CN114738386A - Magnetic suspension bearing control method and device, storage medium and bearing controller - Google Patents
Magnetic suspension bearing control method and device, storage medium and bearing controller Download PDFInfo
- Publication number
- CN114738386A CN114738386A CN202210460856.1A CN202210460856A CN114738386A CN 114738386 A CN114738386 A CN 114738386A CN 202210460856 A CN202210460856 A CN 202210460856A CN 114738386 A CN114738386 A CN 114738386A
- Authority
- CN
- China
- Prior art keywords
- bearing
- equipment
- working conditions
- magnetic suspension
- parameters corresponding
- 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
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention provides a magnetic suspension bearing control method, a magnetic suspension bearing control device, a storage medium and a bearing controller, wherein the method comprises the following steps: the magnetic suspension bearing control method comprises the following steps: after the equipment where the magnetic suspension bearing is located is started, obtaining bearing parameters corresponding to the current working condition of the equipment which are calibrated in advance; and controlling the operation of the magnetic suspension bearing according to the obtained bearing parameters corresponding to the current working condition of the equipment. The scheme provided by the invention can solve the problem that the parameters of the magnetic suspension compressor are not matched when the magnetic suspension compressor operates under different working conditions.
Description
Technical Field
The invention relates to the field of control, in particular to a magnetic suspension bearing control method and device, a storage medium and a bearing controller.
Background
The magnetic suspension bearing is characterized in that a rotor is suspended in the air by utilizing the action of magnetic force, so that no mechanical contact exists between the rotor and a stator. In a magnetic suspension bearing control system, a rotor is suspended in a bearing gap to rotate at a high speed, and the rotor is irreversibly damaged once the rotor is collided or dropped. It becomes particularly important to control the parameters of the bearing, which affects the response speed of the bearing system, of a magnetic suspension bearing system similar to the spring damping model, including the bearing support stiffness and the bearing support damping. In engineering, the method for adjusting the rigidity is generally used for adjusting the response time of a system and improving the precision of stable operation. However, the magnetic suspension compressor is not installed and works, and the parameters of the bearing are not adaptive under different working conditions.
Disclosure of Invention
The invention mainly aims to overcome the defects of the related art and provides a magnetic suspension bearing control method, a magnetic suspension bearing control device, a storage medium and an air conditioner so as to solve the problem that bearing parameters are not adaptive when a magnetic suspension compressor operates under different working conditions in the related art.
The invention provides a magnetic suspension bearing control method on one hand, which comprises the following steps: after the equipment where the magnetic suspension bearing is located is started, obtaining bearing parameters corresponding to the current working condition of the equipment which are calibrated in advance; and controlling the operation of the magnetic suspension bearing according to the obtained bearing parameters corresponding to the current working condition of the equipment.
Optionally, the method further comprises: after the equipment where the magnetic suspension bearing is located is started, detecting whether bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are stored; if the bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored, the calibration of the bearing parameters corresponding to the different working conditions of the equipment is carried out.
Optionally, the calibrating the bearing parameters corresponding to different working conditions of the apparatus includes: respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment; adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters; and obtaining the bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions.
Optionally, the apparatus comprises a magnetically levitated compressor; and/or, the bearing parameters comprise: the bearing supports stiffness.
In another aspect, the present invention provides a magnetic suspension bearing control apparatus, including: the acquiring unit is used for acquiring bearing parameters corresponding to the current working condition of the equipment calibrated in advance after the equipment where the magnetic suspension bearing is positioned is started; and the control unit is used for controlling the operation of the magnetic suspension bearing according to the bearing parameter corresponding to the current working condition of the equipment, which is acquired by the acquisition unit.
Optionally, the method further comprises: the detection unit is used for detecting whether bearing parameters corresponding to different working conditions of the equipment calibrated in advance are stored or not after the equipment where the magnetic suspension bearing is located is started; and the calibration unit is used for calibrating the bearing parameters corresponding to different working conditions of the equipment if the bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored.
