CN114810824A - Three-degree-of-freedom permanent magnet suspension bearing and regulation and control method thereof - Google Patents
Three-degree-of-freedom permanent magnet suspension bearing and regulation and control method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
- F16C32/0485—Active magnetic bearings for rotary movement with active support of three degrees of freedom
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Abstract
The invention discloses a three-degree-of-freedom permanent magnetic suspension bearing and a regulation and control method thereof, wherein the permanent magnetic suspension bearing comprises: a bearing body; the inner wall of the bearing stator is provided with a first magnetic steel group; the outer wall of the bearing rotor is provided with a second magnetic steel group; a shaft is arranged in the bearing stator, or the end part of the bearing stator is connected with the shaft; the stator driving device is connected with the bearing stator and drives the bearing stator to move in a first moving direction, a second moving direction and a third moving direction, and external force counteracting the bearing rotor in the corresponding direction is generated between the first magnetic steel group and the second magnetic steel group. The permanent magnetic suspension bearing adopts an active three-degree-of-freedom control system, ensures that axial and radial stress and displacement are within allowable amount, and ensures that the system is in the best working condition. The advantages of the permanent magnetic bearing can be better utilized, and the aims of reducing noise, improving reliability and prolonging service life are achieved on the premise of meeting the use requirement.
Description
Technical Field
The invention belongs to the technical field of permanent magnet suspension bearings, and particularly relates to a three-degree-of-freedom permanent magnet suspension bearing and a regulating and controlling method thereof.
Background
Magnetic bearings exist in the prior art, and a Magnetic Bearing (Magnetic Bearing) suspends a Bearing rotor in the air by utilizing the Magnetic force action, so that no mechanical contact exists between the Bearing rotor and a Bearing stator. A magnetic suspension bearing is an active electromagnetic suspension bearing, which utilizes the current in an electromagnet coil to generate contactless controllable electromagnetic force to enable a bearing rotor to operate in a space stable suspension state. The conventional active electromagnetic suspension bearing system consists of a radial magnetic bearing, an axial magnetic bearing, a sensor, a bearing rotor, a controller and a driving device. The working principle is as follows: the position sensor is used for detecting a deviation signal of the bearing rotor shaft, the controller calculates and outputs a control signal after receiving the signal, the power amplifier is used for controlling the current of the coil, and the size of the electromagnetic force is adjusted, so that the bearing rotor is stably suspended at the working position.
The active magnetic suspension bearing can be applied to small-size equipment such as a fan and a fan which need high rotating speed at present. However, for large-scale equipment, because the driving device is an electromagnet, the driving device can be driven to work only by a large current, the bearing needs to consume a large amount of energy when running, and the active magnetic suspension bearing which continuously consumes energy during running does not meet the industrial development direction of green production and green manufacturing, so that the energy waste is serious.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom permanent magnetic suspension bearing and a regulation and control method thereof.
The technical scheme for solving the technical problems is as follows: a three-degree-of-freedom permanent magnetic suspension bearing and a regulation and control method thereof comprise the following steps: a bearing body composed of a bearing stator and a bearing rotor; the inner wall of the bearing stator is provided with a first magnetic steel group; a second magnetic steel group is arranged on the outer wall of the bearing rotor, and the position of the second magnetic steel group corresponds to that of the first magnetic steel group; a shaft is arranged in the bearing stator, or the end part of the bearing stator is connected with the shaft; the direction parallel to the axis is a first moving direction; the vertical direction is a second moving direction, and the direction perpendicular to the first moving direction and the second moving direction is a third moving direction; still include stator drive arrangement, stator drive arrangement connects the bearing stator, and stator drive arrangement drives the bearing stator and removes and make the external force that offsets the bearing rotor and receive in corresponding direction between first magnetic steel group and the second magnetic steel group at first moving direction, second moving direction and third moving direction.
