working condition
According to the requirement of dynamic analysis of the magnetic suspension rotor system, a certain boundary working condition is given, and a simulation system model is modeled by using the magnetic suspension rotor system to carry out related simulation analysis. Through simulation analysis results and knowledge, research and design of a magnetic suspension rotor system can be assisted, and the period and cost of a real object test are saved. The displacement of the left radial magnetic bearing in the Y direction is shown in figure 6.
In the embodiment of the invention, the modeling simulation method of the five-degree-of-freedom magnetic suspension rotor system based on Modelica can be applied to an application scene of magnetic suspension rotor model construction, such as computer equipment, a computer and other terminal equipment with computing processing capacity.
Example 1
As shown in fig. 7, a magnetic suspension rotor system modeling simulation method is characterized by comprising the following steps:
s1, decomposing the magnetic suspension rotor system to obtain a corresponding model library framework and a corresponding component;
s2, analyzing the physical and model characteristics of the components under the model base architecture;
s3, constructing a corresponding basic model and a corresponding component model by adopting a modeling mode matched with the characteristics of the model and the component model;
s4, establishing a component model connector and a boundary model;
and S5, building a magnetic suspension rotor system model and injecting system parameter values.
Example 2
On the basis of the embodiment 1, in step S1, when the magnetic suspension rotor system is decomposed, the system decomposition is performed only according to the physical boundary and the basic assumption of the model, and the cross-coupling between the components is not considered, so as to obtain the typical components of the magnetic suspension rotor system, where the whole magnetic suspension rotor system is a combination of the components according to a set rule;
according to the physical model of the component, the model behavior is naturally described without considering the calculation sequence, and the component has non-causal characteristics; meanwhile, the component model without consideration of interactive coupling has independence and does not depend on the external environment, and boundary conditions can be freely changed for different systems.
Example 3
On the basis of the embodiment 1, the magnetic suspension rotor system comprises a five-degree-of-freedom magnetic suspension rotor system, and the corresponding model library architecture and the basic components obtained by decomposing the five-degree-of-freedom magnetic suspension rotor system comprise: the device comprises a magnetic suspension rotating shaft 1, a left radial magnetic suspension bearing 2, an axial magnetic suspension bearing 3, a right radial magnetic suspension bearing 4, a power amplifier 5, a PID controller 6 and a displacement sensor 7, wherein the displacement sensor 7 collects displacement offset of the magnetic suspension rotating shaft 1 and transmits the displacement offset to the PID controller 6 in a communication manner, the PID controller 6 transmits a control output result to the power amplifier 5 in a communication manner according to target reference position data, and the power amplifier 5 transmits appropriate current and voltage values to the left radial magnetic suspension bearing 2, the axial magnetic suspension bearing 3 and the right radial magnetic suspension bearing 4 in a communication manner; the model of the magnetic suspension rotating shaft 1 is realized by a rotor dynamics equation, and the models of the left radial magnetic suspension bearing 2, the axial magnetic suspension bearing 3 and the right radial magnetic suspension bearing 4 are realized by an electromagnetic dynamics equation.
Example 4
On the basis of embodiment 1, in step S2, the method includes the sub-steps of: the left radial magnetic suspension bearing 2, the axial magnetic suspension bearing 3 and the right radial magnetic suspension bearing 4 control the magnitude of electromagnetic force by controlling the current value of the electromagnetic coil; the left radial magnetic bearing 2 controls X, Y electromagnetic force through X, Y direction current value, the right radial magnetic bearing 4 controls X, Y electromagnetic force through X, Y direction current value, and the axial magnetic bearing 3 controls Z direction electromagnetic force through Z direction current value, so that stable operation and control of the bearing and the rotor are realized; the magnetic suspension rotating shaft 1 adopts a five-degree-of-freedom mathematical equation to describe a relation between acting force of the rotating shaft in X, Y and Z directions and a rotational inertia; the displacement sensor 7 is used for detecting the offset of the magnetic suspension rotating shaft of the rotor system, the PID controller 6 adopts a PID control mode to carry out proper operation on the position deviation signal detected by the sensor, and drives the power amplifier to quickly and properly change the current through the operation result so as to lead the rotor to return to the reference position, thus leading the rotor to be positioned with high precision; the power amplifier 5 receives the control signal from the PID controller 6, and supplies the current required for generating the electromagnetic force to the electromagnetic coils of the left radial magnetic bearing 2, the axial magnetic bearing 3 and the right radial magnetic bearing 4.
Example 5
On the basis of embodiment 1, in step S3, the method includes the sub-steps of: and performing statement modeling on the magnetic suspension rotating shaft 1, the left radial magnetic suspension bearing 2, the right radial magnetic suspension bearing 4, the axial magnetic suspension bearing 3, the power amplifier 5, the PID controller 6 and the displacement sensor 7 of the assembly object by using a Modelica language, and converting a physical model of the assembly into a mathematical model expressed by a mathematical equation and having non-causal characteristics.