Optionally, the calibrating unit is configured to calibrate the bearing parameters corresponding to different working conditions of the device, and includes: respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment; adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters; and obtaining bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions.
Optionally, the apparatus comprises a magnetically levitated compressor; and/or, the bearing parameters comprise: the bearing supports stiffness.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a bearing controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of any of the methods described above.
In a further aspect, the invention provides a bearing controller comprising a magnetic bearing control device as described in any one of the preceding claims.
According to the technical scheme of the invention, the bearing parameters corresponding to different working conditions of the equipment where the magnetic suspension bearing is located are calibrated in advance, the optimal bearing parameters are matched by identifying the working conditions of the equipment during subsequent startup, and the bearing parameters are set to be the most appropriate parameters in the current state after the current working conditions are identified, so that the problem that the parameters of the magnetic suspension compressor are not matched when the magnetic suspension compressor operates in different working conditions is avoided.
The method comprises the steps of calibrating each working condition when starting up for the first time, realizing rapid optimization in the calibration process by using a conjugate gradient algorithm to obtain the optimal bearing parameter under different working conditions, and storing the parameter and the working condition in an EEPROM after completing calibration, so that the problem that the parameters are not matched when the magnetic suspension compressor operates under different working conditions can be solved, and the bearing operation precision is improved; the problems of poor precision, large displacement and large power consumption of the magnetic suspension compressor under different working conditions are solved, and optimal parameters can be stored.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a magnetic suspension bearing control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one embodiment of the steps for performing calibration of bearing parameters corresponding to different operating conditions of the apparatus;
FIG. 3 is a control flow chart of an embodiment of a magnetic suspension bearing control method provided by the present invention;
fig. 4 is a block diagram of a magnetic suspension bearing control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a magnetic suspension bearing control method. The method may be used in a bearing controller.
Fig. 1 is a schematic method diagram of an embodiment of a magnetic suspension bearing control method provided by the invention.
As shown in fig. 1, according to an embodiment of the present invention, the magnetic suspension bearing control method at least includes step S110 and step S120.
And S110, after the equipment where the magnetic suspension bearing is positioned is started, obtaining bearing parameters corresponding to the current working condition of the equipment which are calibrated in advance.
And S120, controlling the magnetic suspension bearing to operate according to the obtained bearing parameters corresponding to the current working condition of the equipment.
The device may in particular be a device with magnetic bearings. Such as a magnetically levitated compressor or a magnetically levitated motor. Specifically, after the device where the magnetic suspension bearing is located is started, whether bearing parameters corresponding to different working conditions of the device calibrated in advance are stored is detected. And if bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are stored, obtaining the bearing parameters corresponding to the current working conditions of the equipment from the bearing parameters which are calibrated in advance. If bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored, calibrating the bearing parameters corresponding to the different working conditions of the equipment, and storing the calibrated bearing parameters corresponding to the different working conditions of the equipment. The calibrated bearing parameters may be stored in a storage unit of a bearing controller of the magnetic bearing, such as an EEPROM, or in a chip memory of the bearing controller.
For example, when the device is started for the first time, if the bearing parameters corresponding to different working conditions of the device are not calibrated, the bearing parameters corresponding to different working conditions of the device are calibrated, and the calibrated bearing parameters corresponding to different working conditions of the device are stored.
In a specific embodiment, calibrating the bearing parameters corresponding to different working conditions of the apparatus may specifically include: respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment; adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters; and obtaining the bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions. The bearing parameter is, for example, bearing support stiffness.