The three-degree-of-freedom permanent magnet suspension bearing further comprises a first magnetic steel group and a second magnetic steel group, wherein the first magnetic steel group comprises a plurality of annular first magnetic steels, the second magnetic steel group comprises a plurality of annular second magnetic steels, the magnetizing directions of the first magnetic steels and the second magnetic steels are radial radiation magnetizing, or the first magnetic steel group comprises a plurality of annular spliced first magnetic steels, and the second magnetic steel group comprises a plurality of annular spliced second magnetic steels.
According to the three-degree-of-freedom permanent magnetic suspension bearing, the arrangement directions of the adjacent first magnetic steel magnetic poles are opposite; the arrangement directions of the adjacent second magnetic steel magnetic poles are opposite; the magnetic poles of the first magnetic steel and the second magnetic steel at the corresponding positions are arranged in opposite directions.
The three-degree-of-freedom permanent magnet suspension bearing is characterized in that the bearing stator is provided with an inner frame connected with the inner wall of the stator, the inner frame is provided with radial magnetic steel, and the bearing rotor is at least provided with ferromagnetic materials at the position corresponding to the radial magnetic steel; the bearing rotor comprises a rotor body and a sleeve which are connected, the sleeve is arranged between the inner wall of the bearing stator and the inner frame, and the inner wall of the bearing stator is provided with a first magnetic steel group; and a second magnetic steel group is arranged on the outer wall of the sleeve of the bearing rotor.
The three-degree-of-freedom permanent magnet suspension bearing further comprises a fixed base plate, wherein a first moving direction driving device, a second moving direction driving device and a third moving direction driving device are arranged on the fixed base plate.
The three-degree-of-freedom permanent magnetic suspension bearing is characterized in that an axial side face of the fixed base plate is provided with a mounting groove, and the mounting groove is provided with a guide groove along a first moving direction; the third moving direction driving device comprises a horizontal actuator and a first fixed guide block, the horizontal actuator is provided with a guide strip corresponding to the guide groove, the first fixed guide block is provided with a guide groove, and the guide groove of the first fixed guide block corresponds to the other guide strip of the horizontal actuator in position.
The three-degree-of-freedom permanent magnet suspension bearing further comprises a second moving direction driving device and a third moving direction driving device, wherein the second moving direction driving device comprises a first side fixing plate, a longitudinal supporting rod, a second side fixing plate and a longitudinal actuator, the first side fixing plate and the second side fixing plate are arranged on the fixed bottom plate through guide rods, and the bearing body is fixed between the first side fixing plate and the second side fixing plate; the outer wall of a bearing stator of the bearing body is connected with a longitudinal supporting rod, and the lower end of the longitudinal supporting rod is connected with a longitudinal actuator.
The three-degree-of-freedom permanent magnetic suspension bearing is characterized in that the other axial side surface of the fixed bottom plate is provided with a mounting groove, and the mounting groove is provided with a guide groove along a third moving direction; the first moving direction driving device comprises an axial actuator and a second fixed guide block, the axial actuator is provided with a guide strip corresponding to the guide groove, the second fixed guide block is provided with a guide groove, and the guide groove of the second fixed guide block corresponds to the other guide strip of the axial actuator in position.
The three-degree-of-freedom permanent magnet suspension bearing further comprises a longitudinal sensor, an axial sensor and a horizontal sensor, wherein the longitudinal sensor detects the longitudinal displacement or stress of a shaft system in which the bearing rotor is located, the axial sensor detects the axial displacement or stress of the shaft system in which the bearing rotor is located, and the horizontal sensor detects the horizontal displacement or stress of the shaft system in which the bearing rotor is located.
The invention also provides a regulation and control method of the three-degree-of-freedom permanent magnetic suspension bearing, which comprises a first moving direction regulation process, wherein the position of the fixed bottom plate in the first moving direction is regulated through a first moving direction driving device, so that the position of the bearing stator in the first moving direction is regulated; the second moving direction adjusting process is also included, namely the position of the bearing stator in the second moving direction is adjusted through a second moving direction driving device; and a third moving direction adjusting process, namely adjusting the position of the fixed bottom plate in the third moving direction through a third moving direction driving device so as to adjust the position of the bearing stator in the first moving direction.