Example 6
On the basis of embodiment 1, in step S4, the method includes the sub-steps of: adopting a connector to define a communication interface between the component and the outside; the left radial magnetic bearing 2 and the power amplifier 5 adopt an electrical connector, and the electrical connector is used for transmitting flow variable current and potential variable voltage between the communication components; the magnetic suspension rotating shaft 1 and the left radial magnetic suspension bearing 2 adopt one-dimensional translational connectors, and the one-dimensional translational connectors are used for transmitting flow variable force and potential variable displacement between the communication components; the magnetic suspension rotating shaft 1 and external rotating mechanical equipment adopt one-dimensional rotating connectors, and the one-dimensional rotating connectors are used for transmitting flow variable power and potential variable rotating speed between communication components; establishing a boundary model and providing external parameters for the component model; wherein the mechanical boundary delivers rotational speed and power and the electrical boundary delivers current and voltage.
Example 7
On the basis of embodiment 1, in step S5, the method includes the sub-steps of: and (4) building a magnetic suspension rotor system by using the developed assembly model and connector and adopting a dragging method, and injecting assembly parameters.
Example 8
On the basis of embodiment 1, after step S5, step S6 is included: and S6, according to the requirement of the dynamic analysis of the magnetic suspension rotor system, giving boundary working condition, and performing simulation analysis under the given working condition by using the steps S1-S5.
Example 9
A computer device comprising a processor and a memory, the memory having stored therein a computer program that, when loaded by the processor, carries out the method of any of embodiments 1 to 8.
Example 10
A computer-readable storage medium, in which a computer program is stored which is loaded by a processor and which performs the method according to any of embodiments 1-8.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The above-described embodiment is only one embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be easily made based on the application and principle of the present invention disclosed in the present application, and the present invention is not limited to the method described in the above-described embodiment of the present invention, so that the above-described embodiment is only preferred, and not restrictive.
Other embodiments than the above examples may be devised by those skilled in the art based on the foregoing disclosure, or by adapting and using knowledge or techniques of the relevant art, and features of various embodiments may be interchanged or substituted and such modifications and variations that may be made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the following claims.
Claims (10)
1. A magnetic suspension rotor system modeling simulation method is characterized by comprising the following steps:
s1, decomposing the magnetic suspension rotor system to obtain a corresponding model library framework and a corresponding component;
s2, analyzing the physical and model characteristics of the components under the model base architecture;
s3, constructing a corresponding basic model and a corresponding component model by adopting a modeling mode matched with the characteristics of the model and the component model;
s4, establishing a component model connector and a boundary model;
and S5, building a magnetic suspension rotor system model, and injecting system parameter values.
2. The modeling and simulation method for the magnetic suspension rotor system according to claim 1, wherein in step S1, when the magnetic suspension rotor system is decomposed, the system decomposition is performed only according to the physical boundary and the basic assumption of the model, and the typical components of the magnetic suspension rotor system are obtained without considering the mutual coupling between the components, and the whole magnetic suspension rotor system is a combination of the components according to a set rule;
according to the physical model of the component, the model behavior is naturally described without considering the calculation sequence, and the component has non-causal characteristics; meanwhile, the component model without consideration of interactive coupling has independence and does not depend on the external environment, and boundary conditions can be freely changed for different systems.
3. The modeling and simulation method of the magnetic suspension rotor system according to claim 1, wherein the magnetic suspension rotor system comprises a five-degree-of-freedom magnetic suspension rotor system, and the corresponding model library architecture and the basic components obtained by decomposing the five-degree-of-freedom magnetic suspension rotor system comprise: the device comprises a magnetic suspension rotating shaft (1), a left radial magnetic suspension bearing (2), an axial magnetic suspension bearing (3), a right radial magnetic suspension bearing (4), a power amplifier (5), a PID controller (6) and a displacement sensor (7), wherein the displacement sensor (7) collects displacement offset of the magnetic suspension rotating shaft (1) and transmits the displacement offset to the PID controller (6) in a communication way, the PID controller (6) transmits a control output result to the power amplifier (5) in a communication way according to target reference position data, and the power amplifier (5) transmits appropriate current and voltage values to the left radial magnetic suspension bearing (2), the axial magnetic suspension bearing (3) and the right radial magnetic suspension bearing (4) in a communication way; the model of the magnetic suspension rotating shaft (1) is realized by a rotor dynamics equation, and the models of the left radial magnetic suspension bearing (2), the axial magnetic suspension bearing (3) and the right radial magnetic suspension bearing (4) are realized by an electromagnetic mechanics equation.