Specifically, the working condition that needs to be calibrated for the bearing parameter is determined, for example, all working conditions to which the device can operate may be determined as the working conditions that need to be calibrated for the bearing parameter. For example, when the device is a magnetic suspension compressor, all working conditions to which the magnetic suspension compressor can operate are determined as the working conditions requiring bearing parameter calibration. The working condition refers to the working state of the equipment under the condition directly related to the action of the equipment. When the device is a magnetic suspension compressor, the working condition may include at least one of a start-up working condition, a stop working condition, a nominal working condition, a high pressure difference working condition and a slap-stop working condition, for example. Nominal working conditions: it is convenient to select and design the unified performance parameters, such as cooling capacity, input power, performance parameters, etc. specified for the compressor. The nominal working condition is that the parameters of the equipment are limited to a certain degree so as to meet the requirements. The method comprises the steps of determining corresponding bearing parameter adjustment strategies according to working conditions needing to be calibrated, wherein the suction and exhaust temperature/pressure corresponding to each working condition of the magnetic suspension compressor are different, the impact force to the shaft is different corresponding to different pressure ratios, and different bearing parameters are needed for overcoming different impact forces. Each working condition has a corresponding parameter adjustment direction, for example, the main reason of poor precision in the frequency raising working condition is that rigid body modal points need to be crossed in the frequency raising process, resonance phenomenon often occurs when fixed parameters operate at the frequency corresponding to the modal points, so that bearing precision is poor, modal resonance frequency can be shifted to a small extent by adjusting the bearing support rigidity to a small extent, and the modal points and the frequency raising process are staggered. The shutdown working condition is opposite to the startup working condition, the support stiffness parameter is smaller when the high-frequency operation is performed, and the parameter needs to be increased in the shutdown process.
And adjusting the bearing parameters according to the corresponding bearing parameter adjustment strategies under each condition needing to be calibrated, and simultaneously recording the precision of each group of bearing parameters, namely the precision corresponding to each group of bearing parameters under the current calibration condition. The accuracy is in particular the distance between the current position of the bearing and the set reference position of the bearing. The reference position is the midpoint of the upper and lower limits or the left and right limits of the bearing.
And obtaining the bearing parameter corresponding to the optimal precision through a preset optimization algorithm, for example, performing parameter optimization by using a conjugate gradient algorithm. The conjugate gradient algorithm finds the gradient of the function, i.e. the direction in which the function changes most quickly, for example, the derivative related to displacement is solved for the bearing support stiffness, the maximum value of the derivative is found, i.e. the gradient direction, and the stiffness is adjusted along the direction, so that the fastest parameter optimization can be realized. The minimum value of the precision is the optimal precision, the parameter corresponding to the precision is the optimal parameter of the working condition, and the optimal parameter and the working condition corresponding to the optimal parameter are stored in a storage unit of a controller, such as an EEPROM.
After parameter calibration is completed, detecting the current working condition of the equipment in the subsequent operation process of the equipment, and acquiring corresponding bearing parameters according to the current working condition; and controlling the operation of the magnetic suspension bearing according to the bearing parameters corresponding to the current operation working condition. And determining the current working condition of the equipment according to the current operating parameters of the equipment, wherein the operating parameters corresponding to different working conditions of the equipment are different. For example, the air suction pressure and the exhaust pressure of the compressor of the magnetic suspension compressor under different working conditions are different, and the current working condition of the magnetic suspension compressor can be determined according to the air suction pressure and the exhaust pressure of the compressor. For example, the current working condition of the magnetic suspension compressor can be identified by detecting the suction pressure and the discharge pressure of the compressor through pressure sensors arranged at the suction port and the discharge port of the compressor.
Fig. 2 shows a schematic flow diagram of an embodiment of the steps for calibrating the bearing parameters corresponding to different operating conditions of the device. As shown in fig. 2, the current working condition type is detected by segmenting according to the working conditions, the bearing parameter adjustment scheme is decided according to the current working conditions, the bearing parameters are adjusted according to the determined bearing parameter adjustment scheme, the precision of each group of parameters is recorded at the same time, the optimal precision and the corresponding optimal parameters are found by the conjugate gradient method, and the optimal parameters and the corresponding frequency segments are stored in the EFPROM. Segmentation means that different frequency bands use different bearing parameters, and the basis of segmentation may specifically include theoretical simulation and actual measurement after production, for example, 0 to 30hz is set as the starting segment, and 60 to 100hz may have a case of sudden degradation of accuracy, that is, a mode segment is set at 60 to 100 hz.
