CN115059689B - Rotor floating control method and device, storage medium and bearing controller - Google Patents
Rotor floating control method and device, storage medium and bearing controller Download PDFInfo
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- CN115059689B CN115059689B CN202210778176.4A CN202210778176A CN115059689B CN 115059689 B CN115059689 B CN 115059689B CN 202210778176 A CN202210778176 A CN 202210778176A CN 115059689 B CN115059689 B CN 115059689B
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- 238000007667 floating Methods 0.000 title claims abstract description 252
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000000725 suspension Substances 0.000 claims abstract description 30
- 238000005339 levitation Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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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
- F16C32/0444—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
-
- 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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- 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 rotor floating control method, a device, a storage medium and a bearing controller, wherein the method comprises the following steps: under the condition of starting up and floating for the first time, collecting the position of a rotor of the magnetic suspension bearing so as to determine a first floating logic according to the position of the rotor; controlling the rotor to float according to the determined first float logic; and if the rotor is successfully floated, storing the first floating logic to serve as the floating logic of the next floating. The scheme provided by the invention can avoid rotor collision caused by floating failure and improve the reliability of rotor suspension.
Description
Technical Field
The present invention relates to the field of control, and in particular, to a method and apparatus for controlling rotor levitation of a magnetic bearing, a storage medium, and a bearing controller.
Background
In the magnetic suspension control system, before the machine set starts up and floats, the rotor may be in different machine set system structures or in different initial positions after each time the rotor stops and floats and falls, and the reasons can cause that the inherent floating logic in the system can not complete floating, and multiple floating failures can cause damage to structures such as the rotor, a bearing and the like, and cause displacement faults of the bearing. However, in the related art, a so-called optimal floating logic is often determined empirically in advance, and when the floating logic cannot complete the floating, the floating logic needs to be manually changed.
Disclosure of Invention
The invention aims to overcome the defects of the related art, and provides a rotor floating control method, a device, a storage medium and a bearing controller of a magnetic suspension bearing, so as to solve the problem that the floating logic of the magnetic suspension bearing, which is determined in advance in the related art, needs to be manually changed when floating cannot be completed.
The invention provides a rotor floating control method of a magnetic suspension bearing, which comprises the following steps: under the condition of starting up and floating for the first time, collecting the position of a rotor of the magnetic suspension bearing so as to determine a first floating logic according to the position of the rotor; controlling the rotor to float according to the determined first float logic; and if the rotor is successfully floated, storing the first floating logic to serve as the floating logic of the next floating.
Optionally, the method further comprises: under the condition of starting up and floating for the non-first time, obtaining a floating logic when the last time is successful in floating; and controlling the rotor to float according to the obtained float logic when the last time of successful float occurs.
Optionally, the method further comprises: if the rotor fails to float, matching other float logics and executing the logic in sequence until the float is successful; and storing the floating logic of successful floating to serve as the floating logic of the next floating of the rotor of the magnetic suspension bearing.
Optionally, collecting a position of a rotor of the magnetic bearing to determine a first levitation logic of the rotor according to the position of the rotor, including: collecting the position of the rotor in each direction, and calculating the distance of the rotor in each direction, which deviates from a set position, according to the position of the rotor in each direction; and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
Another aspect of the present invention provides a rotor levitation control device of a magnetic bearing, including: the determining unit is used for collecting the position of the rotor of the magnetic suspension bearing under the condition of starting up and floating for the first time so as to determine a first floating logic according to the position of the rotor; the control unit is used for controlling the rotor to float according to the first floating logic determined by the determination unit; and the storage unit is used for storing the first floating logic to be used as the floating logic of the next floating if the rotor is successfully floated.
Optionally, the method further comprises: the acquisition unit is used for acquiring the floating logic when the floating is successful last time under the condition of not floating for the first time; the control unit is further configured to: and controlling the rotor to float according to the float logic obtained by the obtaining unit when the last time of successful float occurs.
Optionally, the method further comprises: the matching unit is used for matching other floating logics and executing the logic in sequence until the floating is successful if the floating of the rotor fails; the storage unit is further configured to: and storing the floating logic of successful floating to serve as the floating logic of the next floating of the rotor of the magnetic suspension bearing.
Optionally, the determining unit collects a position of a rotor of the magnetic suspension bearing to determine a first levitation logic of the rotor according to the position of the rotor, including: collecting the position of the rotor in each direction, and calculating the distance of the rotor in each direction, which deviates from a set position, according to the position of the rotor in each direction; and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
In a further aspect the invention provides a storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
In a further aspect 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 implementing the steps of any of the methods described hereinbefore when the program is executed.