The invention has the beneficial effects that:
the permanent magnetic suspension composite bearing has low axial and radial rigidity, axial float or radial unbalance loading can occur in the operation process under the condition of axial stress or radial vibration, and in order to maintain and ensure the stability of the overall stress and working condition of the working middle shaft, an active three-degree-of-freedom control system is adopted to ensure that the axial and radial stress and displacement are within the allowable amount and ensure that the system is in the optimal working condition. The advantages of the permanent magnetic bearing can be better utilized, and the aims of reducing noise, improving reliability and prolonging service life are achieved on the premise of meeting the use requirement.
Drawings
The above and/or other advantages of the invention will become more apparent and more readily appreciated from the following detailed description taken in conjunction with the accompanying drawings, which are given by way of illustration only and not by way of limitation, and in which:
fig. 1 is a schematic diagram of a three-degree-of-freedom permanent magnetic suspension bearing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-degree-of-freedom permanent magnetic suspension bearing according to an embodiment of the present invention;
fig. 3 is an exploded view of a three-degree-of-freedom permanent magnetic suspension bearing according to an embodiment of the present invention;
FIG. 4 is a left side schematic view of a three-degree-of-freedom permanent magnet suspension bearing according to an embodiment of the present invention;
FIG. 5 is a schematic sectional view taken along line A-A of FIG. 4;
FIG. 6 is a schematic view of the magnetic steel arrangement of the bearing stator and the bearing rotor according to the first embodiment of the present invention;
FIG. 7 is a schematic view of the magnetic steel arrangement of the bearing stator and the bearing rotor according to the second embodiment of the present invention;
FIG. 8 is a schematic view of a bearing rotor in a balanced position according to an embodiment of the present invention;
FIG. 9 is a schematic view of an embodiment of the present invention showing axial displacement of a bearing rotor;
FIG. 10 is a graph of axial displacement versus axial force for a bearing rotor in accordance with an embodiment of the present invention;
FIG. 11 is a schematic diagram of a control execution system according to an embodiment of the present invention;
fig. 12 is a schematic flow chart of a method for controlling a permanent magnet thrust suspension bearing according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
10. the bearing comprises a bearing body, 11, a bearing stator, 12, a first magnetic steel group, 13, a second magnetic steel group, 14, a bearing rotor, 15, an air gap, 16, radial magnetic steel, 17, a shaft, 18, a sleeve, 20, a fixed bottom plate, 21, a guide groove along a first moving direction, 22, a guide groove along a third moving direction, 30, a second moving direction driving device, 31, a first side fixed plate, 32, a longitudinal supporting rod, 33, a second side fixed plate, 35, a longitudinal sensor, 36, a longitudinal actuator, 40, a third moving direction driving device, 41, a first fixed guide block, 42, a horizontal actuator, 43, a horizontal sensor, 44, a guide bar, 50, a first moving direction driving device, 51, a second fixed guide block, 52, an axial actuator, 53 and an axial sensor.
Detailed Description
Hereinafter, embodiments of a three-degree-of-freedom permanent magnetic suspension bearing and a regulation method thereof according to the present invention will be described with reference to the accompanying drawings.
The examples described herein are specific embodiments of the present invention, are intended to be illustrative and exemplary in nature, and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein.
The drawings in the present specification are schematic views to assist in explaining the concept of the present invention, and schematically show the shapes of respective portions and their mutual relationships. It is noted that the drawings are not necessarily to the same scale so as to clearly illustrate the structures of the various elements of the embodiments of the invention. Like reference numerals are used to denote like parts.