For clearly illustrating the technical solution of the present invention, the following describes an implementation flow of the magnetic suspension bearing control method provided by the present invention with a specific embodiment.
Fig. 3 is a control flow chart of an embodiment of a magnetic suspension bearing control method provided by the present invention. As shown in fig. 3, when the system is powered on and started, whether the pre-calibrated bearing parameters corresponding to the current working condition of the device are stored is detected, if the pre-calibrated bearing parameters are stored, the motor is normally started to operate, the parameters are matched according to the current working condition in the operation process, if not, a parameter calibration link is executed, otherwise, the working condition parameter calibration is started. After the motor is started, the current working condition is detected, and corresponding bearing parameters (bearing support rigidity and bearing support damping) are selected according to the current working condition under the condition that the motor is not stopped.
The invention also provides a magnetic suspension bearing control device. The device can be used in a bearing controller.
Fig. 4 is a structural block diagram of an embodiment of a magnetic suspension bearing control device provided by the present invention. As shown in fig. 4, the magnetic suspension bearing control device 100 includes: an acquisition unit 110 and a control unit 120.
The obtaining unit 110 is configured to obtain bearing parameters corresponding to a current working condition of the device, which are calibrated in advance, after the device where the magnetic suspension bearing is located is started; the control unit 120 is configured to control the operation of the magnetic suspension bearing according to the obtained bearing parameter corresponding to the current operating condition of the device.
Optionally, the magnetic suspension bearing control device 100 further comprises a detection unit and a calibration unit (not shown). The detection unit is used for detecting whether bearing parameters corresponding to different working conditions of the equipment calibrated in advance are stored or not after the equipment where the magnetic suspension bearing is located is started; and the calibration unit is used for calibrating the bearing parameters corresponding to different working conditions of the equipment if the bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored.
The device may particularly be a device with a magnetic bearing. Such as a magnetically levitated compressor or a magnetically levitated motor. Specifically, the detection unit detects whether bearing parameters corresponding to different working conditions of the equipment calibrated in advance are stored after the equipment where the magnetic suspension bearing is located is started. And if bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are stored, obtaining the bearing parameters corresponding to the current working conditions of the equipment from the bearing parameters which are calibrated in advance. If bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored, the calibration unit calibrates the bearing parameters corresponding to the different working conditions of the equipment and stores the calibrated bearing parameters corresponding to the different working conditions of the equipment. For example, when the device is started for the first time, if the bearing parameters corresponding to different working conditions of the device are not calibrated, the bearing parameters corresponding to different working conditions of the device are calibrated, and the calibrated bearing parameters corresponding to different working conditions of the device are stored. The calibrated bearing parameters may be stored in a storage unit of a bearing controller of the magnetic bearing, such as an EEPROM, or in a chip memory of the bearing controller.
For example, when the device is started for the first time, if the bearing parameters corresponding to different working conditions of the device are not calibrated, the bearing parameters corresponding to different working conditions of the device are calibrated, and the calibrated bearing parameters corresponding to different working conditions of the device are stored.
In a specific embodiment, the calibrating unit calibrates the bearing parameters corresponding to different working conditions of the device, specifically including: respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment; adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters; and obtaining the bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions. The bearing parameter is, for example, bearing support stiffness.
