CN114909407B - Magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of displacement controller - Google Patents
Magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of displacement controller 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
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
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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
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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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
- F16C32/0489—Active magnetic bearings for rotary movement with active support of five degrees of freedom, e.g. two radial magnetic bearings combined with an axial bearing
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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
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/04—Bearings
- G01M13/045—Acoustic or vibration analysis
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/187—Machine fault alarms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with 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
- F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
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Abstract
The invention is suitable for the technical field of motor instability prediction, and provides a magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of a displacement controller, which comprises the following steps: storing the amplitude-phase-frequency characteristics of a displacement controller with five degrees of freedom of a magnetic suspension bearing system; sampling and storing displacement signals of five degrees of freedom and control currents in five bearing coils; performing FFT analysis on the displacement signals with five degrees of freedom and the control current, and extracting to obtain vibration frequency and corresponding amplitude; extracting the frequency of the amplitude in the control current, and extracting the amplitude by combining the FFT calculation analysis result; substituting the extracted frequency and amplitude into the amplitude-phase-frequency characteristic of the displacement controller for operation to obtain the amplitude and phase output by the displacement controller; and (4) carrying out threshold judgment on the amplitude and the phase output by the displacement controller, and giving an alarm signal. The invention gives out an alarm signal before the magnetic suspension bearing is unstable, thereby avoiding the damage of the motor caused by the possible subsequent instability.
Description
Technical Field
The invention relates to the technical field of motor instability prediction, in particular to a magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of a displacement controller.
Background
The active magnetic suspension bearing system suspends the rotor in the middle of the stator magnetic poles through controllable electromagnetic force, so that the active magnetic suspension bearing system has the advantages of no friction, no lubrication, no pollution, high speed, long service life and the like. At present, the active magnetic suspension bearing is taken as an advanced mechatronic product and has a certain application in the industrial field, such as a gyroscope, a high-speed motor, a bearingless motor, an aircraft engine, an artificial heart pump, a distributed power generation system and the like.
In the magnetic suspension bearing system, in order to improve the reliability of the whole system, a set of protection bearing is also needed to be used as temporary support of a rotor after the magnetic suspension bearing fails, and the magnetic suspension bearing stator and the motor stator are protected from being damaged. The protection bearing generally selects a mechanical bearing, the working rotating speed of a rotor in a magnetic suspension bearing system is more than tens of thousands of revolutions per minute, if the rotor rotates at a high speed under the support of the magnetic suspension bearing, once the rotor is subjected to conditions of sudden strong impact, short-time overload or power loss and the like, the rotor collides with the protection bearing, the protection bearing is subjected to huge impact, and the rotor enters a nonlinear motion state due to larger impact force, so that the rotor and the protection bearing are seriously abraded. Therefore, it is needed to provide a method for pre-diagnosing instability of a magnetic levitation motor based on amplitude-phase-frequency characteristics of a displacement controller, aiming at solving the above problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of a displacement controller, so as to solve the problems in the background technology.
The invention is realized in this way, a magnetic suspension motor instability pre-diagnosis method based on the amplitude-phase-frequency characteristic of a displacement controller, the method comprises the following steps:
storing the amplitude-phase-frequency characteristics of a displacement controller with five degrees of freedom of a magnetic suspension bearing system;
when the magnetic suspension motor works normally, ten arrays with the length of 500 are established in a control algorithm and used for sampling and storing displacement signals with five degrees of freedom and control currents in five bearing coils;
when the group storage is finished, FFT analysis is respectively carried out on the displacement signals with five degrees of freedom and the control current, and the vibration frequency and the corresponding amplitude are extracted;
extracting the frequency of the amplitude in the control current, and extracting the corresponding amplitude by combining the FFT calculation analysis results of the five displacement freedom degree signals;
substituting the extracted frequency and amplitude into the amplitude-phase-frequency characteristic of the displacement controller for operation to obtain the amplitude and phase output by the displacement controller;
and (3) judging a threshold value of the amplitude and the phase output by the displacement controller, if the amplitude and the frequency exceed the frequency and the amplitude which can be responded by the magnetic suspension bearing, early warning once, continuously judging the preset times, and if the output amplitude is not attenuated, giving an alarm signal.