In a further aspect the invention provides a bearing controller comprising a control device as described in any one of the preceding claims.
According to the technical scheme, the first floating logic is determined according to the rotor position, if the floating is failed, the next floating logic is determined if the floating is successful, and if the floating is failed, other floating logics are replaced until the floating is successful, so that the rotor collision caused by the floating failure is avoided, the damage to the rotor and the bearing structure is avoided, and the reliability of rotor suspension is improved.
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 constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of a method of controlling rotor levitation of a magnetic bearing according to an embodiment of the present invention;
FIG. 2 shows a schematic structural view of a bearing;
FIG. 3 shows a floating forward schematic;
FIG. 4 shows a float back schematic;
FIG. 5 shows a floating axial schematic;
FIG. 6 is a schematic diagram of another embodiment of a method for controlling rotor levitation of a magnetic bearing according to the present invention;
FIG. 7 is a control flow diagram of a particular embodiment of a method for controlling rotor levitation of a magnetic bearing according to the present invention;
FIG. 8 is a schematic diagram of a method for controlling rotor levitation of a magnetic bearing according to an embodiment of the present invention;
FIG. 9 is a block diagram illustrating an embodiment of a rotor levitation control device of a magnetic bearing according to the present invention;
fig. 10 is a block diagram of another embodiment of a rotor levitation control device of a magnetic bearing according to 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 specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 rotor floating control method of a magnetic suspension bearing. The method may be implemented in a magnetic bearing controller.
Fig. 1 is a schematic diagram of a method of controlling rotor levitation of a magnetic bearing according to an embodiment of the present invention.
As shown in fig. 1, the control method at least includes step S110, step S120, and step S130 according to an embodiment of the present invention.
Step S110, under the condition of starting up and floating for the first time, collecting the position of a rotor of the magnetic suspension bearing so as to determine a first floating logic according to the position of the rotor.
In a specific embodiment, under the condition of starting up and floating for the first time, collecting the positions of the rotor in all directions, and calculating the distance of the rotor in all directions, which deviates from a set position, according to the positions of the rotor in all directions; and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
Fig. 2 shows a schematic structural view of the bearing. As shown in fig. 2, the five-degree-of-freedom magnetic bearing system is taken as an example, and the bearings are divided into a forward bearing, a backward bearing and an axial bearing. The displacement sensors in all directions detect the positions of the rotor in the corresponding directions in real time and send the positions to the MCU, the MCU calculates the distances of the rotor in all directions from the set positions, and the MCU compares the distances of the rotor in all directions from the set positions to determine the first floating logic of the rotor.
The float logic specifically includes a float sequence such as forward, backward and axial float sequences. Wherein, the forward direction refers to the front end of the rotor not in the horizontal direction; the backward direction refers to the rear end of the rotor not in the horizontal direction; the axial direction refers to the horizontal movement direction of the rotor. In one embodiment, the smaller the distance to offset the set position, the higher the priority of float. For example, the displacement sensor detects the displacement of the rotor and the distance between the forward offset set positions is the smallest, then the forward floating priority is the highest, namely the first floating, the distance between the backward offset set positions is the second, then the backward floating priority is the second, the distance between the axial offset set positions is the largest, then the axial floating priority is the lowest, the forward direction is (1), the backward direction is (2), the axial direction is (3), and then the first floating logic is obtained: first float (1), then float (2), last float (3). Referring to fig. 3, 4, 5, fig. 3 shows a floating forward schematic; FIG. 4 shows a float back schematic; fig. 5 shows a floating axial schematic. The floating sequence of fig. 3, 4 and 5 is that the floating is forward, backward and axial.
And step S120, controlling the rotor to float according to the determined first floating logic.
And step S130, if the rotor is successfully floated, the first floating logic is stored to serve as the floating logic of the next floating.
For example, before the starting-up preparation is floated, the displacement sensor collects displacement distances in all directions in real time, the distance data are fed back to the control unit (for example, MCU), the control unit calculates displacement of the set position of each direction offset through the data, first (first) floating logic is obtained through comparison, after the first starting-up is successful, the floating logic which is successfully floated is stored in the storage unit (for example, EEPROM), corresponding data in the EEPROM are read before the next starting-up floating, the floating logic in storage is preferentially adopted, and the practicability of the floating method is improved.