Fig. 1 to 5 show a three-degree-of-freedom permanent magnetic suspension bearing according to an embodiment of the present invention, which includes: a bearing body 10 composed of a bearing stator 11 and a bearing rotor 14; the inner wall of the bearing stator 11 is provided with a first magnetic steel group 12; a second magnetic steel group 13 is arranged on the outer wall of the bearing rotor 14, and the position of the second magnetic steel group 13 corresponds to that of the first magnetic steel group 12; a shaft 17 is arranged in the bearing stator 11, or the end part of the bearing stator 11 is connected with the shaft 17; the direction parallel to the axis 17 is the first direction of movement; the vertical direction is a second moving direction, and the direction perpendicular to the first moving direction and the second moving direction is a third moving direction; the magnetic bearing device further comprises a stator driving device, the stator driving device is connected with the bearing stator 11, the stator driving device drives the bearing stator 11 to move in the first moving direction, the second moving direction and the third moving direction, and external force counteracting the bearing rotor 14 in the corresponding direction is generated between the first magnetic steel group 12 and the second magnetic steel group 13.
Because the axial and radial rigidity of the conventional permanent magnetic suspension composite bearing is low, the axial float or radial unbalance loading condition can occur in the operation process under the condition of axial stress or radial vibration, and in order to maintain and ensure the stability of the integral stress and working condition of the working middle shaft, an active adjusting control system is adopted to ensure that the axial and radial stress and displacement of the bearing rotor are within the allowable quantity and ensure that the bearing system is in the optimal working condition. The structure can better utilize the advantages of the permanent magnetic bearing, and achieves the aims of reducing noise, improving reliability and prolonging service life on the premise of meeting the use requirement.
In a preferred three-degree-of-freedom permanent magnetic suspension bearing embodiment, as shown in fig. 6, the first magnetic steel group 12 includes a plurality of annular first magnetic steels, the second magnetic steel group 13 includes a plurality of annular second magnetic steels, and the magnetizing directions of the first magnetic steels and the second magnetic steels are radial radiation magnetizing; an air gap 15 exists between the first magnetic steel and the second magnetic steel. Fig. 8 and 9 are combined to show an axial sectional view of the magnetic steel group, and the adjacent magnetic poles of the first magnetic steel are arranged in opposite directions; the arrangement directions of the adjacent second magnetic steel magnetic poles are opposite; the magnetic poles of the first magnetic steel and the second magnetic steel at the corresponding positions are arranged in opposite directions. There is mutual magnetic force effect corresponding to the first magnet steel of position and second magnet steel in second moving direction and third moving direction, for example when adjusting the bearing stator downwards, to the bearing rotor, the bearing stator provides the upwards magnetic attraction to the bearing rotor in second moving direction, and magnetic attraction is along with downwards adjusting and grow to this gravity that can offset the bearing rotor promotes the bearing performance. The magnetic force in the third moving direction acts on the same principle as in the second moving direction.
Referring to fig. 8, the axial positions of the bearing stator and the bearing rotor are initial positions, the magnetic force between the first magnetic steel and the second magnetic steel is balanced in the axial direction, and the axial acting force on the shaft is zero. As shown in fig. 9, when the bearing rotor is pushed by the axial force, the bearing rotor is displaced axially, the first magnetic steel generates a magnetic force on the second magnetic steel, the magnetic force is opposite to the direction of the axial displacement of the bearing rotor in the axial direction, and the larger the axial displacement, the larger the axial magnetic force is (refer to fig. 10). Therefore, when the bearing rotor is axially displaced and the axial sensor detects the axial movement of the bearing rotor, the control device controls the state of the axial actuator to drive the bearing stator to axially move, and an axial force for resetting the bearing rotor is generated between the first magnetic steel and the second magnetic steel. The permanent magnetic suspension bearing is applied to large-scale equipment such as ships and naval vessels, a mechanical bearing with large bearing capacity is not required to be arranged in the axial direction, and the problems of high cost and high friction noise existing in the arrangement of the mechanical bearing in the axial direction can be solved. In one embodiment, a marine vessel or vessel installation is provided, the permanent magnet suspension bearing of the above-described embodiment being mounted at a transmission location between the power take-off of the installation and the propeller shaft. The permanent magnetic suspension bearing is particularly suitable for an underwater submarine, and is used for reducing noise generated in the advancing process of the submarine and improving the stealth performance and the fighting capacity of the submarine.