Specifically, the working condition that needs to be calibrated for the bearing parameter is determined, for example, all working conditions to which the device can operate may be determined as the working conditions that need to be calibrated for the bearing parameter. For example, when the device is a magnetic suspension compressor, all working conditions to which the magnetic suspension compressor can operate are determined as the working conditions requiring bearing parameter calibration. The working condition refers to the working state of the equipment under the condition directly related to the action of the equipment. When the device is a magnetic suspension compressor, the working condition may include at least one of a start-up working condition, a stop working condition, a nominal working condition, a high pressure difference working condition and a slap-stop working condition, for example. Nominal working conditions: refers to the unified performance parameters such as cooling capacity, input power, performance parameters, etc. specified for the compressor for convenience of selection and design. The nominal working condition is that the parameters of the equipment are limited to a certain degree so as to meet the requirements. The method comprises the steps of determining corresponding bearing parameter adjustment strategies according to working conditions needing to be calibrated, wherein the suction and exhaust temperature/pressure corresponding to each working condition of the magnetic suspension compressor are different, the impact force to the shaft is different corresponding to different pressure ratios, and different bearing parameters are needed for overcoming different impact forces. Each working condition has a corresponding parameter adjustment direction, for example, the main reason of poor precision in the frequency raising working condition is that rigid body modal points need to be crossed in the frequency raising process, resonance phenomenon often occurs when fixed parameters operate at the frequency corresponding to the modal points, so that bearing precision is poor, modal resonance frequency can be shifted to a small extent by adjusting the bearing support rigidity to a small extent, and the modal points and the frequency raising process are staggered. The shutdown working condition is opposite to the startup working condition, the support stiffness parameter is smaller when the high-frequency operation is performed, and the parameter needs to be increased in the shutdown process.
And adjusting the bearing parameters according to the corresponding bearing parameter adjustment strategies under each condition needing to be calibrated, and simultaneously recording the precision of each group of bearing parameters, namely the precision corresponding to each group of bearing parameters under the current calibration condition. The accuracy is in particular the distance between the current position of the bearing and the set reference position of the bearing. The reference position is the midpoint of the upper and lower limits or the left and right limits of the bearing.
And obtaining the bearing parameter corresponding to the optimal precision through a preset optimization algorithm, for example, performing parameter optimization by using a conjugate gradient algorithm. The conjugate gradient algorithm finds the gradient of the function, i.e. the direction in which the function changes most quickly, for example, the derivative related to displacement is solved for the bearing support stiffness, the maximum value of the derivative is found, i.e. the gradient direction, and the stiffness is adjusted along the direction, so that the fastest parameter optimization can be realized. The minimum value of the precision is the optimal precision, the parameter corresponding to the precision is the optimal parameter of the working condition, and the optimal parameter and the working condition corresponding to the optimal parameter are stored in a storage unit of a controller, such as an EEPROM.
After the parameter calibration is completed, in the subsequent operation process, the current operation condition is detected, and the obtaining unit 110 obtains the corresponding bearing parameter according to the current operation condition. The control unit 120 controls the operation of the magnetic suspension bearing according to the bearing parameters corresponding to the current working condition of the equipment. And determining the current working condition of the equipment according to the current operating parameters of the equipment, wherein the operating parameters corresponding to different working conditions of the equipment are different. For example, the suction pressure of the compressor and the discharge pressure of the compressor under different working conditions of the magnetic levitation compressor are different, and the current working condition of the magnetic levitation compressor can be determined according to the suction pressure of the compressor and the discharge pressure of the compressor. For example, the current working condition of the magnetic suspension compressor can be identified by detecting the suction pressure and the discharge pressure of the compressor through pressure sensors arranged at the suction port and the discharge port of the compressor.
Fig. 2 shows a schematic flow chart of an embodiment of the calibration unit for calibrating the bearing parameters corresponding to different operating conditions of the apparatus. As shown in fig. 2, the current working condition type is detected by segmenting according to the working conditions, the bearing parameter adjustment scheme is decided according to the current working conditions, the bearing parameters are adjusted according to the determined bearing parameter adjustment scheme, the precision of each group of parameters is recorded at the same time, the optimal precision and the corresponding optimal parameters are found by the conjugate gradient method, and the optimal parameters and the corresponding frequency segments are stored in the EFPROM. Segmentation means that different frequency bands use different bearing parameters, and the basis of segmentation may specifically include theoretical simulation and/or actual measurement after production, for example, 0 to 30hz is set as the starting segment, and 60 to 100hz may have a case of sudden degradation of accuracy, that is, a modal segment is set at 60 to 100 hz.