Further, under the condition of starting up and floating for the non-first time, obtaining a floating logic when floating successfully last time; and controlling the rotor to float according to the obtained float logic when the last time of successful float occurs. For example, after the first power-on floating is successful, the floating logic which is successfully floating is used as the floating logic which is floating next time.
Fig. 6 is a schematic diagram of a method of another embodiment of a rotor levitation control method of a magnetic bearing according to the present invention.
As shown in fig. 6, according to another embodiment of the present invention, the control method further includes step S140 and step S150.
Step S140, if the rotor fails to float, matching other float logics and executing the logic in sequence until the float is successful;
and step S150, storing the floating logic of successful floating as the floating logic of the next floating of the rotor of the magnetic suspension bearing.
Under the condition that the first starting floating is controlled according to the determined first floating logic, or under the condition that the non-first starting floating is controlled according to the floating logic when the last time is successful, if the rotor floating fails, other floating logics are matched and executed in sequence until the floating is successful.
Specifically, the other floating logics (except the first floating logic) are obtained by matching according to different floating sequences in all directions, and the other floating logics obtained by matching are sequentially executed until the floating is successful, and the floating logic which is successfully floated is stored and used as the floating logic of the next floating. For example, for a five degree-of-freedom magnetic bearing system, if the first floating logic fails to float according to the determined first floating logic, then the floating logic is automatically matched, six sequentially different floating logics can be combined in the forward direction, the backward direction and the axial direction, and other different floating logics are sequentially tried besides the first floating logic (1) (2) (3) which has failed to float: (1) and (3) (2) (1) (3) (2) (3) (1) (2) (3) (2) (1) until the floating is successful, storing the floating logic of the successful floating, writing the floating logic into a storage unit (such as EEPROM), and executing the floating according to the floating logic preferentially when the computer is started next time.
In order to clearly illustrate the technical scheme of the invention, the execution flow of the rotor levitation control method of the magnetic bearing provided by the invention is described in the following by a specific embodiment.
Fig. 7 is a control flow chart of a specific embodiment of a rotor levitation control method of a magnetic bearing according to the present invention. Fig. 8 is a schematic diagram of a method for controlling rotor levitation of a magnetic bearing according to an embodiment of the present invention.
As shown in fig. 7 and 8, when the power-on of the unit is started, the controller collects displacement data through the displacement sensor, for example, the forward displacement sensor, the backward displacement sensor and the axial displacement sensor collect forward displacement distance, backward displacement distance and axial displacement distance respectively, the displacement distances collected in real time by the displacement sensor are temporarily stored, the displacement distances of the offset set positions in all directions are calculated, and the first floating logic is determined through comparison. And (3) floating according to the determined first floating logic, if the floating is successful, the unit normally operates, if the floating fails, the unit automatically matches with other floating logics, six floating logics are combined in the forward direction, the backward direction and the axial direction, the floating logics are selected in sequence and iterated, the rest floating logics are tried in sequence until the unit successfully operates, the floating logic which is successfully floating is stored and written into the EEPROM, and the floating logic is started in the next time preferentially.
The invention also provides a rotor floating control device of the magnetic suspension bearing. The device may be implemented in a magnetic bearing controller.
Fig. 9 is a block diagram illustrating a rotor levitation control device of a magnetic bearing according to an embodiment of the present invention. As shown in fig. 9, the control device 100 includes a determination unit 110, a control unit 120, and a storage unit 130.
And the determining unit 110 is used for collecting the position of the rotor of the magnetic suspension bearing under the condition of first starting up and floating so as to determine first floating logic according to the position of the rotor.
In a specific embodiment, under the condition of starting up and floating for the first time, collecting the positions of the rotor in all directions, and calculating the distance of the rotor in all directions, which deviates from a set position, according to the positions of the rotor in all directions; and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
Fig. 2 shows a schematic structural view of the bearing. As shown in fig. 2, the five-degree-of-freedom magnetic bearing system is taken as an example, and the bearings are divided into a forward bearing, a backward bearing and an axial bearing. The displacement sensors in all directions detect the positions of the rotor in the corresponding directions in real time and send the positions to the MCU, the MCU calculates the distances of the rotor in all directions from the set positions, and the MCU compares the distances of the rotor in all directions from the set positions to determine the first floating logic of the rotor.