As a further scheme of the invention: when the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system are stored, the amplitude-phase-frequency characteristics of the displacement controller are stored into an external FLASH storage chip of the displacement controller in an array form, and each time the magnetic suspension bearing system is started, the main control chip reads the amplitude-phase-frequency characteristic array from the external FLASH storage chip for instability pre-diagnosis.
As a further scheme of the invention: the preset times is 50 times, namely threshold judgment is continuously carried out on the amplitude and the phase output by the displacement controller for 50 times, and an alarm signal is given if the output amplitude is not attenuated.
As a further scheme of the invention: the amplitude-phase characteristic is stored according to a transfer function in the magnetic bearing system.
As a further scheme of the invention: the amplitude-phase-frequency characteristic of the displacement controller with one degree of freedom needs to establish three arrays which are respectively used for storing frequency, amplitude and phase, and used for subsequent instability pre-judgment, only 0-1500Hz amplitude-phase-frequency characteristics are stored, and one amplitude-phase-frequency characteristic is stored at an interval of 2 Hz.
As a further scheme of the invention: the method also comprises the steps of detecting the fault of the shaft collision protection bearing, and controlling a motor in the magnetic suspension system to stop rotating when the fault of the shaft collision protection bearing is judged to exist.
As a further scheme of the invention: the preorder steps for detecting the faults of the shaft collision protection bearing are as follows: the method for detecting the offset of the shaft in the magnetic suspension system from the center position comprises the following specific steps:
detecting a first offset amount of the shaft from the center position in the X direction and a second offset amount of the shaft from the center position in the Y direction every preset time value;
and calculating the offset of the shaft from the central position according to the first offset of the shaft from the central position in the X direction and the second offset of the shaft from the central position in the Y direction, and judging whether the fault of the shaft collision protection bearing exists or not according to the calculation result.
As a further scheme of the invention: the step of judging whether the fault of the shaft collision protection bearing exists according to the calculation result specifically comprises the following steps:
judging whether the offset of the shaft from the center position is greater than a preset threshold value, specifically, judging whether the offset of the shaft from the center position is greater than the preset threshold value every preset time value;
and when judging that the offset of the shaft from the center position is larger than the preset threshold, determining that the fault of the shaft collision protection bearing exists.
Another object of the present invention is to provide a magnetic levitation motor instability pre-diagnosis system based on amplitude-phase-frequency characteristics of a displacement controller, the system comprising:
the amplitude-phase-frequency characteristic storage module is used for storing the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system;
the signal sampling storage module is used for establishing ten arrays with the length of 500 in a control algorithm when the magnetic suspension motor works normally and is used for sampling and storing displacement signals with five degrees of freedom and control currents in five bearing coils;
the FFT analysis module is used for respectively carrying out FFT analysis on the displacement signals with five degrees of freedom and the control current when the group storage is finished, and extracting vibration frequency and corresponding amplitude;
the amplitude extraction module is used for extracting the frequency of the amplitude in the control current and extracting the corresponding amplitude by combining the FFT calculation analysis results of the five displacement freedom degree signals;
the amplitude phase determining module is used for substituting the extracted frequency and amplitude into the amplitude phase frequency characteristic of the displacement controller for operation to obtain the amplitude and the phase output by the displacement controller; and the alarm module is used for judging the threshold value of the amplitude and the phase output by the displacement controller, giving an early warning once if the amplitude and the frequency exceed the frequency and the amplitude which can be responded by the magnetic suspension bearing, continuously judging the preset times, and giving an alarm signal if the output amplitude is not attenuated.
As a further scheme of the invention: the system also comprises a shaft collision protection bearing fault detection module, wherein the shaft collision protection bearing fault detection module is used for detecting the fault of the shaft collision protection bearing, and when the fault of the shaft collision protection bearing is judged to exist, a motor in the magnetic suspension system is controlled to stop rotating so as to avoid the magnetic suspension system from being damaged.
