CN115664260A - Magnetic suspension rotor static balance system and method based on magnetic bearing magnetomotive calculation - Google Patents

Abstract

A magnetic suspension rotor static balance system and method based on magnetic bearing magnetomotive force comprises the following steps: the device comprises a magnetic suspension rotor system unit, a full-circle rotation control unit, a characteristic current extraction unit and a static balance weight resolving unit. The magnetic suspension rotor system unit suspends the unbalanced rotor, and the full-circle rotation control unit controls the unbalanced rotor to stably rotate around a geometric shaft of the unbalanced rotor. The characteristic current extraction unit extracts characteristic current from the winding current acquired by the magnetic suspension rotor system unit. And the static balance weight calculating unit calculates the weight mass and the weight angular position required by the static balance of the unbalanced rotor according to the characteristic current obtained by the characteristic current extracting unit.

Description

A Static Balancing System and Method for Magnetic Suspension Rotor Based on Magnetic Force Calculation of Magnetic Bearing

technical field

The invention relates to a static balancing system and method of a magnetic levitation rotor based on magnetic calculation of a magnetic bearing, which is suitable for online static balancing of a magnetic levitation rotor system.

Background technique

Compared with traditional mechanical bearings, magnetic suspension bearings have the characteristics of no contact, no wear, small vibration, and active control. They have broad application prospects in aerospace precision electromechanical products such as magnetic suspension flywheels, magnetic suspension control moment gyroscopes, and magnetic suspension rotary joints.

The rotating part of the magnetic levitation rotary joint is a non-rotating body, and a variety of stand-alone equipment is installed on it, and its mass distribution cannot be accurately estimated and measured. At the same time, although the rotating speed of the magnetic levitation rotary joint is low, the mass and moment of inertia of the rotor part are extremely large, all of which will lead to a large residual imbalance of the magnetic levitation rotary joint. In order to improve the linearity of the magnetic bearing and remove the negative stiffness of the displacement, the magnetic levitation rotary joint adopts the Lorentz force magnetic bearing, which has a small bearing capacity. The residual unbalance causes the magnetic levitation rotary joint to fail to achieve the levitation control accuracy. Larger residual imbalances can even exceed the maximum load-carrying capacity of the magnetic bearing, resulting in the phenomenon that the rotor hits the protective bearing. Therefore, high-precision static balancing must be performed on the rotating part of the magnetic levitation rotary joint.

The existing static unbalance measurement methods are mainly balancing machines and gravity testing methods. Regardless of offline or online balancing machines, the rotor needs to have a higher speed, while the speed of the magnetic levitation rotary joint is relatively low, which cannot meet the speed threshold requirements of the balancing machine; the gravity testing method, It is to place the rotor horizontally and use the trial and error method to complete the static balance counterweight. Rotary joints are difficult to place horizontally on the ground, so traditional gravity testing methods cannot be used.

To sum up, the static unbalance of the maglev rotary joint is large, which seriously affects the control accuracy of the system. The existing static balance method cannot be applied to the low-speed rotating body of the maglev rotary joint, which cannot be placed horizontally.

Contents of the invention

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, and to provide a static balancing system for a magnetic levitation rotor based on the calculation of the magnetic force of the magnetic bearing, to carry out online static balancing of the magnetic levitation system in which the sensor and the magnetic bearing are both on the rotor, which can be efficiently , Realize the static balance of the magnetic levitation rotor with low speed and cannot be placed horizontally with high precision.

The technical solution of the present invention is: a static balancing system for a magnetic levitation rotor based on magnetic calculation of magnetic bearings, comprising:

a magnetic levitation rotor system unit for levitating an unbalanced rotor; and

a full turn rotation control unit for controlling the stable rotation of the unbalanced rotor about its geometric axis; and

A characteristic current extraction unit, configured to extract a characteristic current from the winding current obtained by the magnetic levitation rotor system; and

The static balance counterweight calculation unit is used to calculate the counterweight mass and counterweight angular position required by the static balance of the unbalanced rotor according to the characteristic current.