In a preferred three-degree-of-freedom permanent magnet suspension bearing embodiment, as shown in fig. 7, the bearing stator 11 is provided with an inner frame connected to the inner wall of the stator, the inner frame is provided with radial magnetic steels 16, and the bearing rotor 14 is provided with ferromagnetic materials at least at positions corresponding to the radial magnetic steels 16; the bearing rotor 14 comprises a rotor body and a sleeve 18 which are connected, the sleeve 18 is arranged between the inner wall of the bearing stator 11 and an inner frame, and the inner wall of the bearing stator 11 is provided with a first magnetic steel group 12; and a second magnetic steel group 13 is arranged on the outer wall of the sleeve of the bearing rotor 14. In this embodiment, the first magnetic steel group 12 includes a plurality of annular first magnetic steels, the second magnetic steel group 13 includes a plurality of annular second magnetic steels, and the magnetizing directions of the first magnetic steels and the second magnetic steels are radial radiation magnetizing; an air gap 15 exists between the first magnetic steel and the second magnetic steel. The first magnetic steel group is arranged on the inner wall of the bearing stator, and the second magnetic steel group is arranged on the outer wall of the sleeve 18 and corresponds to the first magnetic steel. In the bearing, when the shaft receives an external force, the counteracting mode of the bearing to the axial force is the same as that of the first embodiment, when the bearing stator and the bearing rotor are at the initial positions, the magnetic force between the first magnetic steel and the second magnetic steel is balanced in the axial direction, and the axial acting force to the shaft is zero. When the bearing rotor is pushed by the axial force, the bearing rotor can generate axial displacement, the first magnetic steel generates magnetic acting force on the second magnetic steel, the direction of the magnetic acting force in the axial direction is opposite to the direction of the axial displacement of the bearing rotor, and the larger the axial displacement is, the larger the axial magnetic acting force is. The biggest characteristic of this embodiment is that increased inner tower and radial magnet steel to this further offsets the gravity of bearing rotor, is applicable to the great application occasion of axle self weight, because the effect that is difficult to with first magnet steel and second magnet steel at this moment under the space size restriction offsets the gravity of axle.
In a preferred three-degree-of-freedom permanent magnet suspension bearing embodiment, referring to fig. 1 to 5, the stator driving device includes a fixed base plate 20, and a first moving direction driving device 50, a second moving direction driving device 30, and a third moving direction driving device 40 are mounted on the fixed base plate 20.
In one embodiment, one axial side of the fixed base plate 20 is provided with a mounting groove, and the mounting groove is provided with a guide groove 21 along the first moving direction; the third moving direction driving device 40 includes a horizontal actuator 42 and a first fixed guide block 41, the horizontal actuator 42 is provided with a guide bar 44 corresponding to a guide groove, the first fixed guide block 41 is provided with a guide groove, and the guide groove of the first fixed guide block 41 corresponds to another guide bar 44 of the horizontal actuator 42. During assembly, the horizontal actuator 42 is first installed, then the horizontal actuator is limited in the installation groove by the first fixed guide block, and the horizontal actuator 42 freely moves in the first moving direction by the cooperation of the guide groove along the first moving direction, the guide groove arranged by the first fixed guide block and the guide strip. First fixed guide block had both realized the fixed action and had realized the guide effect, and two functions of collection have simplified structural design with integrative. The horizontal actuator can be selected from a hydraulic driving device or an electric driving device (such as a hydraulic cylinder and an electric push rod). The structure types of other mechanisms which can be limited or influenced when the mechanism is movably adjusted in a certain direction cannot be applied to the invention, and the aim of the invention cannot be achieved.
In a specific embodiment, the other axial side of the fixed base plate 20 is provided with a mounting groove, and the mounting groove is provided with a guide groove 22 along the third moving direction; the first moving direction driving device 50 includes an axial actuator 52 and a second fixed guide block 51, the axial actuator 52 is provided with a guide bar 44 corresponding to a guide groove, the second fixed guide block 51 is provided with a guide groove, and the guide groove of the second fixed guide block 51 corresponds to the other guide bar 44 of the axial actuator 52. When the assembly is carried out, the axial actuator is firstly installed, then the axial actuator is limited in the installation groove by the aid of the first fixed guide block, and the axial actuator can freely move in the third moving direction by the aid of the guide groove in the third moving direction, the guide groove formed by the second fixed guide block and the guide strip. The axial actuator can be selected from a hydraulic driving device or an electric driving device (such as a hydraulic cylinder and an electric push rod). The structure types of other mechanisms which can be limited or influenced when the mechanism is movably adjusted in a certain direction cannot be applied to the invention, and the aim of the invention cannot be achieved.
