CN115264976B - Magnetic suspension centrifuge, control method and device thereof and storage medium - Google Patents

Magnetic suspension centrifuge, control method and device thereof and storage medium Download PDF

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Publication number
CN115264976B
CN115264976B CN202210821731.7A CN202210821731A CN115264976B CN 115264976 B CN115264976 B CN 115264976B CN 202210821731 A CN202210821731 A CN 202210821731A CN 115264976 B CN115264976 B CN 115264976B
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China
Prior art keywords
magnetic bearing
magnetic
frequency converter
outer ring
rotating speed
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CN202210821731.7A
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CN115264976A (en
Inventor
李燕
张统世
于安波
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B1/00—Compression machines, plants or systems with non-reversible cycle
    • F25B1/04—Compression machines, plants or systems with non-reversible cycle with compressor of rotary type
    • F25B1/053—Compression machines, plants or systems with non-reversible cycle with compressor of rotary type of turbine type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • F16C32/044—Active magnetic bearings
    • F16C32/0444—Details of devices to control the actuation of the electromagnets
    • F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B49/00—Arrangement or mounting of control or safety devices
    • F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
    • F25B49/025—Motor control arrangements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The invention discloses a control method and device of a magnetic suspension centrifuge, the magnetic suspension centrifuge and a storage medium, wherein the method comprises the following steps: in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set as a rotating speed value; if a magnetic bearing fault signal is received, the control working mode is switched from a vector electric control mode to a full-switch vector brake control mode; identifying the rotating speed of the magnetic suspension motor to obtain a rotating speed identification value; if a magnetic bearing fault recovery signal is received, the control working mode is switched from a full-switch vector braking control mode to a vector electric control mode; under the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually changed to a set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized. According to the scheme, the restarting time can be reduced by restarting the magnetic suspension motor from the rotation speed identified during fault recovery after the magnetic suspension motor is stopped, and the uninterrupted operation requirement of the magnetic suspension centrifuge is met.

Description

Magnetic suspension centrifuge, control method and device thereof and storage medium
Technical Field
The invention belongs to the technical field of magnetic suspension, and particularly relates to a control method and device of a magnetic suspension centrifuge, the magnetic suspension centrifuge and a storage medium, in particular to a quick restarting method and device of a magnetic suspension motor in the magnetic suspension centrifuge (such as a magnetic suspension refrigeration centrifuge), the magnetic suspension centrifuge and the storage medium.
Background
The magnetic suspension motor has the characteristics of oil free, friction free and the like, can operate at high speed and high efficiency, and is widely applied to a refrigeration centrifuge (namely a refrigeration centrifugal compressor). The load in the refrigerating centrifuge is random and changeable, the air flow impact is strong, the magnetic bearing protection stop is easy to be caused when the impact is serious, but for some special application occasions such as a data machine room and an all-weather factory, the machine set (namely the machine set where the refrigerating centrifuge is positioned) is required to be refrigerated uninterruptedly, at the moment, the machine set (namely the machine set where the refrigerating centrifuge is positioned) is required to be restarted rapidly after the protection, and the method in the related scheme is that the standby set (namely the machine set where the refrigerating centrifuge is positioned) is restarted from zero after the stop is complete, the restarting time is long, and the uninterrupted operation requirement of the machine set (namely the machine set where the refrigerating centrifuge is positioned) cannot be met.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention aims to provide a control method, a device, a magnetic suspension centrifuge and a storage medium of a magnetic suspension centrifuge, so as to solve the problem that after the magnetic suspension centrifuge (such as a magnetic suspension refrigeration centrifuge) is protected and a magnetic suspension motor is stopped, the magnetic suspension motor is restarted from zero speed to ensure that the restarting time is longer and the uninterrupted operation requirement of the magnetic suspension centrifuge (such as the magnetic suspension refrigeration centrifuge) cannot be met, and achieve the effects that the magnetic suspension motor is restarted from the rotation speed identified when the fault is recovered after the magnetic suspension centrifuge (such as the magnetic suspension refrigeration centrifuge) is protected and the uninterrupted operation requirement of the magnetic suspension centrifuge (such as the magnetic suspension refrigeration centrifuge) can be met by reducing the restarting time of the magnetic suspension motor.
The invention provides a control method of a magnetic suspension centrifuge, which comprises a magnetic suspension motor, a magnetic bearing controller and a frequency converter; the outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, and the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works; the control method of the magnetic suspension centrifuge comprises the following steps: under the condition of normal operation after the magnetic suspension motor is started, controlling the working mode of the outer ring of the frequency converter to be the vector electric control mode; in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set as a rotating speed value; determining whether a magnetic bearing fault signal sent by the magnetic bearing controller is received; the magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor; if a magnetic bearing fault signal sent by the magnetic bearing controller is received, the working mode of the outer ring of the frequency converter is controlled to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode; the rotating speed of the magnetic levitation motor is identified in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, and a rotating speed identification value is obtained; after the outer ring of the frequency converter is controlled to work in the full-open Guan Shiliang brake control mode, determining whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received or not; the magnetic bearing fault recovery signal is a recovery signal of magnetic bearing impact faults of the magnetic suspension motor; if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, controlling the working mode of the outer ring of the frequency converter to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode; and in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized.
In some embodiments, at least one of the following is also included: after determining whether a magnetic bearing fault signal sent by the magnetic bearing controller is received or not, if the magnetic bearing fault signal is not received, continuously controlling an outer ring of the frequency converter to work in the vector electric control mode; and/or after determining whether the magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, if the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received, continuing to control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang brake control mode; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, continuously identifying the rotating speed of the magnetic levitation motor to obtain a rotating speed identification value; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
In some embodiments, the outer loop of the frequency converter further has a mode switching unit; the mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode; and in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
In some embodiments, wherein determining whether a magnetic bearing failure signal sent by the magnetic bearing controller is received comprises: determining whether a working mode mark of an outer ring of the frequency converter is changed from a first setting mark to a second setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the first set mark to the second set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is received; if the working mode mark of the outer ring of the frequency converter is still a first set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is not received; and/or determining whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, comprising: determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
In accordance with the above method, the present invention provides a control device for a magnetic suspension centrifuge, where the magnetic suspension centrifuge has a magnetic suspension motor, a magnetic bearing controller, and a frequency converter; the outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, and the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works; the control device of the magnetic suspension centrifuge comprises: the control unit is configured to control the working mode of the outer ring of the frequency converter to be the vector electric control mode under the condition of normal operation after the magnetic suspension motor is started; in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set as a rotating speed value; the control unit is further configured to determine whether a magnetic bearing fault signal sent by the magnetic bearing controller is received; the magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor; the control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode if a magnetic bearing fault signal sent by the magnetic bearing controller is received; the rotating speed of the magnetic levitation motor is identified in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, and a rotating speed identification value is obtained; the control unit is further configured to determine whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received after controlling the outer ring of the frequency converter to work in the full-open Guan Shiliang brake control mode; the magnetic bearing fault recovery signal is a recovery signal of magnetic bearing impact faults of the magnetic suspension motor; the control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized.