Further, the magnetic levitation rotor system unit includes a displacement sensor, a magnetic bearing drive controller, and a rotor system;

The magnetic bearing drive controller receives the floating command sent by the full-turn rotation control unit and the output signal of the displacement sensor, calculates the control amount and performs power amplification, and supplies the magnetic bearing winding Au, winding Av, winding Bu, and winding Bv of the rotor system Provide current; simultaneously collect magnetic bearing winding Au current i _au , winding Av current i _av , winding Bu current i _bu , winding Bv current i _bv and send them to the characteristic current extraction unit;

The displacement sensor is used to detect the unbalanced rotor position of the rotor system, and the difference from the reference position is sent to the magnetic bearing drive controller;

The rotor system unit includes an unbalanced rotor, a balance plate A, a magnetic bearing A, a magnetic bearing B, and a balance plate B; the balance plate A, the magnetic bearing A, the magnetic bearing B, and the balance plate B are fixed on the unbalanced rotor, along the The unbalanced rotor is placed axially; magnetic bearing A includes magnetic pole Au, winding Au, magnetic pole Av, and winding Av; magnetic bearing B includes magnetic pole Bu, winding Bu, magnetic pole Bv, and winding Bv; magnetic bearing A and magnetic bearing B generate electromagnetic force For the unbalanced rotor, the unbalanced rotor is suspended to a reference position; the balance plate A places the counterweight mass _ma , and the balance plate B places the counterweight mass m _b to realize the static balance counterweight of the unbalanced rotor.

Further, the static coordinate system O(x,y) of the maglev rotor system unit and the fixed rotor coordinate system O(u,v) are determined as follows: Let the geometric center axis of the unbalanced rotor be O, and the distance from O to the center of the magnetic pole Au is The direction of the fixed rotor coordinate system Ou, from O to the center of the magnetic pole Av is the direction of the rotor fixed coordinate system Ov, and the Ov direction is the counterclockwise rotation of 90° in the direction of Ou; the unbalanced rotor is rotated to make it reach the characteristic angular position, and the stationary coordinate system at this time The Ox direction of O(x,y) coincides with the Ou direction of the rotor fixed coordinate system O(u,v), and the Oy direction of the stationary coordinate system O(x,y) coincides with the rotor fixed coordinate system O(u,v) The Ov direction coincides.

Further, the magnetic bearing drive controller calculates the control quantity, including:

Integrate the control error to obtain the integral control quantity, which is used to eliminate the static error and realize the rotation of the unbalanced rotor around its geometric axis;

Amplify the control error to obtain the proportional control amount, which is used to provide the support stiffness;

Differential processing is performed on the control error to obtain the differential control value, which is used to provide support damping;

The weighted addition of the integral control quantity, proportional control quantity and differential control quantity is the control quantity calculated by the magnetic bearing drive controller, which provides current to the magnetic bearing winding Au, winding Av, winding Bu and winding Bv of the rotor system through power amplification.

Further, the full-circle rotation control unit first sends a floating command to the maglev rotor system unit; then controls the unbalanced rotor in the maglev rotor system unit to rotate at a stable speed of speed ω; after the speed is stable, sends a command to the characteristic current extraction unit Static balance calculation start command, and send static balance calculation end command after t seconds of rotation; where, t is the time required for the unbalanced rotor to rotate M complete cycle, t=2πM/ω.

Further, the characteristic current extraction unit receives the initial static balance calculation instruction sent by the full-turn rotation control unit, and the accumulative counter n starts counting from zero to collect the current i _au of the magnetic bearing winding Au, the current i av of the winding Av, and the current i _av of the winding Bu Current i _bu , winding Bv current i _av and cumulative operation;

Receive the static balance calculation end command sent by the full-circle rotation control unit, at this time the accumulative counter n counts to N, and calculate the components of each winding current in the direction of the fixed rotor coordinate system Ou and Ov, which is:

Wherein, N=t/T is the accumulative duration, T is the servo cycle time, and t is the full cycle time of the unbalanced rotor rotating M circles.