Compared with the prior art, the invention has the beneficial effects that:
the invention gives an alarm signal in time before the magnetic suspension bearing is unstable, thereby avoiding the damage of the motor caused by the possible subsequent instability; the amplitude-phase characteristic of the position controller is used as the core of a magnetic suspension bearing control system, and the detection result is used as the basis for the instability pre-diagnosis judgment, so that an accurate early warning signal can be conveniently given.
Drawings
Fig. 1 is a flowchart of a magnetic levitation motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of a displacement controller.
Fig. 2 is a control block diagram of a magnetic suspension bearing system in a magnetic suspension motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of a displacement controller.
Fig. 3 is a transfer function of a position controller in a magnetic levitation motor instability pre-diagnosis method based on amplitude-phase-frequency characteristics of the position controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a method for pre-diagnosing instability of a magnetic levitation motor based on amplitude-phase-frequency characteristics of a displacement controller, where the method includes the following steps:
s100, storing the amplitude-phase-frequency characteristics of a displacement controller with five degrees of freedom of a magnetic suspension bearing system;
s200, when the magnetic suspension motor works normally, ten arrays with the length of 500 are established in a control algorithm and used for sampling and storing displacement signals with five degrees of freedom and control currents in five bearing coils;
s300, when the group storage is finished, FFT analysis is respectively carried out on the displacement signals with five degrees of freedom and the control current, and the vibration frequency and the corresponding amplitude are extracted;
s400, extracting the frequency of the amplitude in the control current, and extracting the corresponding amplitude by combining the FFT calculation analysis results of the five displacement freedom degree signals;
s500, bringing the extracted frequency and amplitude into the amplitude-phase-frequency characteristic of the displacement controller for operation to obtain the amplitude and the phase output by the displacement controller;
s600, threshold judgment is carried out on the amplitude and the phase output by the displacement controller, if the amplitude and the frequency exceed the frequency and the amplitude which can be responded by the magnetic suspension bearing, early warning is carried out once, the preset times are continuously judged, and an alarm signal is given out if the output amplitude is not attenuated.
In the embodiment of the invention, when the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system are stored, the amplitude-phase-frequency characteristics of the displacement controller need to be stored in an external FLASH memory chip of the displacement controller in an array form, and a main control chip (such as a DSP) reads the amplitude-phase-frequency characteristic array from the external FLASH memory chip for instability pre-diagnosis every time the magnetic suspension bearing system is started; in addition, the preset times of continuous judgment can be set to be 50 times, namely, the amplitude and the phase output by the displacement controller are continuously subjected to threshold judgment for 50 times, an alarm signal is given out if the output amplitude is not attenuated, and the cyclic sampling judgment is continuously carried out when the magnetic suspension system works.
As shown in fig. 2, the amplitude-phase characteristics are stored according to a transfer function in the magnetic bearing system as a preferred embodiment of the present invention. The amplitude-phase-frequency characteristic of the displacement controller with one degree of freedom needs to establish three arrays which are respectively used for storing frequency, amplitude and phase, and used for subsequent instability pre-judgment, only 0-1500Hz amplitude-phase-frequency characteristics are stored, and one amplitude-phase-frequency characteristic is stored at an interval of 2 Hz.
In the embodiment of the invention, Fd is external disturbance force applied to the rotor, Ki is a current stiffness coefficient of the magnetic suspension bearing, Gap is a gain of a power amplifier, Gcp is a transfer function of a position controller, amplitude-phase characteristics are stored according to the transfer function, and Gsen is a gain of a sensor.
As shown in fig. 3, it can be seen that different gains and phases are corresponding to different frequencies, so that three arrays need to be established, and the frequency, the amplitude, and the phase need to be stored respectively for subsequent destabilization pre-determination, which only needs to store the amplitude-phase-frequency characteristics of 0 to 1500Hz, and only needs to store one at an interval of 2 Hz.