In some embodiments, at least one of the following is also included: the control unit is further configured to continuously control the outer ring of the frequency converter to work in the vector electric control mode if the magnetic bearing fault signal is not received after determining whether the magnetic bearing fault signal sent by the magnetic bearing controller is received; and/or the control unit is further configured to continuously control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang brake control mode if the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received after determining whether the magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, continuously identifying the rotating speed of the magnetic levitation motor to obtain a rotating speed identification value; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
In some embodiments, the outer loop of the frequency converter further has a mode switching unit; the mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode; and in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
In some embodiments, wherein the control unit determining whether a magnetic bearing failure signal sent by the magnetic bearing controller is received comprises: determining whether a working mode mark of an outer ring of the frequency converter is changed from a first setting mark to a second setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the first set mark to the second set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is received; if the working mode mark of the outer ring of the frequency converter is still a first set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is not received; and/or, the control unit determines whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, including: determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
In accordance with another aspect of the present invention, there is provided a magnetic levitation centrifuge comprising: the control device of the magnetic suspension centrifuge.
In accordance with the above method, the present invention further provides a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the above control method of the magnetic suspension centrifuge.
Therefore, according to the scheme of the invention, the frequency converter is enabled to perform full-switch vector modulation braking control on the magnetic suspension motor under the condition of receiving the impact fault signal of the magnetic suspension centrifuge, so that the damping of the magnetic bearing system is increased, and the rotating speed of the magnetic suspension motor is identified in real time; then, under the condition that a fault recovery signal of the impact fault of the magnetic suspension centrifuge is received by the frequency converter, the magnetic suspension motor is rotated (namely, a non-zero rotation speed) at the starting time of restarting the magnetic suspension motor, the target rotation speed of the magnetic suspension motor is changed on the basis of the rotation speed obtained by identifying the impact fault recovery of the magnetic suspension centrifuge, and the rapid restarting of the magnetic suspension motor is realized, so that the magnetic suspension centrifuge (such as a magnetic suspension refrigeration centrifuge) is protected, and after the magnetic suspension motor is stopped due to the protection, the rotation speed identified by the magnetic suspension motor during the self-fault recovery is restarted, the restarting time of the magnetic suspension motor is shortened, and the uninterrupted operation requirement of the magnetic suspension centrifuge (such as the magnetic suspension refrigeration centrifuge) can be met.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of a control method of a magnetic levitation centrifuge according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the method of determining whether a magnetic bearing failure signal sent by the magnetic bearing controller is received;
FIG. 3 is a flow chart of an embodiment of a method of determining whether a magnetic bearing failure recovery signal sent by the magnetic bearing controller is received;
FIG. 4 is a schematic diagram of an embodiment of a magnetic levitation motor control system;
FIG. 5 is a schematic diagram illustrating a switching process of an embodiment of an operation mode of the frequency converter;
FIG. 6 is a control block diagram of one embodiment of a quick restart mechanism for a maglev motor in a maglev refrigeration centrifuge;
fig. 7 is a flow chart of an embodiment of a method for quickly restarting a magnetic levitation motor in a magnetic levitation refrigeration centrifuge.
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.
According to an embodiment of the present invention, a control method of a magnetic suspension centrifuge is provided, as shown in fig. 1, which is a schematic flow chart of an embodiment of the method of the present invention. The magnetic suspension centrifuge is provided with a magnetic suspension motor, a magnetic bearing controller and a frequency converter. Of course, the magnetic levitation centrifuge further has an inverter, the bearing controller being capable of communicating with the frequency converter, the inverter being disposed between the frequency converter and the magnetic levitation motor. The outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works, wherein the rotating speed ring is the rotating speed outer ring, and the voltage ring is the busbar voltage outer ring.
Fig. 4 is a schematic structural diagram of an embodiment of a magnetic levitation motor control system. The magnetic suspension motor control system comprises a magnetic bearing controller and a frequency converter, wherein the magnetic bearing controller is responsible for controlling the magnetic bearing, so that a rotating shaft of the magnetic suspension motor is stably suspended at a reference position. The frequency converter is responsible for the drive of magnetic suspension motor, and after the pivot suspension is stable, makes the magnetic suspension motor rotate according to the settlement rotational speed. The magnetic bearing controller and the frequency converter transmit key signals in a communication mode, wherein the key signals comprise fault occurrence signals and fault recovery signals of magnetic bearing impact faults.
In some embodiments, the outer loop of the frequency converter further has a mode switching unit. Specifically, the outer ring control part of the frequency converter is provided with an outer ring control unit and a mode switching unit, wherein the outer ring control unit is provided with a rotating speed outer ring control unit and a busbar voltage outer ring control unit. That is, the frequency converter has an outer loop control unit, a mode switching unit and an inner loop control unit, the mode switching unit is disposed between the outer loop control unit and the inner loop control unit, the outer loop control unit is a rotating speed loop and a voltage loop, and the inner loop control unit is a current loop.
The mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode. And in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
Fig. 5 is a schematic diagram of a switching flow of an embodiment of an operation mode of the frequency converter. As shown in fig. 5, the frequency converter includes two working modes in the operation process, when the magnetic levitation motor is just started, the mode flag bit is 0, and the frequency converter is in an electric vector control (FOC) mode. When the magnetic suspension centrifuge receives strong impact to generate impact faults, the magnetic bearing controller transmits magnetic bearing impact fault signals (namely fault occurrence signals of the magnetic bearing impact faults) to the frequency converter, the mode flag bit is changed to 1, and the frequency converter enters a full-switch vector brake control mode to brake and control the magnetic suspension motor, so that damping of the magnetic bearing is increased. After the magnetic bearing is impacted and is restored to be stable and suspended, the magnetic bearing is impacted and is restored to be fault, the fault restoring signal is transmitted to the frequency converter by the magnetic bearing controller, the mode flag bit is changed to 0 again, and the frequency converter is restarted to enter the vector electric state again at the moment, so that the secondary starting is completed.