Further, the static balance counterweight calculation unit includes a static balance counterweight component calculation module, a static balance counterweight mass calculation module, and a static balance counterweight angular position calculation module;

The static balance counterweight component calculation module calculates the components of the static balance counterweight in the Ou and Ov directions of the fixed rotor coordinate system according to the results obtained by the characteristic current extraction unit, and the result is:

Among them, _ma is the correction mass required by the balance plate A, m _b is the correction mass required by the balance plate B, ma _au is the component of ma _a in the direction of the rotor fixed coordinate system Ou, and ma _av is the component of ma _a in the fixed rotor coordinate system The component in the Ov direction of the coordinate system, m _bu is the component of m _b in the Ou direction of the fixed rotor coordinate system, and m _bv is the component of m _b in the Ov direction of the rotor fixed coordinate system; r _a and r _b are the balance discs The distance from the calibration mass on A and B to the rotating shaft, k _ia and k _ib are the current stiffnesses of magnetic bearing A and magnetic bearing B respectively; L _mta is the axial distance from _ma to the center of mass of the unbalanced rotor, and L _mtb is m _b The axial distance to the center of mass of the unbalanced rotor, L is the axial distance from balance disk A to balance disk B, _L2 is the axial distance from magnetic bearing A to magnetic bearing B, and g is the gravitational acceleration constant;

The mass calculation module of the static balance counterweight calculates the mass ma of the counterweight required by the balance plate A _and the mass m _b of the counterweight required by the balance plate B according to the results obtained by the component calculation module of the static balance counterweight, respectively:

平衡盘B所需配重质量的角位置

分别为：The static balance counterweight angular position calculation module calculates the angular position of the counterweight mass required by the balance plate A according to the results obtained by the static balance counterweight component calculation module

The angular position of the counterweight mass required for the balance plate B

They are:

According to the magnetic levitation rotor static balancing method realized by the magnetic levitation rotor static balancing system based on the magnetic force calculation of the magnetic bearing, it includes:

Control unbalanced rotor suspension;

Control the unbalanced rotor to rotate stably around its geometric axis;

Obtain the winding current of the unbalanced rotor;

Extract the characteristic current component from the winding current;

According to the characteristic current components, the counterweight mass required by the unbalanced rotor is calculated.

A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the static balancing method for a magnetic levitation rotor based on magnetic bearing magnetic calculation are implemented.

A static balancing device for a magnetic levitation rotor based on magnetic calculation of magnetic bearings, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the computer program The step of realizing the static balancing method of the magnetic levitation rotor based on the calculation of the magnetic force of the magnetic bearing.

The advantage of the present invention compared with prior art is:

(1) In the ground experiment stage, the present invention does not need to place the rotating joint horizontally, conducts force/torque balance analysis on the magnetic levitation rotor, uses the radial magnetic bearing winding current to solve the static balance counterweight with high precision, and improves the static balance accuracy.

(2) The present invention uses the magnetic bearing/position sensor of the magnetic levitation rotary joint itself as the static balance counterweight calculation device, and does not need to arrange additional detection sensors, thereby improving work efficiency.

Description of drawings

Fig. 1 is a block diagram of a static balancing system for a magnetic levitation rotor based on the calculation of the magnetic force of the magnetic bearing;

Figure 2 is a structural diagram of the magnetic levitation rotor system;

Fig. 3 is a schematic diagram of the stationary coordinate system O(x,y) and the fixed rotor coordinate system O(u,v);

Figure 4 is a schematic diagram of the static unbalance of the magnetic levitation rotor and the force of the counterweight;

Fig. 5 is a block diagram of a characteristic current extraction unit;

Figure 6 is a block diagram of the static balance counterweight calculation unit.

Detailed ways

In order to better understand the above technical solutions, the technical solutions of the present application will be described in detail below through the accompanying drawings and specific examples. It should be understood that the embodiments of the present application and the specific features in the examples are detailed descriptions of the technical solutions of the present application, and It is not a limitation to the technical solutions of the present application, and the embodiments of the present application and the technical features in the embodiments can be combined without conflict.

The following is a further detailed description of a static balancing system for a magnetic levitation rotor based on magnetic calculation of magnetic bearings provided by the embodiment of the present application in conjunction with the drawings of the description. The specific implementation methods may include (as shown in Figures 1 to 6): The unit is used to suspend the unbalanced rotor; and the full-turn rotation control unit is used to control the unbalanced rotor to rotate stably around its geometric axis; and the characteristic current extraction unit is used to extract the characteristic current from the winding current obtained by the magnetic levitation rotor system ; and a static balance counterweight calculation unit, which is used to calculate the counterweight mass and counterweight angular position required by the static balance of the unbalanced rotor according to the characteristic current.