4. The modeling and simulation method for a magnetic levitation rotor system as claimed in claim 1, comprising the sub-steps of, in step S2:
the left radial magnetic suspension bearing (2), the axial magnetic suspension bearing (3) and the right radial magnetic suspension bearing (4) control the magnitude of electromagnetic force by controlling the current value of the electromagnetic coil; the left radial magnetic bearing (2) controls X, Y electromagnetic force through X, Y direction current value, the right radial magnetic bearing (4) controls X, Y electromagnetic force through X, Y direction current value, and the axial magnetic bearing (3) controls Z direction electromagnetic force through controlling Z direction current value, so that stable running and control of the bearing and the rotor are realized;
the magnetic suspension rotating shaft (1) adopts a five-degree-of-freedom mathematical equation to describe a relation between acting force of the rotating shaft in X, Y and Z directions and a rotating inertia;
the displacement sensor (7) is used for detecting the offset of the magnetic suspension rotating shaft of the rotor system, the PID controller (6) adopts the PID control mode to carry out proper operation on the position deviation signal detected by the sensor, and drives the power amplifier (5) to rapidly and properly change the current through the operation result so as to lead the rotor to return to the reference position, thus leading the rotor to be positioned with high precision; the power amplifier (5) receives a control signal of the PID controller (6) and provides current required for generating electromagnetic force for electromagnetic coils of the left radial magnetic suspension bearing (2), the axial magnetic suspension bearing (3) and the right radial magnetic suspension bearing (4).
5. The magnetic levitation rotor system modeling and simulation method as recited in claim 1, comprising the sub-step in step S3 of:
and performing statement modeling on the magnetic suspension rotating shaft (1), the left radial magnetic suspension bearing (2), the right radial magnetic suspension bearing (4), the axial magnetic suspension bearing (3), the power amplifier (5), the PID controller (6) and the displacement sensor (7) of the component object by using Modelica language, and converting a physical model of the component into a mathematical model expressed by a mathematical equation and having non-causal characteristics.
6. The modeling and simulation method for a magnetic levitation rotor system as claimed in claim 1, comprising the sub-steps of, in step S4:
adopting a connector to define a communication interface between the component and the outside; the left radial magnetic bearing (2) and the power amplifier (5) adopt electrical connectors, and the electrical connectors are used for transmitting flow variable current and potential variable voltage between the communication components; the magnetic suspension rotating shaft (1) and the left radial magnetic suspension bearing (2) adopt one-dimensional translational connectors, and the one-dimensional translational connectors are used for transmitting flow variable force and potential variable displacement between the communication components; the magnetic suspension rotating shaft (1) and external rotating mechanical equipment adopt one-dimensional rotating connectors, and the one-dimensional rotating connectors are used for transmitting flow variable power and potential variable rotating speed between communication components;
establishing a boundary model and providing external parameters for the component model; where the mechanical boundaries convey rotational speed and power and the electrical boundaries convey current and voltage.
7. The modeling and simulation method for a magnetic levitation rotor system as claimed in claim 1, comprising the sub-steps of, in step S5:
and (3) building a magnetic suspension rotor system by using the developed assembly model and the connector and adopting a dragging method, and injecting assembly parameters.
8. The modeling simulation method for a magnetic levitation rotor system as claimed in claim 1, comprising step S6 after step S5:
and S6, according to the requirement of the dynamic analysis of the magnetic suspension rotor system, giving boundary working condition, and performing simulation analysis under the given working condition by using the steps S1-S5.