Fig. 6 is a control block diagram of an embodiment of a quick restart apparatus for a maglev motor in a maglev refrigeration centrifuge. As shown in fig. 6, in the fast restarting device of the magnetic levitation motor in the magnetic levitation refrigeration centrifuge, mainly includes: the device comprises an outer ring control unit, a mode switching unit, an inner ring control unit, an inverter and a magnetic levitation motor M. The inner ring control unit is provided with a coordinate transformation unit, a rotating speed and rotor position estimation unit and a PWM modulation unit. The outer ring control unit comprises a rotating speed outer ring unit and a busbar voltage outer ring unit.
In the example shown in fig. 6, a speed outer ring unit, a mode switching unit, and a fault communication operation of the magnetic bearing controller with the frequency converter (e.g., transmitting a magnetic bearing impact fault signal) are added. The mode switching unit determines the value of the mode flag bit according to the received magnetic bearing impact fault signal, and the specific assignment mode is shown in an example shown in fig. 5 and related description.
In the scheme of the invention, the control method of the magnetic suspension centrifuge comprises the following steps: step S110 to step S150.
At step S110, on the inverter side, under the condition of normal operation after the magnetic levitation motor is started, the working mode of the outer ring of the inverter is controlled to be the vector electric control mode, so that the rotating speed ring participates in the operation process of the magnetic levitation motor. And in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set to be a rotating speed value.
At step S120, at the frequency converter side, during normal operation of the magnetic levitation motor, it is determined whether a magnetic bearing failure signal transmitted by the magnetic bearing controller is received. The magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor.
In some embodiments, the specific process of determining whether the magnetic bearing failure signal sent by the magnetic bearing controller is received at the frequency converter side in step S120 is described in the following exemplary description.
The following is a flowchart of an embodiment of the method of determining whether the magnetic bearing failure signal sent by the magnetic bearing controller is received in connection with the method of the present invention shown in fig. 2, and further describes a specific process of determining whether the magnetic bearing failure signal sent by the magnetic bearing controller is received in step S120, which includes: step S210 to step S220.
Step S210, at the side of the frequency converter, determining whether the working mode flag of the outer ring of the frequency converter is changed from a first setting flag to a second setting flag.
Step S220, on the side of the frequency converter, if the working mode flag of the outer ring of the frequency converter has changed from the first setting flag to the second setting flag, determining that the magnetic bearing fault signal sent by the magnetic bearing controller has been received.
In step S230, at the side of the frequency converter, if the working mode flag of the outer ring of the frequency converter is still the first setting flag, that is, the working mode flag of the outer ring of the frequency converter is not changed from the first setting flag to the second setting flag, it is determined that the magnetic bearing fault signal sent by the magnetic bearing controller is not received.
Fig. 7 is a flow chart of an embodiment of a method for quickly restarting a magnetic levitation motor in a magnetic levitation refrigeration centrifuge. As shown in fig. 7, the method for quickly restarting the magnetic levitation motor in the magnetic levitation refrigeration centrifuge comprises the following steps:
step 1, the mode switching unit determines that the mode flag bit of the outer loop control unit is 0, and then step 2 is executed.
And 2, when the mode switching unit determines that the mode flag bit is 0, the magnetic levitation motor performs vector electric control, the outer ring control unit is a rotating speed outer ring unit, the rotating speed of the magnetic levitation motor is controlled to rotate according to a set rotating speed value, and then the step 3 is executed.
In the rotating speed outer ring unit, the outer ring input is a rotating speed reference value omega of the magnetic suspension motor and an actual magnetic suspension motor rotating speed estimated value omega obtained by the rotating speed and position estimating unit, the output of the rotating speed outer ring is a current vector, the current vector obtains a dq axis current reference value according to MTPA (maximum torque current ratio control) or a weak magnetic mode, and the dq axis current reference value is the input of the inner ring control unit.
At step S130, on the inverter side, if a magnetic bearing fault signal sent by the magnetic bearing controller is received, the working mode of the outer ring of the inverter is controlled to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode, so that the voltage ring participates in the braking process of the magnetic levitation motor. And identifying the rotating speed of the magnetic levitation motor in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode to obtain a rotating speed identification value.
In some embodiments, after step S120, further comprising: and on the frequency converter side, in the normal running process of the magnetic suspension motor, after determining whether a magnetic bearing fault signal sent by the magnetic bearing controller is received or not, if the magnetic bearing fault signal is not received, continuing to control the rotating speed ring to work, namely continuing to control the outer ring of the frequency converter to work in the vector electric control mode so as to continue to enable the rotating speed ring to participate in the running process of the magnetic suspension motor.
At step S140, at the inverter side, after controlling the outer ring of the inverter to operate in the full-open Guan Shiliang brake control mode, it is determined whether a magnetic bearing failure recovery signal transmitted from the magnetic bearing controller is received. The magnetic bearing fault recovery signal is a recovery signal of the magnetic bearing impact fault of the magnetic suspension motor.
In some embodiments, the specific process of determining whether the magnetic bearing failure recovery signal sent by the magnetic bearing controller is received at the frequency converter side in step S140 is described in the following exemplary description.
The following is a flowchart of an embodiment of the method of determining whether the magnetic bearing failure recovery signal sent by the magnetic bearing controller is received in connection with the method of fig. 3, and further describes a specific process of determining whether the magnetic bearing failure recovery signal sent by the magnetic bearing controller is received in step S140, which includes: step S310 to step S330.
Step S310, at the side of the frequency converter, determining whether the working mode flag of the outer ring of the frequency converter is changed from the second setting flag to the first setting flag.
Step S320, at the inverter side, if the working mode flag of the outer ring of the inverter has changed from the second setting flag to the first setting flag, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller has been received.
Step S330, at the side of the frequency converter, if the working mode flag of the outer ring of the frequency converter is still the second setting flag, that is, the working mode flag of the outer ring of the frequency converter is not changed from the second setting flag to the first setting flag, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
As shown in fig. 7, the method for quickly restarting the magnetic levitation motor in the magnetic levitation refrigeration centrifuge further comprises:
step 3, judging whether the mode flag bit is 1: if yes, executing the step 4, and if not, returning to the step 2.
Step 4, when the mode flag bit is 1, the magnetic suspension motor carries out a full-switch vector braking control mode, the outer ring control unit is a bus voltage outer ring unit, the bus voltage is controlled to be boosted to a set voltage value, and the outer ring input is a bus voltage set value u dc * Actually sampled bus voltage value u dc The output of the outer ring is the current vector as the electric mode, the current vector obtains the dq axis current reference value according to the MTPA or weak magnetic mode, the dq axis current reference value is the input of the inner ring control unit, and then the step 5 is executed.