In the solution provided by the embodiment of the present application, a static balance system of a magnetic levitation rotor based on the calculation of the magnetic force of the magnetic bearing mainly includes a magnetic levitation rotor system unit, a full-turn rotation control unit, a characteristic current extraction unit, and a static balance counterweight calculation unit . Both the position sensor and the magnetic bearing of the magnetic levitation rotary joint are on the rotor. The eccentric value of the geometric center of the unbalanced rotor detected by the sensor is a DC flow, and the control force applied by the magnetic bearing to the unbalanced rotor is also a DC flow. The geometric center of the rotor rotates at a constant speed, and the gravitational moment generated by the static unbalance of the rotor (center of mass offset) and the DC electromagnetic force of the magnetic bearing on the rotor form a rectangular torque balance. Using the double-plane method to balance the rotor, the sum of the gravitational moment generated by the counterweights on the balance surfaces at both ends and the DC electromagnetic force of the magnetic bearing on the rotor form a torque balance, and the centrifugal moment generated by the counterweights on the balance surfaces at both ends is also To form a moment balance, according to the force/torque balance relationship above, the mass of the static unbalanced counterweight can be resolved.

1. A static balancing system for a magnetic levitation rotor based on magnetic calculation of magnetic bearings

As shown in Figure 1, the present invention mainly includes a magnetic levitation rotor system unit 1, a complete rotation control unit 2, a characteristic current extraction unit 3, and a static balance counterweight calculation unit 4; wherein, the magnetic levitation rotor system unit 1 suspends an unbalanced rotor, The full turn rotation control unit 2 controls the geometric axis of the unbalanced rotor to rotate stably. The characteristic current extraction unit 3 extracts the characteristic current from the winding current obtained by the maglev rotor system unit 2 . The static balance counterweight calculating unit 4 calculates the mass and angular position of the counterweight required by the static balance of the magnetic levitation rotor according to the characteristic current obtained by the characteristic current extraction unit.

2. Magnetic levitation rotor system unit

The magnetic levitation rotor system unit includes a displacement sensor, a magnetic bearing drive controller, and a rotor system; the magnetic bearing drive controller receives the floating command sent by the full-circle rotation control unit and the output signal of the displacement sensor, calculates the control amount and performs power amplification, Provide current to the magnetic bearing winding Au, winding Av, winding Bu, winding Bv of the rotor system; at the same time collect the magnetic bearing winding Au current i _au , winding Av current i _av , winding Bu current i _bu , winding Bv current i _bv and send them to the characteristic The current extraction unit; the displacement sensor is used to detect the unbalanced rotor position of the rotor system, and the difference from the reference position is sent to the magnetic bearing drive controller; the rotor system unit includes an unbalanced rotor, a balance disk A, a magnetic Bearing A, magnetic bearing B, and balance disc B; balance disc A, magnetic bearing A, magnetic bearing B, and balance disc B are fixed on the unbalanced rotor and placed along the axial direction of the unbalanced rotor; magnetic bearing A includes magnetic poles Au and windings Au , magnetic pole Av, winding Av, magnetic bearing B includes magnetic pole Bu, winding Bu, magnetic pole Bv, and winding Bv; magnetic bearing A and magnetic bearing B generate electromagnetic force and apply it to the unbalanced rotor, so that the unbalanced rotor is suspended to the reference position; The balance plate A places the counterweight mass _ma , and the balance plate B places the counterweight mass m _b to realize the static balance counterweight of the unbalanced rotor.

Specifically, as shown in Figure 2, it is the magnetic levitation rotor system unit of the present invention, including: a displacement sensor, a magnetic bearing drive controller, and a rotor system. The sensor detects the unbalanced rotor position of the rotor system, and the difference from the reference position is sent to the magnetic bearing drive controller, and the control value is calculated and amplified to provide the magnetic bearing winding Au, winding Av, winding Bu, and winding Bv of the rotor system supply current. The magnetic bearing A and magnetic bearing B of the rotor system generate electromagnetic force to apply to the unbalanced rotor, so that the unbalanced rotor is suspended to the reference position. The magnetic bearing drive controller collects the current i _au of the magnetic bearing winding Au, the current i _av of the winding Av, the current i bu of the winding _Bu , and the current i _{bv of the winding Bv, and} transmits them to the characteristic current extraction unit.