In one embodiment, the second moving direction driving device 30 includes a first side fixing plate 31, a longitudinal support rod 32, a second side fixing plate 33, and a longitudinal actuator 36, the first side fixing plate 31 and the second side fixing plate 33 are mounted on the fixing base plate 20 through a guide rod, and the bearing body 10 is fixed between the first side fixing plate 31 and the second side fixing plate 33; the outer wall of the bearing stator 11 of the bearing body 10 is connected with a longitudinal support bar 32, and the lower end of the longitudinal support bar 32 is connected with a longitudinal actuator 36. The longitudinal actuator can be selected from a hydraulic driving device or an electric driving device (such as a hydraulic cylinder and an electric push rod). Through setting up above-mentioned device wholly on PMKD, be convenient for solitary drive bearing stator in second moving direction, avoid carrying on the influence of first moving direction, third moving direction's regulation to second moving direction. The structure types of other mechanisms which can be limited or influenced when the mechanism is movably adjusted in a certain direction cannot be applied to the invention, and the aim of the invention cannot be achieved.
In order to realize the control of the three-degree-of-freedom permanent magnetic suspension bearing, the three-degree-of-freedom permanent magnetic suspension bearing control system further comprises a longitudinal sensor 35, an axial sensor 53 and a horizontal sensor 43, wherein the longitudinal sensor 35 detects the longitudinal displacement or stress of the longitudinal actuator 36, the axial sensor 53 detects the axial displacement or stress of the axial actuator 52, and the horizontal sensor 43 detects the horizontal displacement or stress of the horizontal actuator 42.
The invention also provides a regulation and control method of the three-degree-of-freedom permanent magnetic suspension bearing, which comprises a first moving direction regulation process, wherein the position of the fixed bottom plate 20 in the first moving direction is regulated through a first moving direction driving device 50, so that the position of the bearing stator 11 in the first moving direction is regulated; in the embodiment that a horizontal sensor (a sensor is a displacement sensor) detects the horizontal displacement of a shafting in which a bearing rotor is positioned, the method is realized by the following steps: step 1, acquiring horizontal displacement data of a shafting where a bearing rotor is located; step 2, comparing whether the horizontal displacement data is within a set displacement threshold range, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the horizontal position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the acquired horizontal displacement data value is smaller than the minimum value of the set displacement threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing. In the embodiment that a horizontal sensor (a sensor is a force sensor) detects the horizontal stress of a shafting where a bearing rotor is positioned, the method is realized by the following steps: step 1, acquiring horizontal force data of a shaft system in which a bearing rotor is positioned; step 2, comparing whether the horizontal force data is in a set horizontal force threshold range, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the horizontal position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the acquired horizontal force data value is smaller than the minimum value of the set horizontal force threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing.
A second moving direction adjusting process of adjusting the position of the bearing stator 11 in the second moving direction by the second moving direction driving means 30; in the embodiment that a longitudinal sensor (a sensor is a displacement sensor) detects the longitudinal displacement of a shafting in which a bearing rotor is positioned, the method is realized by the following steps: step 1, acquiring longitudinal displacement data of a shafting where a bearing rotor is located; step 2, comparing whether the longitudinal displacement data is within a set displacement threshold range, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the longitudinal position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the obtained longitudinal displacement data value is smaller than the minimum value of the set displacement threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing. In the embodiment that the longitudinal sensor (the sensor is a force sensor) detects the longitudinal stress of the shafting where the bearing rotor is located, the method is realized by the following steps: step 1, acquiring longitudinal force data of a shafting where a bearing rotor is located; step 2, comparing whether the longitudinal force data is in a set longitudinal force threshold range or not, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the longitudinal position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the acquired longitudinal force data value is smaller than the minimum value of the set longitudinal force threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing.