In the whole control process, no matter the outer ring control unit is a rotating speed outer ring unit or a busbar voltage outer ring unit, the inner ring control unit, the rotating speed and position estimation unit, the coordinate transformation unit and the PWM modulation unit are all in normal working states, so that the rotating speed and the rotor position of the magnetic suspension motor can be identified in real time in the braking process of the magnetic suspension motor.
Step 5, judging whether the mode flag bit is changed from 1 to 0: if yes, executing the step 6, otherwise, returning to the step 3.
And 6, when the mode flag bit is changed from 1 to 0 again, restarting the magnetic levitation motor after the magnetic levitation motor starts to be restarted, wherein the rotation speed reference value omega of the magnetic levitation motor is increased or reduced on the basis of the rotation speed identified at the moment (namely the rotation speed of the magnetic levitation motor obtained by real-time identification in the braking process of the magnetic levitation motor), and the current is prevented from suddenly changing at the restarting moment of the magnetic levitation motor.
At step S150, on the inverter side, if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, the working mode of the outer ring of the inverter is controlled to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode, so that the rotating speed ring participates in the operation process of the magnetic levitation motor. And in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized.
According to the scheme, after the impact failure of the magnetic suspension centrifuge, the magnetic bearing controller transmits a failure occurrence signal of the impact failure of the magnetic suspension centrifuge to the frequency converter in a quick communication mode or other communication modes, the frequency converter carries out full-switch vector modulation braking control on the magnetic suspension motor, so that the damping of a magnetic bearing system is increased, and meanwhile, the rotating speed and the rotor position of the magnetic suspension motor are identified in real time in the braking process of the magnetic suspension motor. In the braking process of the magnetic levitation motor, the busbar voltage is controlled to be boosted to a set rotating speed value, and the kinetic energy of the magnetic levitation motor is converted into electric energy to charge a busbar capacitor and supply power to a busbar load.
The fast communication mode is a communication mode. In the related scheme, the method is realized by software CAN communication, other rapid software communication modes such as network communication and the like CAN be adopted, and a hardware dry contact communication mode CAN also be adopted.
In other communication modes, the magnetic bearing controller transmits a magnetic bearing impact fault signal to the frequency converter in an I/O dry contact mode between the magnetic bearing controller and the frequency converter, and the control effect of the scheme of the invention can be achieved.
In the scheme of the invention, under the condition that the frequency converter carries out full-switch vector modulation braking control on the magnetic suspension motor, after the rotating shaft is restored to be stable and suspended, the magnetic bearing controller transmits a fault restoration signal of the impact fault of the magnetic suspension centrifuge to the frequency converter in a quick communication mode or other communication modes, the frequency converter carries out vector electric control on the magnetic suspension motor, the magnetic suspension motor is restarted, the magnetic suspension motor has a rotating speed (namely a non-zero rotating speed) at the starting moment of restarting the magnetic suspension motor, the target rotating speed of the magnetic suspension motor changes on the basis of the rotating speed obtained by identification when the impact fault of the magnetic suspension centrifuge is restored, the control limit of zero-speed restarting of the magnetic suspension motor in the related scheme is broken, and the restarting time is greatly reduced.
In some embodiments, after step S140, further comprising: and on the side of the frequency converter, after the outer ring of the frequency converter is controlled to work in the full-open Guan Shiliang braking control mode, after determining whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received or not, if the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received, continuing to control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang braking control mode so as to continue to enable the voltage ring to participate in the braking process of the magnetic suspension motor. And continuously identifying the rotating speed of the magnetic levitation motor in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode to obtain a rotating speed identification value.
And in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
According to the scheme provided by the invention, when the impact fault protection occurs to the magnetic suspension centrifuge, the damping of the magnetic bearing system is increased by carrying out full-switch vector modulation braking control on the magnetic suspension motor, so that the rotating shaft is quickly restored to be stably suspended, the magnetic suspension motor is quickly restarted on the basis of the rotating speed of the magnetic suspension motor after the suspension is restored, the magnetic suspension motor is not required to be restarted from zero speed after the magnetic suspension motor is completely stopped, the restarting time of the magnetic suspension motor is greatly shortened, and uninterrupted refrigeration of the magnetic suspension centrifuge is realized. Therefore, the problem that the restarting time of the magnetic suspension centrifuge after fault protection is long is solved, the quick restarting of the machine set (namely the machine set where the refrigerating centrifuge is positioned) after short-time fault protection is realized, and the application requirement of uninterrupted operation of the machine set (namely the machine set where the refrigerating centrifuge is positioned) is met.
In this way, the scheme of the invention adopts a full-switch vector braking, bus voltage and current double-loop control mode to control the rotation restarting of the magnetic suspension motor, and when the magnetic bearing impacts faults, the magnetic suspension motor is braked, the rotating speed and the rotor position of the magnetic suspension motor are estimated in real time, and the bus voltage is controlled to be at a set value during braking. When the fault is recovered, the rotating speed and the rotor position at the recovery moment are recorded, the rotating speed of the magnetic suspension motor is controlled to rotate according to the set rotating speed on the basis, the magnetic suspension motor enters an electric control state, the restarting time of the magnetic suspension motor is greatly shortened after the magnetic bearing impacts the fault, and the uninterrupted refrigeration of the magnetic suspension centrifuge is realized.
By adopting the technical scheme of the embodiment, the frequency converter carries out full-switch vector modulation braking control on the magnetic suspension motor under the condition of receiving the impact fault signal of the magnetic suspension centrifuge, so that the damping of the magnetic bearing system is increased, and the rotating speed of the magnetic suspension motor is identified in real time. Then, under the condition that a fault recovery signal of the impact fault of the magnetic suspension centrifuge is received by the frequency converter, the magnetic suspension motor is rotated (namely, a non-zero rotation speed) at the starting time of restarting the magnetic suspension motor, the target rotation speed of the magnetic suspension motor is changed on the basis of the rotation speed obtained by identifying the impact fault recovery of the magnetic suspension centrifuge, and the rapid restarting of the magnetic suspension motor is realized, so that the magnetic suspension centrifuge (such as a magnetic suspension refrigeration centrifuge) is protected, and after the magnetic suspension motor is stopped due to the protection, the rotation speed identified by the magnetic suspension motor during the self-fault recovery is restarted, the restarting time of the magnetic suspension motor is shortened, and the uninterrupted operation requirement of the magnetic suspension centrifuge (such as the magnetic suspension refrigeration centrifuge) can be met.
According to an embodiment of the present invention, there is also provided a control device of a magnetic levitation centrifuge corresponding to the control method of the magnetic levitation centrifuge. The magnetic suspension centrifuge is provided with a magnetic suspension motor, a magnetic bearing controller and a frequency converter. Of course, the magnetic levitation centrifuge further has an inverter, the bearing controller being capable of communicating with the frequency converter, the inverter being disposed between the frequency converter and the magnetic levitation motor. The outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works, wherein the rotating speed ring is the rotating speed outer ring, and the voltage ring is the busbar voltage outer ring.