As a preferred embodiment of the present invention, the method further includes detecting a failure of the shaft collision protection bearing, and when it is determined that the failure of the shaft collision protection bearing exists, controlling a motor in the magnetic levitation system to stop rotating so as to prevent the magnetic levitation system from being damaged.
In the embodiment of the invention, the preorder steps for detecting the fault of the shaft collision protection bearing are as follows: the method for detecting the offset of the shaft in the magnetic suspension system from the center position comprises the following specific steps:
detecting a first offset of the shaft from the central position in the X direction and a second offset of the shaft from the central position in the Y direction at intervals of preset time values, wherein the preset time values are time obtained through experimental calculation;
and then calculating the offset of the shaft from the central position according to the first offset of the shaft from the central position in the X direction and the second offset of the shaft from the central position in the Y direction, and judging whether the fault of the shaft collision protection bearing exists according to the calculation result. Specifically, the formula Err _ XY =isrequired
The offset of the shaft from the center position is calculated, Err _ XY is the offset of the shaft from the center position, Err _ X is the offset of the shaft from the center position in the X direction, and Err _ Y is the offset of the shaft from the center position in the Y direction.
In the embodiment of the present invention, the step of determining whether there is a failure of the shaft collision protection bearing according to the calculation result specifically includes:
judging whether the offset of the shaft from the center position is greater than a preset threshold value, specifically, judging whether the offset of the shaft from the center position is greater than the preset threshold value every preset time value;
and when judging that the offset of the shaft from the center position is larger than the preset threshold, determining that the fault of the shaft collision protection bearing exists.
It should be noted that, when it is determined that the displacement of the shaft from the center position is greater than the predetermined threshold, determining that there is a failure of the shaft collision protection bearing includes: and when the number of times that the offset of the shaft from the center position is continuously judged to be larger than the preset threshold is larger than the preset number, determining that the fault of the shaft collision protection bearing exists, wherein if the number of times that the offset of the shaft from the center position is continuously judged to be larger than the preset threshold is smaller than or equal to the preset number, clearing the previous judgment result, and judging whether the number of times that the offset of the shaft from the center position is larger than the preset threshold is larger than the preset number again, wherein the clearance between the shaft and the protection bearing in the magnetic bearing system is 100-500um, so that the preset threshold is in the range of 100-500 um. Additionally, the predetermined threshold may be determined by: detecting the maximum value and the minimum value of the axis which can be operated in the X direction and the Y direction respectively; and carrying out weighting processing on the detected maximum value and the detected minimum value, and calculating the preset threshold value.
The embodiment of the invention also provides a magnetic suspension motor instability pre-diagnosis system based on the amplitude-phase-frequency characteristic of the displacement controller, which comprises the following components:
the amplitude-phase-frequency characteristic storage module is used for storing the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system;
the signal sampling storage module is used for establishing ten arrays with the length of 500 in a control algorithm when the magnetic suspension motor works normally and is used for sampling and storing displacement signals with five degrees of freedom and control currents in five bearing coils;
the FFT analysis module is used for respectively carrying out FFT analysis on the displacement signals with five degrees of freedom and the control current when the group storage is finished, and extracting vibration frequency and corresponding amplitude;
the amplitude extraction module is used for extracting the frequency of the amplitude in the control current and extracting the corresponding amplitude by combining the FFT calculation analysis results of the five displacement freedom degree signals;
the amplitude phase determining module is used for substituting the extracted frequency and amplitude into the amplitude phase frequency characteristic of the displacement controller for operation to obtain the amplitude and phase output by the displacement controller; and
and the alarm module is used for judging the threshold value of the amplitude and the phase output by the displacement controller, giving an early warning once if the amplitude and the frequency exceed the frequency and the amplitude which can be responded by the magnetic suspension bearing, continuously judging the preset times, and giving an alarm signal if the output amplitude is not attenuated.