And a third moving direction adjusting process of adjusting the position of the fixed base plate 20 in the third moving direction by the third moving direction driving means 40, thereby adjusting the position of the bearing stator 11 in the first moving direction. Fig. 11 shows a control execution system according to an embodiment. In an embodiment where an axial sensor (the sensor is a displacement sensor) detects the axial displacement of a shafting in which a bearing rotor is located, with reference to fig. 12, the following method is used to implement: step 1, obtaining axial displacement data of a shaft system in which a bearing rotor is located; step 2, comparing whether the axial displacement data is within a set displacement threshold range, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the axial position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the obtained axial displacement data value is smaller than the minimum value of the set displacement threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing. In the embodiment that an axial sensor (the sensor is a force sensor) detects the axial stress of a shafting where a bearing rotor is positioned, the method is realized by the following steps: step 1, acquiring axial force data of a shaft system in which a bearing rotor is positioned; step 2, comparing whether the axial force data is in a set axial force threshold range or not, and generating an execution control signal according to a comparison result; step 3, the driving device adjusts the axial position of the bearing stator according to the execution control signal; step 4, repeating the steps 1-3 until the obtained axial force data value is smaller than the minimum value of the set axial force threshold range; the permanent magnet thrust suspension bearing is the three-degree-of-freedom permanent magnet suspension bearing.
The technical features disclosed above are not limited to the combinations with other features disclosed, and other combinations between the technical features can be performed by those skilled in the art according to the purpose of the invention, so as to achieve the purpose of the invention.
Claims (10)
1. A three-degree-of-freedom permanent magnetic suspension bearing is characterized by comprising: a bearing body (10) composed of a bearing stator (11) and a bearing rotor (14); a first magnetic steel group (12) is arranged on the inner wall of the bearing stator (11); a second magnetic steel group (13) is arranged on the outer wall of the bearing rotor (14), and the position of the second magnetic steel group (13) corresponds to that of the first magnetic steel group (12); a shaft (17) is arranged in the bearing stator (11), or the end part of the bearing stator (11) is connected with the shaft (17); the direction parallel to the axis (17) is a first direction of movement; the vertical direction is a second moving direction, and the direction perpendicular to the first moving direction and the second moving direction is a third moving direction; still include stator drive arrangement, stator drive arrangement connects bearing stator (11), and stator drive arrangement drive bearing stator (11) remove and make first magnet steel group (12) and second magnet steel group (13) between the external force that offset bearing rotor (14) received in corresponding direction at first moving direction, second moving direction and third moving direction.
2. The three-degree-of-freedom permanent magnet suspension bearing according to claim 1, wherein the first magnetic steel group (12) comprises a plurality of annular integrated first magnetic steels, the second magnetic steel group (13) comprises a plurality of annular integrated second magnetic steels, and magnetizing directions of the first magnetic steels and the second magnetic steels are radial radiation magnetizing; or the first magnetic steel group (12) comprises a plurality of annular spliced first magnetic steels, and the second magnetic steel group (13) comprises a plurality of annular spliced second magnetic steels.
3. The three-degree-of-freedom permanent magnetic suspension bearing of claim 2, wherein the adjacent first magnetic steel magnetic poles are arranged in opposite directions; the arrangement directions of the adjacent second magnetic steel magnetic poles are opposite; the magnetic poles of the first magnetic steel and the second magnetic steel at the corresponding positions are arranged in opposite directions.
4. The three-degree-of-freedom permanent magnet suspension bearing according to claim 1, wherein the bearing stator (11) is provided with an inner frame connected with the inner wall of the stator, the inner frame is provided with radial magnetic steel (16), and the bearing rotor (14) is provided with ferromagnetic material at least at the position corresponding to the radial magnetic steel (16); the bearing rotor (14) comprises a rotor body and a sleeve (18) which are connected, the sleeve (18) is arranged between the inner wall of the bearing stator (11) and the inner frame, and the inner wall of the bearing stator (11) is provided with a first magnetic steel group (12); and a second magnetic steel group (13) is arranged on the outer wall of the sleeve of the bearing rotor (14).