Fig. 4 is a schematic structural diagram of an embodiment of a magnetic levitation motor control system. The magnetic suspension motor control system comprises a magnetic bearing controller and a frequency converter, wherein the magnetic bearing controller is responsible for controlling the magnetic bearing, so that a rotating shaft of the magnetic suspension motor is stably suspended at a reference position. The frequency converter is responsible for the drive of magnetic suspension motor, and after the pivot suspension is stable, makes the magnetic suspension motor rotate according to the settlement rotational speed. The magnetic bearing controller and the frequency converter transmit key signals in a communication mode, wherein the key signals comprise fault occurrence signals and fault recovery signals of magnetic bearing impact faults.
In some embodiments, the outer loop of the frequency converter further has a mode switching unit. Specifically, the outer ring control part of the frequency converter is provided with an outer ring control unit and a mode switching unit, wherein the outer ring control unit is provided with a rotating speed outer ring control unit and a busbar voltage outer ring control unit. That is, the frequency converter has an outer loop control unit, a mode switching unit and an inner loop control unit, the mode switching unit is disposed between the outer loop control unit and the inner loop control unit, the outer loop control unit is a rotating speed loop and a voltage loop, and the inner loop control unit is a current loop.
The mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode. And in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
Fig. 5 is a schematic diagram of a switching flow of an embodiment of an operation mode of the frequency converter. As shown in fig. 5, the frequency converter includes two working modes in the operation process, when the magnetic levitation motor is just started, the mode flag bit is 0, and the frequency converter is in an electric vector control (FOC) mode. When the magnetic suspension centrifuge receives strong impact to generate impact faults, the magnetic bearing controller transmits magnetic bearing impact fault signals (namely fault occurrence signals of the magnetic bearing impact faults) to the frequency converter, the mode flag bit is changed to 1, and the frequency converter enters a full-switch vector brake control mode to brake and control the magnetic suspension motor, so that damping of the magnetic bearing is increased. After the magnetic bearing is impacted and is restored to be stable and suspended, the magnetic bearing is impacted and is restored to be fault, the fault restoring signal is transmitted to the frequency converter by the magnetic bearing controller, the mode flag bit is changed to 0 again, and the frequency converter is restarted to enter the vector electric state again at the moment, so that the secondary starting is completed.
Fig. 6 is a control block diagram of an embodiment of a quick restart apparatus for a maglev motor in a maglev refrigeration centrifuge. As shown in fig. 6, in the fast restarting device of the magnetic levitation motor in the magnetic levitation refrigeration centrifuge, mainly includes: the device comprises an outer ring control unit, a mode switching unit, an inner ring control unit, an inverter and a magnetic levitation motor M. The inner ring control unit is provided with a coordinate transformation unit, a rotating speed and rotor position estimation unit and a PWM modulation unit. The outer ring control unit comprises a rotating speed outer ring unit and a busbar voltage outer ring unit.
In the example shown in fig. 6, a speed outer ring unit, a mode switching unit, and a fault communication operation of the magnetic bearing controller with the frequency converter (e.g., transmitting a magnetic bearing impact fault signal) are added. The mode switching unit determines the value of the mode flag bit according to the received magnetic bearing impact fault signal, and the specific assignment mode is shown in an example shown in fig. 5 and related description.
In an aspect of the present invention, the control device of the magnetic suspension centrifuge includes: a control unit, such as a frequency converter controller.
The control unit is configured to control the working mode of the outer ring of the frequency converter to be the vector electric control mode under the condition of normal operation after the magnetic suspension motor is started, so that the rotating speed ring participates in the operation process of the magnetic suspension motor. And in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set to be a rotating speed value. The specific function and process of the control unit are shown in step S110.
And the control unit is further configured to determine whether a magnetic bearing fault signal sent by the magnetic bearing controller is received or not in the normal operation process of the magnetic suspension motor at the frequency converter side. The magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor. The specific function and processing of the control unit is also referred to in step S120.
In some embodiments, at the frequency converter side, the control unit determines whether a magnetic bearing failure signal sent by the magnetic bearing controller is received, including:
on the frequency converter side, the control unit is in particular further configured to determine whether the operating mode flag of the outer ring of the frequency converter is changed from a first setting flag to a second setting flag. The specific function and processing of the control unit is also referred to in step S210.
On the frequency converter side, the control unit is specifically further configured to determine that a magnetic bearing fault signal sent by the magnetic bearing controller has been received if the working mode flag of the outer ring of the frequency converter has changed from the first setting flag to the second setting flag. The specific function and processing of the control unit is also referred to in step S220.
And on the side of the frequency converter, the control unit is specifically further configured to determine that the magnetic bearing fault signal sent by the magnetic bearing controller is not received if the working mode flag of the outer ring of the frequency converter is still a first setting flag, that is, the working mode flag of the outer ring of the frequency converter is not changed from the first setting flag to a second setting flag. The specific function and processing of the control unit is also referred to in step S230.
Fig. 7 is a flow chart of an embodiment of a method for quickly restarting a magnetic levitation motor in a magnetic levitation refrigeration centrifuge. As shown in fig. 7, the method for quickly restarting the magnetic levitation motor in the magnetic levitation refrigeration centrifuge comprises the following steps:
step 1, the mode switching unit determines that the mode flag bit of the outer loop control unit is 0, and then step 2 is executed.
And 2, when the mode switching unit determines that the mode flag bit is 0, the magnetic levitation motor performs vector electric control, the outer ring control unit is a rotating speed outer ring unit, the rotating speed of the magnetic levitation motor is controlled to rotate according to a set rotating speed value, and then the step 3 is executed.
In the rotating speed outer ring unit, the outer ring input is a rotating speed reference value omega of the magnetic suspension motor and an actual magnetic suspension motor rotating speed estimated value omega obtained by the rotating speed and position estimating unit, the output of the rotating speed outer ring is a current vector, the current vector obtains a dq axis current reference value according to MTPA (maximum torque current ratio control) or a weak magnetic mode, and the dq axis current reference value is the input of the inner ring control unit.
And on the side of the frequency converter, the control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode if a magnetic bearing fault signal sent by the magnetic bearing controller is received, so that the voltage ring participates in the braking process of the magnetic levitation motor. And identifying the rotating speed of the magnetic levitation motor in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode to obtain a rotating speed identification value. The specific function and processing of the control unit is also referred to in step S130.