The invention also provides a storage medium corresponding to the magnetic bearing control method, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of any of the methods described above.
The invention also provides a bearing controller corresponding to the magnetic bearing control method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods.
The invention also provides a bearing controller corresponding to the magnetic suspension bearing control device, which comprises any one of the magnetic suspension bearing control devices.
Therefore, according to the scheme provided by the invention, the bearing parameters corresponding to the equipment where the magnetic suspension bearing is located under different working conditions are calibrated in advance, the optimal bearing parameters are matched by identifying the working conditions of the equipment during subsequent startup, and the bearing parameters are set to be the most appropriate parameters in the current state after the current working conditions are identified, so that the problem that the parameters are not matched when the magnetic suspension compressor operates under different working conditions is avoided.
The method comprises the steps of calibrating each working condition when starting up for the first time, realizing rapid optimization in the calibration process by using a conjugate gradient algorithm to obtain the optimal bearing parameter under different working conditions, and storing the parameter and the working condition in an EEPROM after completing calibration, so that the problem that the parameters are not matched when the magnetic suspension compressor operates under different working conditions can be solved, and the bearing operation precision is improved; the problems of poor precision, large displacement and large power consumption of the magnetic suspension compressor under different working conditions are solved, and optimal parameters can be stored.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A magnetic suspension bearing control method is characterized by comprising the following steps:
after the equipment where the magnetic suspension bearing is located is started, obtaining bearing parameters corresponding to the current working condition of the equipment which are calibrated in advance;
and controlling the operation of the magnetic suspension bearing according to the obtained bearing parameters corresponding to the current working condition of the equipment.
2. The control method according to claim 1, characterized by further comprising:
after the equipment where the magnetic suspension bearing is located is started, detecting whether bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are stored;
if the bearing parameters corresponding to different working conditions of the equipment which are calibrated in advance are not stored, the calibration of the bearing parameters corresponding to the different working conditions of the equipment is carried out.
3. The control method according to claim 2, wherein the calibrating of the bearing parameters corresponding to different operating conditions of the equipment comprises:
respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment;
adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters;
and obtaining the bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions.
4. A control method according to any one of claims 1-3, characterized in that the apparatus comprises a magnetically levitated compressor; and/or, the bearing parameters include: the bearing supports stiffness.
5. A magnetic bearing control apparatus, comprising:
the acquiring unit is used for acquiring bearing parameters corresponding to the current working condition of the equipment calibrated in advance after the equipment where the magnetic suspension bearing is located is started;
and the control unit is used for controlling the operation of the magnetic suspension bearing according to the bearing parameter corresponding to the current working condition of the equipment acquired by the acquisition unit.
6. The control device according to claim 5, characterized by further comprising:
the detection unit is used for detecting whether bearing parameters corresponding to different working conditions of the equipment calibrated in advance are stored or not after the equipment where the magnetic suspension bearing is located is started;
and the calibration unit is used for calibrating the bearing parameters corresponding to the different working conditions of the equipment if the bearing parameters corresponding to the different working conditions of the equipment which are calibrated in advance are not stored.
7. The control device according to claim 6, wherein the calibration unit performs calibration of the bearing parameters corresponding to different operating conditions of the apparatus, and comprises:
respectively determining corresponding bearing parameter adjustment strategies according to different working conditions of the equipment;
adjusting the bearing parameters under different working conditions according to corresponding bearing parameter adjustment strategies respectively, and recording the precision of different bearing parameters;
and obtaining bearing parameters corresponding to the optimal precision through a preset optimization algorithm to serve as the bearing parameters corresponding to the corresponding working conditions.
8. A control arrangement according to any of claims 5-7, characterized in that the device comprises a magnetically levitated compressor; and/or, the bearing parameters comprise: the bearing supports stiffness.