5. A three-degree-of-freedom permanent magnet suspension bearing according to any one of claims 1-4, characterized in that the stator driving means comprises a fixed base plate (20), and a first moving direction driving means (50), a second moving direction driving means (30) and a third moving direction driving means (40) are mounted on the fixed base plate (20).
6. The three-degree-of-freedom permanent magnet suspension bearing according to claim 5, wherein one axial side of the fixed base plate (20) is provided with a mounting groove, and the mounting groove is provided with a guide groove (21) along the first moving direction; the third moving direction driving device (40) comprises a horizontal actuator (42) and a first fixed guide block (41), wherein the horizontal actuator (42) is provided with a guide strip (44) corresponding to the guide groove, the first fixed guide block (41) is provided with a guide groove, and the guide groove of the first fixed guide block (41) corresponds to the other guide strip (44) of the horizontal actuator (42).
7. The three-degree-of-freedom permanent magnet suspension bearing according to claim 6, wherein the second moving direction driving device (30) comprises a first side fixing plate (31), a longitudinal support rod (32), a second side fixing plate (33) and a longitudinal actuator (36), the first side fixing plate (31) and the second side fixing plate (33) are mounted on the fixed base plate (20) through guide rods, and the bearing body (10) is fixed between the first side fixing plate (31) and the second side fixing plate (33); the outer wall of a bearing stator (11) of the bearing body (10) is connected with a longitudinal supporting rod (32), and the lower end of the longitudinal supporting rod (32) is connected with a longitudinal actuator (36).
8. The three-degree-of-freedom permanent magnet suspension bearing according to claim 7, wherein the other axial side surface of the fixed base plate (20) is provided with a mounting groove, and the mounting groove is provided with a guide groove (22) along the third moving direction; the first moving direction driving device (50) comprises an axial actuator (52) and a second fixed guide block (51), the axial actuator (52) is provided with a guide strip (44) corresponding to the guide groove, the second fixed guide block (51) is provided with a guide groove, and the guide groove of the second fixed guide block (51) corresponds to the other guide strip (44) of the axial actuator (52).
9. The three-degree-of-freedom permanent magnetic suspension bearing according to claim 8, further comprising a longitudinal sensor (35), an axial sensor (53) and a horizontal sensor (43), wherein the longitudinal sensor (35) detects longitudinal displacement or stress of a shaft system in which the bearing rotor is located, the axial sensor (53) detects axial displacement or stress of the shaft system in which the bearing rotor is located, and the horizontal sensor (43) detects horizontal displacement or stress of the shaft system in which the bearing rotor is located.
10. A method for regulating and controlling a three-degree-of-freedom permanent magnetic suspension bearing, which is characterized in that the three-degree-of-freedom permanent magnetic suspension bearing is the three-degree-of-freedom permanent magnetic suspension bearing of claim 9; the regulating and controlling method comprises a first moving direction regulating process, namely regulating the position of the fixed bottom plate (20) in the first moving direction through a first moving direction driving device (50) so as to regulate the position of the bearing stator (11) in the first moving direction; a second moving direction adjusting process of adjusting the position of the bearing stator (11) in the second moving direction by a second moving direction driving device (30); and a third moving direction adjusting process of adjusting the position of the fixed bottom plate (20) in the third moving direction through a third moving direction driving device (40), and further adjusting the position of the bearing stator (11) in the first moving direction.
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| CN202110122998.2A CN114810824B (en) | 2021-01-29 | 2021-01-29 | Three-degree-of-freedom permanent magnet suspension bearing and regulating and controlling method thereof |
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| CN202110122998.2A CN114810824B (en) | 2021-01-29 | 2021-01-29 | Three-degree-of-freedom permanent magnet suspension bearing and regulating and controlling method thereof |
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