In some embodiments, further comprising: and the control unit is further configured to continuously control the rotating speed ring to work, namely continuously controlling the outer ring of the frequency converter to work in the vector electric control mode, after determining whether the magnetic bearing fault signal sent by the magnetic bearing controller is received or not in the normal operation process of the magnetic suspension motor, if the magnetic bearing fault signal is not received, so as to continuously enable the rotating speed ring to participate in the operation process of the magnetic suspension motor.
At the frequency converter side, the control unit is further configured to determine whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received after controlling the outer ring of the frequency converter to operate in the full-open Guan Shiliang brake control mode. The magnetic bearing fault recovery signal is a recovery signal of the magnetic bearing impact fault of the magnetic suspension motor. The specific function and processing of the control unit is also referred to in step S140.
In some embodiments, at the frequency converter side, the control unit determines whether a magnetic bearing failure recovery signal sent by the magnetic bearing controller is received, including:
on the frequency converter side, the control unit is in particular further configured to determine whether the operating mode flag of the outer ring of the frequency converter is changed from the second setting flag to the first setting flag. The specific function and processing of the control unit is also referred to in step S310.
On the frequency converter side, the control unit is specifically further configured to determine that the magnetic bearing fault recovery signal sent by the magnetic bearing controller has been received if the working mode flag of the outer ring of the frequency converter has changed from the second setting flag to the first setting flag. The specific function and processing of the control unit is also referred to in step S320.
And on the side of the frequency converter, the control unit is specifically further configured to determine that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received if the working mode flag of the outer ring of the frequency converter is still a second setting flag, that is, the working mode flag of the outer ring of the frequency converter is not changed from the second setting flag to the first setting flag. The specific function and processing of the control unit is also referred to in step S330.
As shown in fig. 7, the method for quickly restarting the magnetic levitation motor in the magnetic levitation refrigeration centrifuge further comprises:
step 3, judging whether the mode flag bit is 1: if yes, executing the step 4, and if not, returning to the step 2.
Step 4, when the mode flag bit is 1, the magnetic suspension motor carries out a full-switch vector braking control mode, the outer ring control unit is a bus voltage outer ring unit, the bus voltage is controlled to be boosted to a set voltage value, and the outer ring input is a bus voltage set value u dc * Actually sampled bus voltage value u dc The output of the outer ring is the current vector as the electric mode, the current vector obtains the dq axis current reference value according to the MTPA or weak magnetic mode, the dq axis current reference value is the input of the inner ring control unit, and then the step 5 is executed.
In the whole control process, no matter the outer ring control unit is a rotating speed outer ring unit or a busbar voltage outer ring unit, the inner ring control unit, the rotating speed and position estimation unit, the coordinate transformation unit and the PWM modulation unit are all in normal working states, so that the rotating speed and the rotor position of the magnetic suspension motor can be identified in real time in the braking process of the magnetic suspension motor.
Step 5, judging whether the mode flag bit is changed from 1 to 0: if yes, executing the step 6, otherwise, returning to the step 3.
And 6, when the mode flag bit is changed from 1 to 0 again, restarting the magnetic levitation motor after the magnetic levitation motor starts to be restarted, wherein the rotation speed reference value omega of the magnetic levitation motor is increased or reduced on the basis of the rotation speed identified at the moment (namely the rotation speed of the magnetic levitation motor obtained by real-time identification in the braking process of the magnetic levitation motor), and the current is prevented from suddenly changing at the restarting moment of the magnetic levitation motor.
And on the side of the frequency converter, the control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, so that the rotating speed ring participates in the running process of the magnetic suspension motor. And in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized. The specific function and processing of the control unit is also referred to in step S150.
According to the scheme, after the impact failure of the magnetic suspension centrifuge, the magnetic bearing controller transmits a failure occurrence signal of the impact failure of the magnetic suspension centrifuge to the frequency converter in a quick communication mode or other communication modes, the frequency converter carries out full-switch vector modulation braking control on the magnetic suspension motor, so that the damping of a magnetic bearing system is increased, and meanwhile, the rotating speed and the rotor position of the magnetic suspension motor are identified in real time in the braking process of the magnetic suspension motor. In the braking process of the magnetic levitation motor, the busbar voltage is controlled to be boosted to a set rotating speed value, and the kinetic energy of the magnetic levitation motor is converted into electric energy to charge a busbar capacitor and supply power to a busbar load.
The fast communication mode is a communication mode. In the related scheme, the method is realized by software CAN communication, other rapid software communication modes such as network communication and the like CAN be adopted, and a hardware dry contact communication mode CAN also be adopted.
In other communication modes, the magnetic bearing controller transmits a magnetic bearing impact fault signal to the frequency converter in an I/O dry contact mode between the magnetic bearing controller and the frequency converter, and the control effect of the scheme of the invention can be achieved.
In the scheme of the invention, under the condition that the frequency converter carries out full-switch vector modulation braking control on the magnetic suspension motor, after the rotating shaft is restored to be stable and suspended, the magnetic bearing controller transmits a fault restoration signal of the impact fault of the magnetic suspension centrifuge to the frequency converter in a quick communication mode or other communication modes, the frequency converter carries out vector electric control on the magnetic suspension motor, the magnetic suspension motor is restarted, the magnetic suspension motor has a rotating speed (namely a non-zero rotating speed) at the starting moment of restarting the magnetic suspension motor, the target rotating speed of the magnetic suspension motor changes on the basis of the rotating speed obtained by identification when the impact fault of the magnetic suspension centrifuge is restored, the control limit of zero-speed restarting of the magnetic suspension motor in the related scheme is broken, and the restarting time is greatly reduced.
In some embodiments, further comprising: and on the side of the frequency converter, the control unit is further configured to continuously control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang brake control mode after determining whether the magnetic bearing fault recovery signal sent by the magnetic bearing controller is received or not, so as to continuously make the voltage ring participate in the braking process of the magnetic levitation motor after controlling the outer ring of the frequency converter to work in the full-open Guan Shiliang brake control mode. And continuously identifying the rotating speed of the magnetic levitation motor in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode to obtain a rotating speed identification value.
And in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
According to the scheme provided by the invention, when the impact fault protection occurs to the magnetic suspension centrifuge, the damping of the magnetic bearing system is increased by carrying out full-switch vector modulation braking control on the magnetic suspension motor, so that the rotating shaft is quickly restored to be stably suspended, the magnetic suspension motor is quickly restarted on the basis of the rotating speed of the magnetic suspension motor after the suspension is restored, the magnetic suspension motor is not required to be restarted from zero speed after the magnetic suspension motor is completely stopped, the restarting time of the magnetic suspension motor is greatly shortened, and uninterrupted refrigeration of the magnetic suspension centrifuge is realized. Therefore, the problem that the restarting time of the magnetic suspension centrifuge after fault protection is long is solved, the quick restarting of the machine set (namely the machine set where the refrigerating centrifuge is positioned) after short-time fault protection is realized, and the application requirement of uninterrupted operation of the machine set (namely the machine set where the refrigerating centrifuge is positioned) is met.
In this way, the scheme of the invention adopts a full-switch vector braking, bus voltage and current double-loop control mode to control the rotation restarting of the magnetic suspension motor, and when the magnetic bearing impacts faults, the magnetic suspension motor is braked, the rotating speed and the rotor position of the magnetic suspension motor are estimated in real time, and the bus voltage is controlled to be at a set value during braking. When the fault is recovered, the rotating speed and the rotor position at the recovery moment are recorded, the rotating speed of the magnetic suspension motor is controlled to rotate according to the set rotating speed on the basis, the magnetic suspension motor enters an electric control state, the restarting time of the magnetic suspension motor is greatly shortened after the magnetic bearing impacts the fault, and the uninterrupted refrigeration of the magnetic suspension centrifuge is realized.
Since the processes and functions implemented by the apparatus of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the embodiments are not exhaustive, and reference may be made to the descriptions of the foregoing embodiments and their descriptions are omitted herein.
By adopting the technical scheme, the full-switch vector modulation braking control is carried out on the magnetic suspension motor under the condition that the frequency converter receives the impact fault signal of the magnetic suspension centrifuge, so that the damping of the magnetic bearing system is increased, and the rotating speed of the magnetic suspension motor is identified in real time; then, under the condition that a fault recovery signal of the impact fault of the magnetic suspension centrifuge is received by the frequency converter, the magnetic suspension motor has a rotating speed (namely a non-zero rotating speed) at the starting time of restarting the magnetic suspension motor, and the target rotating speed of the magnetic suspension motor changes on the basis of the rotating speed obtained by identification during the impact fault recovery of the magnetic suspension centrifuge, so that the quick restarting of the magnetic suspension motor belt is realized, the quick restarting of the unit (namely the unit where the refrigeration centrifuge is located) after short-time fault protection is realized, and the application requirement of uninterrupted operation of the unit (namely the unit where the refrigeration centrifuge is located) is met.
According to an embodiment of the present invention, there is also provided a magnetic levitation centrifuge corresponding to the control device of the magnetic levitation centrifuge. The magnetic levitation centrifuge may include: the control device of the magnetic suspension centrifuge.
Since the processing and functions implemented by the magnetic suspension centrifuge of the present embodiment basically correspond to the embodiments, principles and examples of the foregoing apparatus, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme, the full-switch vector modulation braking control is carried out on the magnetic suspension motor under the condition that the frequency converter receives the impact fault signal of the magnetic suspension centrifuge, so that the damping of the magnetic bearing system is increased, and the rotating speed of the magnetic suspension motor is identified in real time; then, under the condition that a fault recovery signal of the impact fault of the magnetic suspension centrifuge is received by the frequency converter, the magnetic suspension motor has a rotating speed (namely a non-zero rotating speed) at the starting moment of restarting the magnetic suspension motor, and the target rotating speed of the magnetic suspension motor changes on the basis of the rotating speed obtained by identification when the impact fault of the magnetic suspension centrifuge is recovered, so that the rapid restarting of the magnetic suspension motor with the belt is realized, the restarting time of the magnetic suspension motor is greatly shortened, and the uninterrupted refrigeration of the magnetic suspension centrifuge is realized.
According to an embodiment of the present invention, there is further provided a storage medium corresponding to a control method of a magnetic suspension centrifuge, the storage medium including a stored program, wherein the device in which the storage medium is controlled to execute the control method of the magnetic suspension centrifuge described above when the program runs.
Since the processes and functions implemented by the storage medium of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the present embodiment are not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme, the full-switch vector modulation braking control is carried out on the magnetic suspension motor under the condition that the frequency converter receives the impact fault signal of the magnetic suspension centrifuge, so that the damping of the magnetic bearing system is increased, and the rotating speed of the magnetic suspension motor is identified in real time; then, under the condition that a fault recovery signal of the impact fault of the magnetic suspension centrifuge is received by the frequency converter, the magnetic suspension motor is rotated (namely, the rotation speed is non-zero) at the starting time of restarting the magnetic suspension motor, the target rotation speed of the magnetic suspension motor is changed on the basis of the rotation speed obtained by identification when the impact fault of the magnetic suspension centrifuge is recovered, the rapid restarting of the magnetic suspension motor belt is realized, the zero-speed restarting of the magnetic suspension motor after the complete stopping of the magnetic suspension motor is not needed, and the restarting time is shortened.
In summary, it is readily understood by those skilled in the art that the above-described advantageous ways can be freely combined and superimposed without conflict.
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 (12)

1. The control method of the magnetic suspension centrifuge is characterized in that the magnetic suspension centrifuge is provided with a magnetic suspension motor, a magnetic bearing controller and a frequency converter; the outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, and the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works;
the control method of the magnetic suspension centrifuge comprises the following steps:
under the condition of normal operation after the magnetic suspension motor is started, controlling the working mode of the outer ring of the frequency converter to be the vector electric control mode; in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set as a rotating speed value;
Determining whether a magnetic bearing fault signal sent by the magnetic bearing controller is received; the magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor; wherein determining whether a magnetic bearing failure signal sent by the magnetic bearing controller is received comprises: determining whether a working mode mark of an outer ring of the frequency converter is changed from a first setting mark to a second setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the first set mark to the second set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is received; if the working mode mark of the outer ring of the frequency converter is still a first set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is not received;
if a magnetic bearing fault signal sent by the magnetic bearing controller is received, the working mode of the outer ring of the frequency converter is controlled to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode; the rotating speed of the magnetic levitation motor is identified in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, and a rotating speed identification value is obtained;
After the outer ring of the frequency converter is controlled to work in the full-open Guan Shiliang brake control mode, determining whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received or not; the magnetic bearing fault recovery signal is a recovery signal of magnetic bearing impact faults of the magnetic suspension motor;
if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received, controlling the working mode of the outer ring of the frequency converter to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode; and in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized.