9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. A bearing controller comprising a processor, a memory, and a computer program stored on the memory and operable on the processor, the processor implementing the steps of the method of any one of claims 1 to 4 when executing the program or comprising the control apparatus of any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210460856.1A CN114738386B (en) | 2022-04-28 | 2022-04-28 | Magnetic suspension bearing control method and device, storage medium and bearing controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210460856.1A CN114738386B (en) | 2022-04-28 | 2022-04-28 | Magnetic suspension bearing control method and device, storage medium and bearing controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114738386A true CN114738386A (en) | 2022-07-12 |
| CN114738386B CN114738386B (en) | 2023-08-01 |
Family
ID=82283641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210460856.1A Active CN114738386B (en) | 2022-04-28 | 2022-04-28 | Magnetic suspension bearing control method and device, storage medium and bearing controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114738386B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09189327A (en) * | 1996-01-10 | 1997-07-22 | Koyo Seiko Co Ltd | Magnetic bearing device and starting method thereof |
| US6606536B1 (en) * | 1999-02-25 | 2003-08-12 | Seiko Instruments Inc. | Magnetic bearing device and magnetic bearing control device |
| CN102032208A (en) * | 2010-12-31 | 2011-04-27 | 清华大学 | Self-adaptive control system and method of magnetic suspension molecular pump |
| JP2012251486A (en) * | 2011-06-03 | 2012-12-20 | Shimadzu Corp | Magnetic levitation vacuum pump, whirling estimation method, rotor balance inspection method, and method for adjusting magnetic bearing control gain |
| WO2016188461A1 (en) * | 2015-05-27 | 2016-12-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic bearing control method and control device |
| CN108984815A (en) * | 2018-04-20 | 2018-12-11 | 江苏大学 | The control method of vehicle-mounted flying wheel battery radial suspension supporting system based on operating condition |
| CN110345158A (en) * | 2019-07-22 | 2019-10-18 | 珠海格力电器股份有限公司 | Bearing control method, apparatus, storage medium and processor |
| CN110939654A (en) * | 2019-10-25 | 2020-03-31 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control method and device, storage medium and magnetic suspension system |
| CN111654209A (en) * | 2020-05-28 | 2020-09-11 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control parameter adjusting method and device, storage medium and controller |
| CN111706608A (en) * | 2020-04-30 | 2020-09-25 | 北京恩优科技有限公司 | Man-machine interaction method for magnetic suspension bearing |
| CN113864974A (en) * | 2021-09-27 | 2021-12-31 | 珠海格力电器股份有限公司 | Air conditioning unit, control method and device thereof, storage medium and processor |
| CN114002963A (en) * | 2021-10-29 | 2022-02-01 | 南京工程学院 | Multi-working-condition suspension support system dynamic modeling method |
| CN114233751A (en) * | 2021-12-21 | 2022-03-25 | 珠海格力电器股份有限公司 | Control method and device of magnetic suspension bearing, magnetic suspension system and storage medium |
-
2022
- 2022-04-28 CN CN202210460856.1A patent/CN114738386B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09189327A (en) * | 1996-01-10 | 1997-07-22 | Koyo Seiko Co Ltd | Magnetic bearing device and starting method thereof |
| US6606536B1 (en) * | 1999-02-25 | 2003-08-12 | Seiko Instruments Inc. | Magnetic bearing device and magnetic bearing control device |
| CN102032208A (en) * | 2010-12-31 | 2011-04-27 | 清华大学 | Self-adaptive control system and method of magnetic suspension molecular pump |
| JP2012251486A (en) * | 2011-06-03 | 2012-12-20 | Shimadzu Corp | Magnetic levitation vacuum pump, whirling estimation method, rotor balance inspection method, and method for adjusting magnetic bearing control gain |
| WO2016188461A1 (en) * | 2015-05-27 | 2016-12-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic bearing control method and control device |