The float logic specifically includes a float sequence such as forward, backward and axial float sequences. Wherein, the forward direction refers to the front end of the rotor not in the horizontal direction; the backward direction refers to the rear end of the rotor not in the horizontal direction; the axial direction refers to the horizontal movement direction of the rotor. In one embodiment, the smaller the distance to offset the set position, the higher the priority of float. For example, the displacement sensor detects the displacement of the rotor and the distance between the forward offset set positions is the smallest, then the forward floating priority is the highest, namely the first floating, the distance between the backward offset set positions is the second, then the backward floating priority is the second, the distance between the axial offset set positions is the largest, then the axial floating priority is the lowest, the forward direction is (1), the backward direction is (2), the axial direction is (3), and then the first floating logic is obtained: first float (1), then float (2), last float (3). Referring to fig. 3, 4, 5, fig. 3 shows a floating forward schematic; FIG. 4 shows a float back schematic; fig. 5 shows a floating axial schematic. The floating sequence of fig. 3, 4 and 5 is that the floating is forward, backward and axial.
And a control unit 120 for controlling the rotor to float according to the first float logic determined by the determining unit. And a storage unit 130, configured to store the first floating logic as a floating logic of the next floating if the rotor is successfully floated.
For example, before the starting-up preparation is floated, the displacement sensor collects displacement distances in all directions in real time, the distance data are fed back to the control unit (for example, MCU), the control unit calculates displacement of the set position of each direction offset through the data, first (first) floating logic is obtained through comparison, after the first starting-up is successful, the floating logic which is successfully floated is stored in the storage unit (for example, EEPROM), corresponding data in the EEPROM are read before the next starting-up floating, the floating logic in storage is preferentially adopted, and the practicability of the floating method is improved.
Further, the control device 100 further includes an acquisition unit (not shown). The acquisition unit is used for acquiring the floating logic when the floating is successful last time under the condition of not floating for the first time; the control unit is further configured to: and controlling the rotor to float according to the float logic obtained by the obtaining unit when the last time of successful float occurs. For example, after the first power-on floating is successful, the floating logic which is successfully floating is used as the floating logic which is floating next time.
Fig. 10 is a block diagram of another embodiment of a rotor levitation control device of a magnetic bearing according to the present invention. As shown in fig. 10, according to another embodiment of the present invention, based on the above embodiment, the control device 100 further includes a matching unit 140.
A matching unit 140, configured to match other floating logics and execute the logic sequentially if the floating of the rotor fails, until the floating is successful; the storage unit 130 is further configured to: and storing the floating logic of successful floating to serve as the floating logic of the next floating of the rotor of the magnetic suspension bearing. In the case where the first-time start-up floating controls the floating of the rotor according to the determined first-time floating logic, or in the case where the non-first-time start-up floating controls the floating of the rotor according to the floating logic at the time of last successful floating, if the floating of the rotor fails, the matching unit 140 matches other floating logics and sequentially executes until the floating is successful.
Specifically, the other floating logics (except the first floating logic) are obtained by matching according to different floating sequences in all directions, and the other floating logics obtained by matching are sequentially executed until the floating is successful, and the floating logic which is successfully floated is stored and used as the floating logic of the next floating. For example, for a five degree-of-freedom magnetic bearing system, if the first floating logic fails to float according to the determined first floating logic, then the floating logic is automatically matched, six sequentially different floating logics can be combined in the forward direction, the backward direction and the axial direction, and other different floating logics are sequentially tried besides the first floating logic (1) (2) (3) which has failed to float: (1) and (3) (2) (1) (3) (2) (3) (1) (2) (3) (2) (1) until the floating is successful, storing the floating logic of the successful floating, writing the floating logic into a storage unit (such as EEPROM), and executing the floating according to the floating logic preferentially when the computer is started next time.
The invention also provides a storage medium corresponding to the method for controlling the levitation of a rotor of a magnetic bearing, 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 rotor floating control method of the magnetic suspension bearing, which comprises a processor, a memory and a computer program stored on 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 rotor floating control device of the magnetic suspension bearing, which comprises any one of the rotor floating control devices of the magnetic suspension bearing. The bearing controller may specifically be a magnetic suspension bearing controller.
According to the scheme provided by the invention, the first floating logic is determined according to the rotor position, if the floating is failed, the next floating logic is determined if the floating is successful, and if the floating is failed, other floating logics are replaced until the floating is successful, so that the rotor collision caused by the floating failure is avoided, the damage to the rotor and the bearing structure is avoided, and the reliability of the rotor suspension is improved.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is 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 appended 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 in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the related art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform 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, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or 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, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (8)
1. The rotor floating control method of the magnetic suspension bearing is characterized by comprising the following steps of:
under the condition of starting up and floating for the first time, collecting the position of a rotor of the magnetic suspension bearing so as to determine a first floating logic according to the position of the rotor;
controlling the rotor to float according to the determined first float logic;
if the rotor is successfully floated, the first floating logic is stored to be used as the floating logic of the next floating;
collecting the position of a rotor of the magnetic suspension bearing to determine a first levitation logic of the rotor according to the position of the rotor, comprising:
collecting the position of the rotor in each direction, and calculating the distance of the rotor in each direction, which deviates from a set position, according to the position of the rotor in each direction;
and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
2. The control method according to claim 1, characterized by further comprising:
under the condition of starting up and floating for the non-first time, obtaining a floating logic when the last time is successful in floating;
and controlling the rotor to float according to the obtained float logic when the last time of successful float occurs.