Specifically, the magnetic bearing drive controller calculates the control quantity, including:

Integrate the control error to obtain the integral control quantity, which is used to eliminate the static error and realize the rotation of the unbalanced rotor around its geometric axis;

Amplify the control error to obtain the proportional control amount, which is used to provide the support stiffness;

Differential processing is performed on the control error to obtain the differential control value, which is used to provide support damping;

The weighted addition of the integral control quantity, proportional control quantity and differential control quantity is the control quantity calculated by the magnetic bearing drive controller, which provides current to the magnetic bearing winding Au, winding Av, winding Bu and winding Bv of the rotor system through power amplification.

3. Definition of stationary coordinate system O(x,y) and fixed rotor coordinate system O(u,v)

The rotor system unit of the present invention includes an unbalanced rotor, a balance disk A, a magnetic bearing A, a magnetic bearing B, and a balance disk B. The magnetic bearing A includes a magnetic pole Au, a winding Au, a magnetic pole Av, and a winding Av, and the magnetic bearing B includes a magnetic pole. Bu, winding Bu, magnetic pole Bv, winding Bv.

As shown in FIG. 3 , it is a schematic diagram of the static coordinate system O(x, y) and the fixed rotor coordinate system O(u,v) of the static balance system of the magnetic levitation rotor based on the magnetic calculation of the magnetic bearing according to the present invention. The static coordinate system O(x, y) and the fixed rotor coordinate system O(u, v) of the rotor system are determined as follows: Let the geometric center axis of the rotor be O, and the direction from O to the center of the magnetic pole Au is the fixed rotor coordinate system Ou , from O to the center of the magnetic pole Av is the Ov direction of the fixed rotor coordinate system, and the Ov direction is the counterclockwise rotation of 90° in the Ou direction; rotate the unbalanced rotor to make it reach the characteristic angular position (the angular position at which the angular position sensor output is zero), this When the Ox direction of the stationary coordinate system O(x,y) coincides with the Ou direction of the rotor fixed coordinate system O(u,v), the Oy direction of the static coordinate system O(x,y) coincides with the rotor fixed coordinate system O( The Ov direction of u, v) coincides.

4. Schematic diagram of the static unbalance of the maglev rotor and the force of the counterweight

As shown in FIG. 4 , it is a schematic diagram of static unbalance and counterweight force of the magnetic levitation rotor according to the present invention. The axial distance between the balance plate A, the magnetic bearing A, the balance plate B, and the magnetic bearing B is: L ₁ , L ₂ , L ₃ , where L ₁ +L ₂ +L ₃ =L. The axial distances from balance disk A and balance disk B to the centroid are L _mta and L _mtb respectively. The axial distances from the magnetic bearing A, the magnetic bearing B to the centroid are L _ma and L _mb respectively. The axial distances from the counterweight masses ma and m _b on the balance disc A and the balance disc _B to the rotating shaft are r _a and r _b respectively. The eccentricity of the center of mass of the unbalanced rotor is e _m . The gravity of the rotor system is G _m . The gravity of the counterweight mass _ma on the balance plate A is G _ma , and the gravity of the counterweight mass m _b on the balance plate B is G _mb .

The balance equation of the magnetic force of the A and B-side magnetic bearings is:

F _ma +F _mb =0

The balance equation of the acting torque of the magnetic bearings F _ma and F _mb on the unbalanced rotor and the gravity G _m of the magnetic bearings at the A and B ends is:

F _ma ×L _ma -F _mb ×L _mb = G _m ×e _m

The balance equations of the moment acting on the rotor by the magnetic force F _ma and F _mb of the magnetic bearing at the A and B ends and the counterweight mass ma and m _b of the A and _B ends are:

F _ma ×L _ma -F _mb ×L _mb =m _a ×g×r _a -m _b ×g×r _b

The equilibrium equation of the centrifugal moment of the counterweight masses _ma and m _b at the ends of A and B is:

m _a ×r _a ×L _mta +m _b ×r _b ×L _mtb ＝0

The sum of the axial distances from the balance discs at A and B ends to the center of mass of the unbalanced rotor satisfies

L _mta +L _mtb = L

The sum of the axial distances from the A and B-side magnetic bearings to the center of mass of the unbalanced rotor satisfies

L _ma +L _mb =L ₂

The magnetic forces F _ma and F _mb of the magnetic bearings at the A and B ends satisfy the following equations

F _ma =k _ia i _au +k _ia i _av

F _mb =k _ib i _bu +k _ib i _bv

Among them, k _ia and k _ib are the current stiffnesses of magnetic bearing A and magnetic bearing B respectively, i _au is the Au current of the magnetic bearing winding, i _av is the Av current of the magnetic bearing winding, i _bu is the Bu current of the magnetic bearing winding, and i _av is Magnetic bearing winding Bv current.