In the embodiment of the invention, when the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system are stored, the amplitude-phase-frequency characteristics of the displacement controller need to be stored in an external FLASH memory chip of the displacement controller in an array form, and a main control chip (such as a DSP) reads the amplitude-phase-frequency characteristic array from the external FLASH memory chip for instability pre-diagnosis every time the magnetic suspension bearing system is started; in addition, the preset times of continuous judgment can be set to be 50 times, namely, the amplitude and the phase output by the displacement controller are continuously subjected to threshold judgment for 50 times, an alarm signal is given out if the output amplitude is not attenuated, and the cyclic sampling judgment is continuously carried out when the magnetic suspension system works. The amplitude-phase characteristic is stored according to a transfer function in the magnetic bearing system. The amplitude-phase-frequency characteristic of the displacement controller with one degree of freedom needs to establish three arrays which are respectively used for storing frequency, amplitude and phase, and used for subsequent instability pre-judgment, only 0-1500Hz amplitude-phase-frequency characteristics are stored, and one amplitude-phase-frequency characteristic is stored at an interval of 2 Hz.
As a preferred embodiment of the present invention, the system further includes a shaft collision protection bearing fault detection module, where the shaft collision protection bearing fault detection module is configured to detect a fault of the shaft collision protection bearing, and when it is determined that the fault of the shaft collision protection bearing exists, control a motor in the magnetic suspension system to stop rotating, so as to avoid the magnetic suspension system from being damaged.
In the embodiment of the invention, before detecting the fault of the shaft collision protection bearing, the offset of the shaft in the magnetic suspension system deviating from the center position needs to be detected, and the specific steps comprise:
detecting a first offset of the shaft from the central position in the X direction and a second offset of the shaft from the central position in the Y direction at intervals of preset time values, wherein the preset time values are time obtained through experimental calculation;
and then calculating the offset of the shaft from the central position according to the first offset of the shaft from the central position in the X direction and the second offset of the shaft from the central position in the Y direction, and judging whether the fault of the shaft collision protection bearing exists according to the calculation result. Specifically, the formula Err _ XY =isrequired
The offset of the shaft from the center position is calculated, Err _ XY is the offset of the shaft from the center position, Err _ X is the offset of the shaft from the center position in the X direction, and Err _ Y is the offset of the shaft from the center position in the Y direction.
In the embodiment of the present invention, the step of determining whether there is a failure of the shaft collision protection bearing according to the calculation result specifically includes: judging whether the offset of the shaft from the center position is greater than a preset threshold value, specifically, judging whether the offset of the shaft from the center position is greater than the preset threshold value every preset time value; and when judging that the offset of the shaft from the center position is larger than the preset threshold, determining that the fault of the shaft collision protection bearing exists.
It should be noted that, when it is determined that the displacement of the shaft from the center position is greater than the predetermined threshold, determining that there is a failure of the shaft collision protection bearing includes: and when the number of times that the offset of the shaft from the center position is continuously judged to be larger than the preset threshold is larger than the preset number, determining that the fault of the shaft collision protection bearing exists, wherein if the number of times that the offset of the shaft from the center position is continuously judged to be larger than the preset threshold is smaller than or equal to the preset number, clearing the previous judgment result, and judging whether the number of times that the offset of the shaft from the center position is larger than the preset threshold is larger than the preset number again, wherein the clearance between the shaft and the protection bearing in the magnetic bearing system is 100-500um, so that the preset threshold is in the range of 100-500 um. Additionally, the predetermined threshold may be determined by: detecting the maximum value and the minimum value of the axis which can be operated in the X direction and the Y direction respectively; and carrying out weighting processing on the detected maximum value and the detected minimum value, and calculating the preset threshold value.