9. A computer device, characterized in that the computer device comprises a processor and a memory, in which a computer program is stored which, when loaded by the processor, performs the method according to any one of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored which is loaded by a processor and which performs the method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210242217.8A CN114611296B (en) | 2022-03-11 | 2022-03-11 | Modeling simulation method, equipment and medium for magnetic suspension rotor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210242217.8A CN114611296B (en) | 2022-03-11 | 2022-03-11 | Modeling simulation method, equipment and medium for magnetic suspension rotor system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114611296A true CN114611296A (en) | 2022-06-10 |
| CN114611296B CN114611296B (en) | 2024-04-12 |
Family
ID=81862647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210242217.8A Active CN114611296B (en) | 2022-03-11 | 2022-03-11 | Modeling simulation method, equipment and medium for magnetic suspension rotor system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114611296B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116882212A (en) * | 2023-09-07 | 2023-10-13 | 中汽数据(天津)有限公司 | Error reporting and tracing method, device and equipment of non-causal equation of whole vehicle part simulation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107341294A (en) * | 2017-06-15 | 2017-11-10 | 苏州同元软控信息技术有限公司 | Spacecraft Information System Modeling emulation mode based on Modelica language |
| CN108717264A (en) * | 2018-05-29 | 2018-10-30 | 重庆大学 | A method of the magnetic suspension system fuzzy controller that design is triggered based on event |
| CN108732938A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Dynamics and control of spacecraft model base construction method based on Modelica models |
| CN111125896A (en) * | 2019-12-13 | 2020-05-08 | 苏州同元软控信息技术有限公司 | Modelica-based immersed pump virtual prototype model library construction method and device |
| WO2022041298A1 (en) * | 2020-08-24 | 2022-03-03 | 北京航空航天大学宁波创新研究院 | Magnetic suspension rotor system, and extremely-small vibration control method and control apparatus therefor |
-
2022
- 2022-03-11 CN CN202210242217.8A patent/CN114611296B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108732938A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Dynamics and control of spacecraft model base construction method based on Modelica models |
| CN107341294A (en) * | 2017-06-15 | 2017-11-10 | 苏州同元软控信息技术有限公司 | Spacecraft Information System Modeling emulation mode based on Modelica language |
| CN108717264A (en) * | 2018-05-29 | 2018-10-30 | 重庆大学 | A method of the magnetic suspension system fuzzy controller that design is triggered based on event |
| CN111125896A (en) * | 2019-12-13 | 2020-05-08 | 苏州同元软控信息技术有限公司 | Modelica-based immersed pump virtual prototype model library construction method and device |
| WO2022041298A1 (en) * | 2020-08-24 | 2022-03-03 | 北京航空航天大学宁波创新研究院 | Magnetic suspension rotor system, and extremely-small vibration control method and control apparatus therefor |
Non-Patent Citations (2)
| Title |
|---|
| WU XIAO SHENG等: "Levitation stability analysis of micromachined gyroscope with electromagnetically levitated rotor", CHINESE JOURNAL OF SENSORS AND ACTUATORS, vol. 21, no. 01, 31 January 2008 (2008-01-31), pages 49 - 55 * |
| 张锦光等: "磁悬浮转子系统中柔性转子建模与联合仿真", 武汉理工大学学报(信息与管理工程版), vol. 32, no. 01, 15 February 2010 (2010-02-15), pages 44 - 47 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116882212A (en) * | 2023-09-07 | 2023-10-13 | 中汽数据(天津)有限公司 | Error reporting and tracing method, device and equipment of non-causal equation of whole vehicle part simulation |
| CN116882212B (en) * | 2023-09-07 | 2023-12-01 | 中汽数据(天津)有限公司 | Error reporting and tracing method, device and equipment of non-causal equation of whole vehicle part simulation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114611296B (en) | 2024-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Elmqvist et al. | Modelica: The new object-oriented modeling language | |
| Åström et al. | Evolution of continuous-time modeling and simulation. | |
| Anderson et al. | Web machine coordinated motion control via electronic line-shafting | |
| Ferretti et al. | Virtual prototyping of mechatronic systems | |
| Cary et al. | Cfd vision 2030 road map: Progress and perspectives | |
| Yongling et al. | Review on design method of electro-hydrostatic actuator | |
| Albers et al. | Integrated structural and controller optimization in dynamic mechatronic systems | |
| CN114611296B (en) | Modeling simulation method, equipment and medium for magnetic suspension rotor system | |
| Elmqvist et al. | Modelica-an international effort to design an object-oriented modeling language | |
| Sinaga et al. | An analysis of the effect of gravitational load on the energy consumption of industrial robots | |
| Wong et al. | Constrained identification of virtual CNC drives using a genetic algorithm | |
| Maré | Best practices for model-based and simulation-aided engineering of power transmission and motion control systems | |
| Fritzson et al. | Composite modelling in 3-D mechanics utilizing transmission line modelling (TLM) and functional mock-up interface (FMI) | |
| Braun et al. | Hopsan: an open-source tool for rapid modelling and simulation of fluid and mechatronic systems | |
| Seefried et al. | Multi-domain flight simulation with the DLR robotic motion simulator | |
| CN113779772A (en) | Physical-information mapping-based visual verification method and system for power control system | |
| Rahman et al. | Modelling and simulation of robotic systems using SYSML | |
| Hu et al. | Digital twin based computerized numerical control machine tool virtual prototype design | |
| Baldo et al. | Experimental Validation of Multi-fidelity Models for Prognostics of Electromechanical Actuators | |
| Röck et al. | Real-time capable Finite Element Models with closed-loop control: a method for Hardware-in-the-Loop simulation of flexible systems | |
| Jean-Charles | Best practices for model-based and simulation-aided engineering of power transmission and motion control systems | |
| Chen et al. | Backstepping control based on disturbance observer and equilibrium manifold linearization model for power-line inspection robots | |
| Martynenko et al. | Integrated software for numerical calculation of active magnetic bearings force characteristics with data accumulation for various parameters | |
| Rahimi et al. | Concurrent and Optimal Structure, Control and Implementation Design | |
| CN116540561B (en) | Digital twin modeling method of frequency converter device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |