CN115289955A - Magnetic suspension detection device and detection method for measuring slowly-varying displacement and inclination - Google Patents
Magnetic suspension detection device and detection method for measuring slowly-varying displacement and inclination Download PDFInfo
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- CN115289955A CN115289955A CN202211230664.8A CN202211230664A CN115289955A CN 115289955 A CN115289955 A CN 115289955A CN 202211230664 A CN202211230664 A CN 202211230664A CN 115289955 A CN115289955 A CN 115289955A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention discloses a magnetic suspension detection device and a magnetic suspension detection method for measuring slowly varying displacement and inclination. The magnetic suspension detection device comprises a stator, a floater and a detection control system; the stator comprises a stator base, a floater position sensor arranged at the center of the stator base, a suspension control coil surrounding the floater position sensor, a stator magnet surrounding the periphery of the suspension control coil and a floater limiter arranged on the stator base and used for preventing the floater from falling or overturning; the suspension control coil comprises 4n sub-coils with the same structure, and the sub-coils are distributed around the center of the stator base in a circular or regular polygon shape. The invention sets the magnetic suspension detection device on the surface of the measured object or the measured ground moving or inclining slowly, completes the accurate positioning and measurement of the measured object or the measured ground moving or inclining slowly by recording the suspension positioning and following data aiming at the floater, and can send the position and posture information of the measured object or the measured ground to the outside.
Description
Technical Field
The invention relates to a detection device, in particular to a magnetic suspension detection device and a detection method for measuring slowly-varying displacement and inclination.
Background
There are many different ways for measuring distance and displacement, and they can be broadly classified into mechanical, electromechanical, electronic, optical, etc. types according to the specific requirements of different applications. Widely used radars can measure displacement and velocity over long distances and wide ranges; the laser and the ultrasonic can be measured in the range of several to hundreds of meters; the pull rope type sensor can measure several meters to more than ten meters; the acceleration sensor can continuously measure acceleration and indirectly measure displacement.
In some special cases, it is necessary to detect a slowly varying displacement. For stacking higher stacks of goods, less stable mountains or thicker snow layers on mountains, there may be very slow deformation at the top and thus a slight shift, tilt or slip. Although this early change is imperceptible to the naked eye and also difficult to measure with ordinary instrumentation, it can be an accident hazard and pose a potential threat to safety.
For measuring a small distance, optical fiber, electromagnetic, and capacitive sensors are generally used. The most common at present are accelerometers based on MEMS technology and gyroscopes based on fiber optic or laser technology, etc. Such detection devices can measure in the millimeter range. CN201810767710 discloses a micro-displacement detection device based on a mechanical device and a detection method thereof, which requires a force transmission spring. CN200810155488 uses an electromechanical combination method for high precision micro-displacement detection and measurement of calibration mechanical deformation, which requires high magnification speed reducer and micro-displacement generation. CN201520260417 is an electronic micro-displacement detection/monitoring device, which uses FSK induction communication system with the aid of computer to operate multiple signal acquisition devices for displacement detection. CN201010214839 is a software technology, which realizes pixel-level displacement detection by acquiring two images before and after scene image translation and utilizing the phase correlation principle in the frequency domain. In this field, optical detection methods are most widely used. CN202022995918 is a unidirectional micro-displacement detection device based on a light spot image, and comprises a laser and a digital camera. CN201911393106 uses multi-core fiber to perform three-dimensional space coordinate positioning device, and has multi-dimensional micro-displacement detection capability. CN202010024742 is based on four-way signals generated by four-quadrant grating and detector for difference and two-dimensional micro-displacement detection. CN202111299844 relates to an optical interference type integrated micro-displacement sensing structure and a detection method thereof, and is particularly suitable for high-precision sensing technology.
The above patents are generally focused on the high speed and high accuracy of the detection object. It is desirable to provide a device that has a lower manufacturing cost and a simpler manufacturing process while maintaining a higher detection accuracy, a higher linearity, and a faster response speed.
In addition, no matter which position sensor is used, a stable reference object must be found for the measured object or the measured ground during operation to be used as a reference for measurement. This is true for a completely isolated enclosure, such as a submarine immersed at depth, which may be at rest, but under water, which also requires frequent position correction to account for the offset due to ocean currents. Such positional offsets of the submarine can generally be corrected by determining its position relative to the seafloor. In deep sea, due to the fact that the distance between the deep sea and the sea bottom is too far, even floating (or floating by releasing a sensor) is needed, errors are corrected by means of satellite navigation or astronomical navigation; or the submarine can be corrected under the condition that the submarine does not float out of the water surface through the underwater sound navigation mark arranged in advance. However, these all have the potential to expose the whereabouts of the submarine. Therefore, it is still a technical problem to know the slowly changing condition of the position accurately in the inside (such as a completely closed submarine) without obtaining any external reference object and positioning signal.
Disclosure of Invention
The invention aims to provide a magnetic suspension detection device and a magnetic suspension detection method for measuring slowly varying displacement and inclination, and aims to solve the problem that the existing detection device cannot accurately determine the direction in a closed space without an external reference object.
The invention is realized by the following steps:
a magnetic suspension detection device for measuring slowly varying displacement and inclination comprises a stator, a floater and a detection control system;
the stator comprises a stator base, a floater position sensor arranged at the center of the stator base, a suspension control coil surrounding the floater position sensor, a stator magnet surrounding the periphery of the suspension control coil and a floater limiter arranged on the stator base and used for preventing the floater from falling or overturning; the suspension control coil comprises 4n (n is a natural number) sub-coils with the same structure, and the sub-coils are distributed in a circular or regular polygon shape around the center of the stator base;
the floater is a magnetic body and is suspended and supported in the floater limiter by a stator;
the detection control system includes:
the suspension control module is respectively connected with the master control module, the data processing module, the communication module, the floater position sensor and each power amplification circuit, is used for transmitting floater position detection data detected by the floater position sensor to the data processing module, and sends an instruction for adjusting the direction and the intensity of exciting current in the corresponding sub-coil to the corresponding power amplification circuit according to a control signal sent by the master control module so as to control the floater to be stabilized at a floater balance point on the stator;
the power amplification circuits are respectively connected with the suspension control module and one sub-coil and are used for carrying out power amplification on a regulation and control signal sent by the suspension control module aiming at the sub-coil so as to adjust the direction and the intensity of the exciting current in the corresponding sub-coil;
the data processing module is respectively connected with the master control module, the suspension control module and the communication module, and is used for receiving floater position detection data sent by the suspension control module in real time, resolving the power-on rule or state of each sub-coil and sending data processing information aiming at the floater to the master control module;
the communication module is connected with the master control module and used for constructing an information channel for the master control module to be in contact with the outside and sending the detection information obtained by the master control module to the outside; and
and the master control module is respectively connected with the suspension control module, the data processing module and the communication module, and is used for receiving the data processing information sent by the data processing module in real time, sending a regulating signal aiming at the floater to the suspension control module, recording the suspension positioning state of the floater and the follow-up state of the floater when the object to be detected or the ground to be detected slowly moves, obtaining the track data of the slowly-varying displacement and/or the slowly-varying inclination of the object to be detected or the ground to be detected, and sending the detection information to the outside through the communication module.
Further, the float stopper includes the supporter and sets up the float on supporter upper portion and holds the chamber, the supporter is the lid form body, and its lower port is fixed on the stator base, the float holds the chamber and sets up the upper portion at the supporter between two parties, and its inner chamber height is less than the side height of float to prevent that the float from taking place to overturn from top to bottom in the float holds the chamber.
Furthermore, the stator magnet comprises a plurality of magnetic steels with consistent shapes, uniform magnetization and consistent magnetization directions, and the magnetic steels are distributed into a ring and symmetrically distributed by taking the central point of the stator base as a center to form a stable and uniform annular magnetic field.
Furthermore, the stator magnet is circular magnetic steel and is arranged on the circumference taking the center of the stator base as the circle center
Furthermore, the sub-coils in the suspension control coil are divided into four groups by 45-degree orthogonal line cutting by taking the central point of the stator base as the center, wherein the four groups comprise two groups of sub-coils in the transverse direction and two groups of sub-coils in the longitudinal direction; the two groups of sub-coils in the same direction are simultaneously electrified or powered off, and the current directions are opposite; and the closed magnetic field paths formed by the two groups of sub-coils in the transverse position and the two groups of sub-coils in the longitudinal position form an orthogonal relation on the working space of the stator.
The magnetic suspension detection device is placed or fixed on a detected object or a detected ground, and by utilizing the intrinsic characteristic that the floater in a stable floating state is not in any mechanical contact with the surrounding environment and the unique advantage that air resistance can be completely ignored, the floater can be used as an ideal reference object when the floater detects the movement of the surrounding environment under the condition that the whole floater is in a gradual change in the environment position and the floater is in a completely sealed state.
The object of the invention is also achieved in that:
a magnetic suspension detection method for measuring slow-varying displacement and inclination comprises the following steps:
s1, arranging the magnetic suspension detection device on a detected object or a detected ground;
s2, controlling the power-on and power-off of corresponding sub-coils in the suspension control coil and the direction and strength of the power-on current through the detection control system, enabling the floater to stably suspend on a floater balance point position on the stator, and simultaneously recording all regulation and control processes;
s3, when the position of the stator changes along with the position change of the measured object or the measured ground, the magnetic field environment of the stator is adjusted through the master control module to attract or repel the floater, so that the deviated floater gradually tends to and finally floats and is positioned at a new floater balance point;
s4, when the position of the stator changes along with the position of the object to be detected or the ground to be detected to generate continuous micro-movement and/or inclination, the float balance point position on the stator changes along with the change of the position of the stator, and the float can be continuously transferred from the previous float balance point position to the next float balance point position through the regulation and control of the detection control system, so that the follow-up process of the float is completed;
s5, accurately recording the suspension positioning condition of the floater and all regulation and control modes in the follow-up process to obtain track data of the slowly-changed displacement and/or slowly-changed inclination of the detected object or the detected ground.
This stator follows the slowly varying movement of the object or ground being measured, and is in fact the deviation of the entire detection system from the previous position. The float in a stable suspended state effectively assumes the role of a "moving reference" no matter how slowly this deviation occurs. As long as the floater can float normally, the whole process of the displacement of the system can be recorded through software, namely, all the situations of the deviation of the floater are reflected, and therefore the detection data of the slowly-changed displacement and the inclination of the object to be detected or the ground to be detected are obtained. This is also the core of the inventive principle of action and detection method.
The invention can monitor the condition of the object (building, mountain, stacked object, etc.) generating the slowly-varying displacement in real time by the magnetic suspension technology, the principle of the detection method is clear, and the system of the detection device has simple structure and is easy to realize. The detection function which is difficult to realize by the traditional detection method can be completed through the guarantee of a precise magnetic suspension hardware environment and corresponding algorithm software. The most remarkable characteristic of the invention is that the traditional motion reference object is not needed, and the accurate positioning and measurement of the slow movement or the tilting of the measured object or the measured ground can be completed only by the suspension positioning and following technology aiming at the floater. Under ideal conditions, as long as the power supply of the system is kept stable, the invention can record and transmit the condition information of the position and the posture of the measured object or the measured ground to the outside all the time.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic suspension detection device of the invention.
Fig. 2 is a positional relationship diagram of the float and the stator.
Fig. 3 is a schematic diagram of the group control of the levitation control coils.
Fig. 4 is a schematic view of a stator structure with a simplest structure.
Fig. 5 is a schematic diagram of a magnetic circuit between the sub-coils in a group in the grouped control of the levitation control coil.
Fig. 6 is a diagram showing a positional relationship between the float and the stator in the operating state.
Fig. 7 is a state diagram of the float in a non-operating state.
Fig. 8 is a force-bearing diagram of the floater of the magnetic suspension detection device in a tilting state.
Fig. 9 is an overall control flowchart of the inspection control system.
In the figure: 1. stator base, 2, stator magnet, 3, suspension control coil, 4, float position sensor, 5, float stopper, 6, float, 7, magnetic line of force, 8, float holding chamber, 9, top cap.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The magnetic suspension detection device comprises a stator, a floater and a detection control system, wherein the detection control system comprises position detection, suspension control, translation and inclination angle calculation, data communication and the like for the floater.
As shown in fig. 1 and 2, the stator includes a stator base 1, a stator magnet 2, a levitation control coil 3, a float position sensor 4, and a float stopper 5.
In fig. 2, the stator base 1 is a circular planar plate-like body, but may be a regular polygonal planar plate-like body. The float position sensor 4 is fixed at the center point of the stator base 1 and is used for detecting three-dimensional position information of the float. The levitation control coil 3 is composed of 4n (n is a natural number) sub-coils (so as to be orthogonally grouped by 45 ° lines), each of which surrounds the periphery of the float position sensor 4 and is symmetrically distributed with the center point of the stator base 1 as the center, and the distribution form may be various forms such as a circle or a regular polygon. The sub-coils in the levitation control coil 3 have the same structure, that is, the geometric dimensions are consistent, and the winding direction is consistent. Each sub-coil is divided into four groups by cutting according to 45-degree orthogonal lines by taking the float position sensor 4 as a center, and the four groups of sub-coils comprise two groups of sub-coils in the transverse direction and two groups of sub-coils in the longitudinal direction. The two groups of transverse sub-coils are simultaneously electrified or deenergized, and the current directions of the two groups of sub-coils are opposite, so that magnetic poles with opposite polarities are formed, and the two groups of sub-coils form closed magnetic lines 7 (figure 5). The two groups of longitudinal sub-coils are simultaneously electrified or powered off, and the current directions of the two groups of the sub-coils are opposite, so that magnetic poles with opposite polarities are formed, and the two groups of the sub-coils form closed magnetic lines. Therefore, the closed magnetic field path formed by the two groups of longitudinal sub-coils and the closed magnetic field path formed by the two groups of transverse sub-coils form an orthogonal relation on the working space of the stator (figure 3) so as to accurately adjust the position of the floater from the longitudinal direction and the transverse direction.
In the levitation control coil 3, the sub-coils are divided into coil groups in the transverse direction and the longitudinal direction, and the function is to make the floater generate a centering situation in both the longitudinal direction and the transverse direction of the stator base 1, so that the two coil groups in each direction must be driven independently in pairs. Therefore, the sub-coils in the levitation control coil 3 correspond to the power amplification circuits one-to-one, and the power amplification circuits connected to the respective sub-coils must be independently controllable.
The stator magnet 2 comprises a plurality of magnetic steels with consistent shapes, uniform magnetization and consistent magnetization directions, and each magnetic steel is arranged into a ring, symmetrically distributed by taking the central point of the stator base 1 as a center and encircled on the periphery of the suspension control coil 3 to form a stable and uniform annular magnetic field. Of course, a circular magnetic steel can be directly used as the stator magnet 2 at the periphery of the suspension control coil 3.
As shown in fig. 1, the float stopper 5 includes a support body and a float receiving chamber 8. The support body is in a dome shape, and a lower port thereof is fixed to the stator base 1, and the stator magnet 2, the levitation control coil 3, and the float position sensor 4 are all covered in the support body (fig. 1). The float receiving chamber 8 is in the shape of a round box and is provided with a top cover 9 at the top thereof. The float receiving chamber 8 is located at a central position of the top of the support body, and the height of the inner chamber thereof is less than the side standing height of the float 6. The float stop 5 is made of a non-magnetic material such as plastic, and serves as a protective enclosure that seals structural components on the stator. The function of the float accommodating cavity is to provide enough free suspension space for the float (figure 6); secondly, the movement range of the floater can be limited under the working state; thirdly, the floater on the inclined side is supported in a non-working state (figure 7) so as not to be separated from the magnetic force center too far, so that the floater can automatically recover the suspension position after the system is electrified and initialized again, and the adsorption can not be overturned up and down under the action of the magnetic field of the stator; fourthly, when the system is powered off, the floater can be effectively prevented from falling down to the stator below under the blocking action of the floater accommodating cavity.
Fig. 4 shows a simplest stator structure, in which a square float position sensor 4 is arranged at the center of a circular flat plate-shaped stator base 1, four square positions outside the float position sensor 4 are respectively provided with a sub-coil, the four sub-coils have equal distance from the center point of the stator base to form a float control coil 3, two transversely opposite sub-coil pairs form a transverse closed magnetic path, two longitudinally opposite sub-coil pairs form a longitudinal closed magnetic path, and the closed magnetic paths in two directions form an orthogonal relation in the working space of the stator. And four 45-degree oblique angles outside the floater position sensor 4 are respectively provided with a magnetic steel, and the four magnetic steels have consistent shapes, uniform magnetization and consistent magnetization directions, so that the stator magnet 2 is formed. This results in a stator structure with the simplest structure.
As shown in fig. 1 and 2, the float 6 is an independent magnet. The magnetic repulsion force generated between the float 6 and the central portion of the stator magnet 2 should be slightly larger than or equal to the self weight of the float 6. When the float 6 is stably suspended at the float balance point on the stator, the gravity of the float is just balanced with the supporting force of the stator.
As shown in fig. 9, the detection control system includes a general control module, a suspension control module, a power amplification circuit, a data processing module, a communication module, and the like. The suspension control module is respectively connected with the master control module, the data processing module, the communication module, the floater position sensor and each power amplification circuit, and is used for transmitting floater position detection data detected by the floater position sensor 4 to the data processing module, and sending an instruction for adjusting the direction and the intensity of the exciting current in the corresponding sub-coil to the corresponding power amplification circuit according to a control signal sent by the master control module so as to control the floater 6 to be stabilized at a floater balance point on the stator. The number of the power amplifying circuits is the same as the number of the sub-coils in the suspension control coil, and one power amplifying circuit is respectively connected with the suspension control module and one sub-coil and is used for carrying out power amplification on a regulation and control signal sent by the suspension control module aiming at the sub-coil so as to adjust the direction and the intensity of the exciting current in the corresponding sub-coil. The data processing module is respectively connected with the master control module, the suspension control module and the communication module and is used for receiving the floater position detection data sent by the suspension control module in real time, resolving the power-on rule or state of each sub-coil and sending data processing information aiming at the floater to the master control module. The communication module is connected with the master control module and used for constructing an information channel for the master control module to contact with the outside and sending the detection information obtained by the master control module to the outside. The master control module is respectively connected with the suspension control module, the data processing module and the communication module and is used for receiving data processing information sent by the data processing module in real time, sending a regulating signal aiming at the floater to the suspension control module, recording the suspension positioning state of the floater and the follow-up state of the floater when the measured object or the measured ground slowly moves, obtaining the track data of the slowly-varying displacement and/or the slowly-varying inclination of the measured object or the measured ground, and sending the detection information to the outside through the communication module.
The detection control system and the floater position calculating link thereof all run around the stator base, and all basic data of the detection control system and the floater position calculating link are derived from the suspension positioning and follow-up states of the floater. And corresponding sub-coils in the suspension control coils 3 are matched with the power amplification circuit to drive the floater to perform suspension positioning or follow-up. The suspension control module is respectively connected with the floater position sensor 4 and each power amplification circuit and is used for receiving floater state data detected by the floater position sensor 4. The float position sensor 4 is located at the geometric center of the stator base 1, and its installation height on the stator base 1 is not more than half of the height of the sub-coil.
The floater position sensor 4 is a three-dimensional position information sensor, the signal output end of the floater position sensor is connected to the corresponding input end of the single chip microcomputer, and the floater position sensor is used for detecting the accurate position of the floater above the stator and transmitting the detected three-dimensional position information of the floater to the suspension control part of the detection control system. The suspension control part of the detection control system needs to receive the detection data of the float position sensor 4 in real time, solve the power-on rule or state of each sub-coil, obtain a proper suspension control signal through the calculation of a corresponding PID algorithm, and output the suspension control signal to a corresponding power amplification circuit. The power amplification circuit is used for carrying out power amplification on the suspension control signal so as to adjust the direction and the strength of the exciting current in the connected sub-coil, so that the floater can be accurately positioned and stably suspended on a floater balance point on the stator. At the point of float equilibrium, the float can be floatingly positioned in a central position of the float receiving chamber 8 (fig. 6).
During the levitation positioning and following of the float, the data of each step of the float position sensor corresponds to each moving position of the float, and the movement is caused by the fact that the whole system makes equal and opposite movements relative to the float. Therefore, detecting the speed of system movement, regardless of how long it takes, as long as the float remains normally and stably suspended, means that the position of the float is in an "un-differential" state from the center position set by the system (i.e., the float equilibrium point).
The follow-up data in the magnetic suspension detection device comprises all system state changes. The change in the state of the system is recorded, which reflects the change in the position of the detection system and the object or the location to be detected. This is the detection principle for translation, but also for tilting, but the process is more complicated. Of course, if the translation and roll occur simultaneously, then the two software modules, the creep translation and the creep roll, in the data processing module can be run simultaneously to form a comprehensive solution.
As shown in FIG. 8, if the magnetic suspension detecting device of the present invention is placed on an inclined object plane to be detected, the gravity F of the float and the normal line of the center of the magnetic field supporting plane of the stator will not be parallel or coincident, but a gliding component force F parallel to the inclined plane will be resolved 1 And F is 1 And = F × Sin θ. Thus, a new equilibrium position is created. The position and the pre-calibrated equilibrium position will generate aA stable deviation value D. The force of gravity F will be different for different floats and the same value of D will correspond to different values of F 1 . For this, a weighting value should be adjusted, that is: f 1 K is a constant here and can be determined experimentally. At this time, the inclination angle of the detection device of the present invention is the inclination angle of the object to be measured or the ground to be measured, that is: θ = Arcsin (F) 1 /F)=Arcsin(kD /F)。
It can be seen that if the difference D =0, θ =0, indicating that the measured surface of the measured object or the measured ground is in a horizontal state. And the inclination angle of the measured object or the measured ground is gradually increased along with the increase of the value D. Finally when kD = F, then θ = π/2, which means that the measured surface of the measured object or ground is tilted to a vertical state.
For the magnetic suspension system with higher design and manufacture quality, the floater can still normally suspend. In the working state, the magnetic suspension detection device is sensitive to horizontal movement in the horizontal state and is converted into sensitive to vertical displacement in the vertical state. Since 16-bit three-dimensional digital magnetic sensors are widely used at present, the precision of the sensors is enough for the two types of slowly-varying data, so that no matter what state the magnetic suspension detection device is placed in, the magnetic suspension detection device can even measure the small changes of the geomagnetism or gravity in different areas as long as the hardware and software of other parts in the system have enough precision.
For convenience of description, in the general control flow chart of the system shown in fig. 9, the data processing in the data processing module is divided into two items, namely, a slowly varying horizontal shifting portion and a slowly varying horizontal shifting portion. In practice, however, the translation and tilting of the object often occur simultaneously. Therefore, the two parts of computation need to be processed in parallel to finally form a comprehensive solution result.
The weight of different individual floats must differ slightly, and this difference has a large effect on more accurate tilt detection. Therefore, the weight calibration of the individual floats must be carried out for each float and written into the corresponding database of the control system for reading. In order to reduce the occupation of precious memory in a singlechip as much as possible, complex calculations such as trigonometric functions and the like can be directly calculated by corresponding formulas without adopting a lookup table method which is usually high in speed but occupies more memory. Because all other types of data come from a slowly varying external motion segment except for the levitation control module, which requires a high real-time processing, and the communication module, which has a certain speed requirement, and the processing does not have a high speed requirement. The processing content in the data processing module of the present invention is processed according to the content labeled in fig. 9.
The magnetic suspension detection method for measuring the slowly varying displacement and the inclination comprises the following steps:
s1, arranging the magnetic suspension detection device on a detected object or a detected ground.
And S2, controlling the on-off of the corresponding sub-coil in the suspension control coil 3, the direction and the strength of the electrified current and the like through a detection control system in the magnetic suspension detection device, enabling the floater 6 to stably suspend on a floater balance point on the stator, and recording all regulation and control processes.
And S3, when the position of the stator changes along with the position change of the measured object or the measured ground, the magnetic field environment of the stator is adjusted through the master control module to attract or repel the floater, so that the deviated floater gradually tends to and finally floats and is positioned at a new floater balance point.
And S4, when the position of the stator generates continuous micro movement and/or inclination along with the position change of the object to be detected or the ground to be detected, the float balance point position on the stator is changed along with the stator, and the float can be continuously transferred from the previous float balance point position to the next float balance point position through the regulation and control of the detection control system, so that the following process of the float is completed.
And S5, accurately recording the suspension positioning condition of the floater and all regulation and control modes in the follow-up process to obtain track data of the slowly-varying displacement and/or slowly-varying inclination of the measured object or the measured ground, thereby realizing the measurement of the slowly-varying displacement and inclination of the measured object or the measured ground.
Claims (6)
1. A magnetic suspension detection device for measuring slowly varying displacement and inclination is characterized by comprising a stator, a floater and a detection control system;
the stator comprises a stator base, a floater position sensor arranged at the center of the stator base, a suspension control coil surrounding the floater position sensor, a stator magnet surrounding the periphery of the suspension control coil and a floater limiter arranged on the stator base and used for preventing the floater from falling or overturning; the suspension control coil comprises 4n sub-coils with the same structure, wherein n is a natural number, and the sub-coils are distributed in a circular or regular polygon shape around the center of the stator base;
the floater is a magnetic body and is suspended and supported in the floater limiter by a stator;
the detection control system includes:
the suspension control module is respectively connected with the master control module, the data processing module, the communication module, the floater position sensor and each power amplification circuit, is used for transmitting floater position detection data detected by the floater position sensor to the data processing module, and sends an instruction for adjusting the direction and the intensity of exciting current in the corresponding sub-coil to the corresponding power amplification circuit according to a control signal sent by the master control module so as to control the floater to be stabilized at a floater balance point on the stator;
the power amplification circuits are respectively connected with the suspension control module and one sub-coil and are used for carrying out power amplification on a regulation and control signal sent by the suspension control module aiming at the sub-coil so as to adjust the direction and the intensity of the exciting current in the corresponding sub-coil;
the data processing module is respectively connected with the master control module, the suspension control module and the communication module, and is used for receiving floater position detection data sent by the suspension control module in real time, resolving the power-on rule or state of each sub-coil and sending data processing information aiming at the floater to the master control module;
the communication module is connected with the master control module and used for constructing an information channel for the master control module to be in contact with the outside and sending the detection information obtained by the master control module to the outside; and
and the master control module is respectively connected with the suspension control module, the data processing module and the communication module and is used for receiving data processing information sent by the data processing module in real time, sending a regulating signal aiming at the floater to the suspension control module, recording the suspension positioning state of the floater and the follow-up state of the floater when the measured object or the measured ground slowly moves to obtain track data of the slowly-varying displacement and/or the slowly-varying inclination of the measured object or the measured ground, and sending detection information outwards through the communication module.
2. The magnetic suspension detection device as claimed in claim 1, wherein the float stopper comprises a support body and a float receiving cavity arranged at the upper part of the support body, the support body is in a cover shape, the lower port of the support body is fixed on the stator base, the float receiving cavity is arranged at the upper part of the support body in the middle, and the height of the inner cavity of the float receiving cavity is smaller than the side standing height of the float.
3. The magnetic suspension detection device according to claim 1, wherein the stator magnet comprises a plurality of magnetic steels with consistent shapes, uniform magnetization and consistent magnetization directions, and the magnetic steels are arranged in a ring and symmetrically distributed by taking the center point of the stator base as a center.
4. The magnetic levitation detection device as recited in claim 1, wherein the stator magnet is a circular magnetic steel disposed on a circumference centered on a center of the stator base.
5. The magnetic levitation detecting device as claimed in claim 1, wherein the sub-coils of the levitation control coil are divided into four groups by 45 ° orthogonal line cutting centered on the center point of the stator base, including two groups of sub-coils in a lateral direction and two groups of sub-coils in a longitudinal direction; the two groups of sub-coils in the same direction are simultaneously electrified or powered off, and the current directions are opposite; and the closed magnetic field paths formed by the two groups of sub-coils in the transverse position and the two groups of sub-coils in the longitudinal position form an orthogonal relation on the working space of the stator.
6. A magnetic suspension detection method for measuring slowly varying displacement and inclination is characterized by comprising the following steps:
s1, arranging the magnetic suspension detection device of any one of claims 1~5 on an object to be detected or a ground to be detected;
s2, controlling the power-on and power-off of corresponding sub-coils in the suspension control coil and the direction and strength of the power-on current through the detection control system, enabling the floater to stably suspend on a floater balance point position on the stator, and simultaneously recording all regulation and control processes;
s3, when the position of the stator changes along with the position change of the measured object or the measured ground, adjusting the magnetic field environment of the stator through the master control module to attract or repel the floater, so that the deviated floater gradually tends to and finally is suspended and positioned on a new floater balance point on the stator;
s4, when the position of the stator changes along with the position of the object to be detected or the ground to be detected to generate continuous micro-movement and/or inclination, the float balance point position on the stator changes along with the change of the position of the stator, and the float can be continuously transferred from the previous float balance point position to the next float balance point position through the regulation and control of the detection control system, so that the follow-up process of the float is completed;
s5, accurately recording the suspension positioning condition of the floater and all regulation and control modes in the follow-up process to obtain track data of the slowly-changed displacement and/or slowly-changed inclination of the detected object or the detected ground.
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