| CN108984815A (en) * | 2018-04-20 | 2018-12-11 | 江苏大学 | The control method of vehicle-mounted flying wheel battery radial suspension supporting system based on operating condition |
| CN110345158A (en) * | 2019-07-22 | 2019-10-18 | 珠海格力电器股份有限公司 | Bearing control method, apparatus, storage medium and processor |
| CN110939654A (en) * | 2019-10-25 | 2020-03-31 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control method and device, storage medium and magnetic suspension system |
| CN111706608A (en) * | 2020-04-30 | 2020-09-25 | 北京恩优科技有限公司 | Man-machine interaction method for magnetic suspension bearing |
| CN111654209A (en) * | 2020-05-28 | 2020-09-11 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control parameter adjusting method and device, storage medium and controller |
| CN113864974A (en) * | 2021-09-27 | 2021-12-31 | 珠海格力电器股份有限公司 | Air conditioning unit, control method and device thereof, storage medium and processor |
| CN114002963A (en) * | 2021-10-29 | 2022-02-01 | 南京工程学院 | Multi-working-condition suspension support system dynamic modeling method |
| CN114233751A (en) * | 2021-12-21 | 2022-03-25 | 珠海格力电器股份有限公司 | Control method and device of magnetic suspension bearing, magnetic suspension system and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 李波等: "超高速数控磨床磁浮电主轴的研究", 《精密制造与自动化》 * |
| 李波等: "超高速数控磨床磁浮电主轴的研究", 《精密制造与自动化》, no. 04, 25 November 2006 (2006-11-25) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114738386B (en) | 2023-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107490129B (en) | Equipment control method and device | |
| CN108253603B (en) | Air conditioner control method, device and system and air conditioner | |
| JP5082751B2 (en) | COOLING DEVICE, COOLING DEVICE CONTROL METHOD, AND SERVER | |
| CN111654209B (en) | Magnetic suspension bearing control parameter adjusting method and device, storage medium and controller | |
| CN111426041B (en) | Method and system for quickly stabilizing frequency of variable frequency air conditioner compressor and air conditioner device | |
| CN110939654B (en) | Magnetic suspension bearing control method and device, storage medium and magnetic suspension system | |
| CN114857072B (en) | Control method and device of compressor, storage medium and controller | |
| CN111998496B (en) | Air conditioner control method and device, storage medium and air conditioner | |
| CN105322833A (en) | Air conditioner, start control method and start control apparatus for direct current motor | |
| CN114738386A (en) | Magnetic suspension bearing control method and device, storage medium and bearing controller | |
| CN102032208A (en) | Self-adaptive control system and method of magnetic suspension molecular pump | |
| CN112943592B (en) | Magnetic suspension compressor and control method and device thereof | |
| CN115145761A (en) | Chip frequency control method and device, block chain server and storage medium | |
| WO2016076985A1 (en) | Method to detect vibration nodes between a sensor and an actuator in a rotatable component | |
| CN112594884B (en) | Air conditioning unit and condenser fan control method and device thereof and storage medium | |
| CN117271272A (en) | BMC-based fan in-place state monitoring method and system | |
| CN113217540B (en) | Magnetic bearing axial suspension position self-correction system and method | |
| CN111102677B (en) | Control method and control system for load balance of double compressors and air conditioner | |
| CN112211909B (en) | Current control method, device and system for magnetic bearing | |
| CN110006139B (en) | Control method for air-cooled magnetic suspension unit | |
| CN108954699B (en) | Air conditioner operation frequency adjusting method and air conditioner system | |
| EP3949110B1 (en) | Method for operating an electric machine using a dynamic capacity curve and wind turbine | |
| CN113864971B (en) | Adjusting method, device and equipment of air conditioning system and air conditioning system | |
| CN117091266A (en) | Air conditioner control method and device, storage medium and air conditioner | |
| CN116928217A (en) | Rotor floating control method and device, storage medium and magnetic suspension bearing system |
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 |