2. The method for controlling a magnetic levitation centrifuge according to claim 1, further comprising at least one of:
after determining whether a magnetic bearing fault signal sent by the magnetic bearing controller is received or not, if the magnetic bearing fault signal is not received, continuously controlling an outer ring of the frequency converter to work in the vector electric control mode;
and/or the number of the groups of groups,
after determining whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received or not, if the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received, continuing to control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang brake control mode; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, continuously identifying the rotating speed of the magnetic levitation motor to obtain a rotating speed identification value;
And in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
3. The control method of a magnetic levitation centrifuge according to claim 1 or 2, wherein the outer ring of the frequency converter further has a mode switching unit;
the mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode; and in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
4. The control method of a magnetic levitation centrifuge according to claim 1 or 2, wherein determining whether a magnetic bearing failure recovery signal transmitted by the magnetic bearing controller is received comprises:
determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark;
if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received;
And if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
5. A method of controlling a magnetic levitation centrifuge according to claim 3, wherein determining whether a magnetic bearing failure recovery signal transmitted by the magnetic bearing controller is received comprises:
determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark;
if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received;
and if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
6. The control device of the magnetic suspension centrifuge is characterized by comprising a magnetic suspension motor, a magnetic bearing controller and a frequency converter; the outer ring of the frequency converter is provided with a rotating speed ring and a voltage ring, the outer ring of the frequency converter can control the rotating speed ring and the voltage ring to work in a switching mode, the working mode of the outer ring of the frequency converter is a vector electric control mode when the rotating speed ring works, and the working mode of the outer ring of the frequency converter is a full-open Guan Shiliang brake control mode when the voltage ring works;
The control device of the magnetic suspension centrifuge comprises:
the control unit is configured to control the working mode of the outer ring of the frequency converter to be the vector electric control mode under the condition of normal operation after the magnetic suspension motor is started; in the vector electric control mode, the rotating speed reference value of the rotating speed ring is set as a rotating speed value;
the control unit is further configured to determine whether a magnetic bearing fault signal sent by the magnetic bearing controller is received; the magnetic bearing fault signal is a signal for generating a magnetic bearing impact fault of the magnetic suspension motor; wherein the control unit determines whether a magnetic bearing fault signal sent by the magnetic bearing controller is received, including: determining whether a working mode mark of an outer ring of the frequency converter is changed from a first setting mark to a second setting mark; if the working mode mark of the outer ring of the frequency converter is changed from the first set mark to the second set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is received; if the working mode mark of the outer ring of the frequency converter is still a first set mark, determining that a magnetic bearing fault signal sent by the magnetic bearing controller is not received;
The control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the vector electric control mode to the full-open Guan Shiliang brake control mode if a magnetic bearing fault signal sent by the magnetic bearing controller is received; the rotating speed of the magnetic levitation motor is identified in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, and a rotating speed identification value is obtained;
the control unit is further configured to determine whether a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received after controlling the outer ring of the frequency converter to work in the full-open Guan Shiliang brake control mode; the magnetic bearing fault recovery signal is a recovery signal of magnetic bearing impact faults of the magnetic suspension motor;
the control unit is further configured to control the working mode of the outer ring of the frequency converter to be switched from the full-open Guan Shiliang brake control mode to the vector electric control mode if a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and in the vector electric control mode, the rotating speed reference value of the rotating speed ring is gradually adjusted to the set rotating speed value on the basis of the rotating speed identification value, so that the restarting of the magnetic suspension motor is realized.
7. The control device of a magnetic levitation centrifuge according to claim 6, further comprising at least one of:
the control unit is further configured to continuously control the outer ring of the frequency converter to work in the vector electric control mode if the magnetic bearing fault signal is not received after determining whether the magnetic bearing fault signal sent by the magnetic bearing controller is received;
and/or the number of the groups of groups,
the control unit is further configured to continuously control the working mode of the outer ring of the frequency converter to be the full-open Guan Shiliang brake control mode if the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received after determining whether the magnetic bearing fault recovery signal sent by the magnetic bearing controller is received; and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, continuously identifying the rotating speed of the magnetic levitation motor to obtain a rotating speed identification value;
and in the braking process of the magnetic levitation motor in the full-open Guan Shiliang braking control mode, controlling the bus voltage of the frequency converter to be boosted to a set voltage value.
8. The control device of a magnetic levitation centrifuge according to claim 6 or 7, wherein the outer ring of the frequency converter further has a mode switching unit;
The mode switching unit can enable the working mode mark of the outer ring of the frequency converter to be a first setting mark in the vector electric control mode; and in the full-switch vector brake control mode, enabling the working mode mark of the outer ring of the frequency converter to be a second set mark.
9. The control device of a magnetic levitation centrifuge according to claim 6 or 7, wherein the control unit determining whether a magnetic bearing failure recovery signal transmitted by the magnetic bearing controller is received comprises:
determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark;
if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received;
and if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
10. The control apparatus of a magnetic levitation centrifuge according to claim 8, wherein the control unit determining whether a magnetic bearing failure recovery signal transmitted by the magnetic bearing controller is received comprises:
Determining whether a working mode mark of an outer ring of the frequency converter is changed from a second setting mark to a first setting mark;
if the working mode mark of the outer ring of the frequency converter is changed from the second set mark to the first set mark, determining that a magnetic bearing fault recovery signal sent by the magnetic bearing controller is received;
and if the working mode mark of the outer ring of the frequency converter is still the second set mark, determining that the magnetic bearing fault recovery signal sent by the magnetic bearing controller is not received.
11. A magnetic levitation centrifuge, comprising: a control device of a magnetic levitation centrifuge according to any of claims 6 to 10.
12. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the control method of the magnetic levitation centrifuge according to any one of claims 1 to 5.
CN202210821731.7A 2022-07-13 2022-07-13 Magnetic suspension centrifuge, control method and device thereof and storage medium Active CN115264976B (en)

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CN109687395A (en) * 2018-11-27 2019-04-26 河海大学 A kind of magnetic suspension motor power-off protection apparatus and method based on electric energy feedback
CN111173836A (en) * 2020-01-03 2020-05-19 珠海格力电器股份有限公司 Control method and system for variable-frequency magnetic suspension air conditioner in data machine room and air conditioner
CN112467969A (en) * 2020-11-05 2021-03-09 珠海格力电器股份有限公司 Starting control device and method of frequency converter and magnetic suspension system
CN112737421A (en) * 2019-10-14 2021-04-30 株洲中车时代电气股份有限公司 Method and system for controlling motor deceleration

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JPS6070944A (en) * 1983-09-26 1985-04-22 Toshiba Corp Controller of combined guide magnetic bearing
CN105041702A (en) * 2015-08-14 2015-11-11 北京中科科仪股份有限公司 Magnetic suspension molecular pump control method and system
CN205725528U (en) * 2016-04-02 2016-11-23 成都浮星科技有限公司 A kind of vector magnetic suspension engine and vector magnetic suspension power system
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