The present invention has been described in detail with reference to the preferred embodiments thereof, and it should be understood that the invention is not limited thereto, but is intended to cover modifications, equivalents, and improvements within the spirit and scope of the present invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (8)
1. The magnetic suspension motor instability pre-diagnosis method based on the amplitude-phase-frequency characteristic of the displacement controller is characterized by comprising the following steps of:
storing the amplitude-phase-frequency characteristics of a displacement controller with five degrees of freedom of a magnetic suspension bearing system;
when the magnetic suspension motor works normally, ten arrays with the length of 500 are established in a control algorithm and used for sampling and storing displacement signals with five degrees of freedom and control currents in five bearing coils;
when the group storage is finished, FFT analysis is respectively carried out on the displacement signals with five degrees of freedom and the control current, and the vibration frequency and the corresponding amplitude are extracted;
extracting the frequency of the amplitude in the control current, and extracting the corresponding amplitude by combining the FFT calculation analysis results of the five displacement freedom degree signals;
substituting the extracted frequency and amplitude into the amplitude-phase-frequency characteristic of the displacement controller for operation to obtain the amplitude and phase output by the displacement controller;
and (3) judging a threshold value of the amplitude and the phase output by the displacement controller, if the amplitude and the frequency exceed the frequency and the amplitude which can be responded by the magnetic suspension bearing, early warning once, continuously judging the preset times, and if the output amplitude is not attenuated, giving an alarm signal.
2. The method for pre-diagnosing the instability of the magnetic suspension motor based on the amplitude-phase-frequency characteristics of the displacement controller as claimed in claim 1, wherein when the amplitude-phase-frequency characteristics of the displacement controller with five degrees of freedom of the magnetic suspension bearing system are stored, the amplitude-phase-frequency characteristics of the displacement controller are stored in an array form in an external FLASH memory chip of the displacement controller, and each time the magnetic suspension bearing system is started, the main control chip reads the array of the amplitude-phase-frequency characteristics from the external FLASH memory chip for pre-diagnosing the instability.
3. The method for pre-diagnosing the instability of the magnetic suspension motor based on the amplitude-phase-frequency characteristic of the displacement controller as claimed in claim 1, wherein the preset times are 50 times, namely, the threshold value of the amplitude and the phase outputted by the displacement controller is continuously judged for 50 times, and if the outputted amplitude is not attenuated, an alarm signal is given.
4. The method for pre-diagnosing the instability of the magnetic levitation motor based on the amplitude-phase-frequency characteristic of the displacement controller as recited in claim 1, wherein the amplitude-phase-frequency characteristic is stored according to a transfer function in a magnetic levitation bearing system.
5. The method for pre-diagnosing the instability of the magnetic suspension motor based on the amplitude-phase-frequency characteristics of the displacement controller as claimed in claim 1, wherein the amplitude-phase-frequency characteristics of the displacement controller with one degree of freedom are required to establish three arrays for storing the frequency, the amplitude and the phase respectively, for the subsequent instability pre-judgment, only the amplitude-phase-frequency characteristics of 0-1500Hz are stored, and one is stored at an interval of 2 Hz.
6. The method for prediagnosing instability of a magnetic levitation motor based on amplitude-phase-frequency characteristics of a displacement controller as claimed in claim 1, further comprising detecting a failure of a shaft collision protection bearing, and controlling the motor in the magnetic levitation system to stop rotating when the failure of the shaft collision protection bearing is determined to exist.
7. The method for prediagnosing the instability of the magnetic suspension motor based on the amplitude-phase-frequency characteristic of the displacement controller as claimed in claim 6, wherein the preceding steps for detecting the fault of the shaft collision protection bearing are as follows: the method for detecting the offset of the shaft in the magnetic suspension system from the center position comprises the following specific steps:
detecting a first offset amount of the shaft from the center position in the X direction and a second offset amount of the shaft from the center position in the Y direction every preset time value;
and calculating the offset of the shaft from the central position according to the first offset of the shaft from the central position in the X direction and the second offset of the shaft from the central position in the Y direction, and judging whether the fault of the shaft collision protection bearing exists or not according to the calculation result.
8. The method for pre-diagnosing the instability of the magnetic levitation motor based on the amplitude-phase-frequency characteristic of the displacement controller as claimed in claim 7, wherein the step of determining whether the fault of the shaft collision protection bearing exists according to the calculation result specifically comprises:
judging whether the offset of the shaft from the center position is greater than a preset threshold value, specifically, judging whether the offset of the shaft from the center position is greater than the preset threshold value every preset time value;
and when judging that the offset of the shaft from the center position is larger than the preset threshold, determining that the fault of the shaft collision protection bearing exists.
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