3. The control method according to claim 1 or 2, characterized by further comprising:
if the rotor fails to float, matching other float logics and executing the logic in sequence until the float is successful; wherein matching other floating logic includes: matching according to different floating sequences in all directions to obtain other floating logics;
and storing the floating logic of successful floating to serve as the floating logic of the next floating of the rotor of the magnetic suspension bearing.
4. A rotor levitation control device of a magnetic bearing, comprising:
the determining unit is used for collecting the position of the rotor of the magnetic suspension bearing under the condition of starting up and floating for the first time so as to determine a first floating logic according to the position of the rotor;
the control unit is used for controlling the rotor to float according to the first floating logic determined by the determination unit;
the storage unit is used for storing the first floating logic to be used as the floating logic of the next floating if the rotor is successfully floated;
the determining unit collects the position of the rotor of the magnetic suspension bearing to determine the first floating logic of the rotor according to the position of the rotor, and the determining unit comprises:
collecting the position of the rotor in each direction, and calculating the distance of the rotor in each direction, which deviates from a set position, according to the position of the rotor in each direction;
and determining the first floating logic of the rotor by comparing the distances of the rotor in all directions, which are offset from the set positions.
5. The control device according to claim 4, characterized by further comprising:
the acquisition unit is used for acquiring the floating logic when the floating is successful last time under the condition of not floating for the first time;
the control unit is further configured to: and controlling the rotor to float according to the float logic obtained by the obtaining unit when the last time of successful float occurs.
6. The control device according to claim 4 or 5, characterized by further comprising:
the matching unit is used for matching other floating logics and executing the logic in sequence until the floating is successful if the floating of the rotor fails; wherein matching other floating logic includes: matching according to different floating sequences in all directions to obtain other floating logics;
the storage unit is further configured to: and storing the floating logic of successful floating to serve as the floating logic of the next floating of the rotor of the magnetic suspension bearing.
7. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of claims 1-3.
8. A bearing controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of claims 1-3 when the program is executed, or the bearing controller comprising the control device of any of claims 4-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210778176.4A CN115059689B (en) | 2022-06-29 | 2022-06-29 | Rotor floating control method and device, storage medium and bearing controller |
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| JP2002349565A (en) * | 2001-05-28 | 2002-12-04 | Koyo Seiko Co Ltd | Target levitating position setting method of rotating body in magnetic bearing device |
| JP2013079678A (en) * | 2011-10-04 | 2013-05-02 | Hitachi Plant Technologies Ltd | Magnetic bearing control system and magnetic bearing control method |
| CN105202023A (en) * | 2014-05-26 | 2015-12-30 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension bearing system and its control method and device |
| CN112196898A (en) * | 2020-10-14 | 2021-01-08 | 珠海格力电器股份有限公司 | Magnetic suspension rotor locking device, magnetic suspension system and control method |
| CN113700747A (en) * | 2021-09-27 | 2021-11-26 | 珠海格力电器股份有限公司 | Levitation control device and method of magnetic levitation system and magnetic levitation system |
| 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 |
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| JP2002349565A (en) * | 2001-05-28 | 2002-12-04 | Koyo Seiko Co Ltd | Target levitating position setting method of rotating body in magnetic bearing device |
| JP2013079678A (en) * | 2011-10-04 | 2013-05-02 | Hitachi Plant Technologies Ltd | Magnetic bearing control system and magnetic bearing control method |
| CN105202023A (en) * | 2014-05-26 | 2015-12-30 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension bearing system and its control method and device |
| CN112196898A (en) * | 2020-10-14 | 2021-01-08 | 珠海格力电器股份有限公司 | Magnetic suspension rotor locking device, magnetic suspension system and control method |
| CN113700747A (en) * | 2021-09-27 | 2021-11-26 | 珠海格力电器股份有限公司 | Levitation control device and method of magnetic levitation system and magnetic levitation system |
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