5. Feature current extraction unit

As shown in FIG. 5 , it is a flow chart of the characteristic current extraction unit 4 according to the present invention. The characteristic current extraction unit receives the static balance calculation initial instruction sent by the full-circle rotation control unit, and the counter n starts to accumulate from zero. The magnetic bearing winding Au current i _au , winding Av current i _av , winding Bu current i _bu , and winding Bv current i _av are collected and accumulated.

Receive the static balance calculation end instruction sent by the full-turn rotation control unit, the counter n counts to N (N=t/T is the accumulation time, T is the servo cycle time, t is the entire cycle time of the rotor rotation M circles), and the winding current is calculated. The components in the direction of Ou and Ov of the fixed rotor coordinate system are:

6. Calculation unit of static balance counterweight

As shown in Figure 6, it is a structural block diagram of the static balance counterweight calculation unit 4 according to the present invention. The static balance counterweight calculation unit includes a static balance counterweight component calculation module 41 and a static balance counterweight mass calculation module 42. And static balance counterweight angular position calculation module 43.

The static balance counterweight component calculation module 41 solves the components of the static balance counterweight in the direction of Ou and Ov of the fixed rotor coordinate system according to the result obtained by the characteristic current extraction unit 3, and the result is:

Among them, _ma is the correction mass required by the balance plate A, m _b is the correction mass required by the balance plate B, ma _au is the component of ma _a in the direction of the rotor fixed coordinate system Ou, and ma _av is the component of ma _a in the fixed rotor coordinate system The component in the Ov direction of the coordinate system, m _bu is the component of m _b in the Ou direction of the fixed rotor coordinate system, and m _bv is the component of m _b in the Ov direction of the rotor fixed coordinate system; r _a and r _b are the balance discs The distances from the calibration mass on A and B to the rotating shaft, k _ia and k _ib are the current stiffnesses of magnetic bearing A and magnetic bearing B respectively. L _mta and L _mtb are the axial distances from ma and m _b to the center of mass of the unbalanced rotor respectively, L is the axial _distance from balance disk A to balance disk B, L ₂ is the axial distance from magnetic bearing A to magnetic bearing B, g is the gravitational acceleration constant.

The static balance counterweight mass calculation module 42 calculates the counterweight mass ma required by the balance disc A and the counterweight mass m _b required by the balance disc _B according to the results obtained by the static balance counterweight component calculation module 41, which are respectively:

平衡盘B所需配重质量的角位置

分别为：The static balance counterweight angular position calculation module 43 calculates the angular position of the counterweight mass required by the balance plate A according to the results obtained by the static balance counterweight component calculation module 41

The angular position of the counterweight mass required for the balance plate B

They are:

The full-circle rotation control unit first sends a floating command to the maglev rotor system unit; then controls the unbalanced rotor in the maglev rotor system unit to rotate at a steady speed of speed ω; after the speed is stable, it sends the static balance calculation start to the characteristic current extraction unit command, and send the command to end the static balance calculation after rotating for t seconds; where, t is the time required for the unbalanced rotor to rotate M circles, t=2πM/ω.

Based on the same inventive concept as that in Fig. 1, the present invention also provides a static balancing method for a magnetically suspended rotor based on the static balancing system of the magnetically suspended rotor based on the calculation of the magnetic force of the magnetic bearing, including:

Control unbalanced rotor suspension;

Control the unbalanced rotor to rotate stably around its geometric axis;

Obtain the winding current of the unbalanced rotor;

Extract the characteristic current component from the winding current;

According to the characteristic current components, the counterweight mass required by the unbalanced rotor is calculated.

The present application provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and when the computer instructions are run on a computer, the computer is made to execute the method described in FIG. 1 .

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.

Claims (10)

1. A magnetic levitation rotor static balancing system based on magnetic calculation of magnetic bearings, characterized in that it comprises: a magnetic levitation rotor system unit for levitating an unbalanced rotor; and a full turn rotation control unit for controlling the stable rotation of the unbalanced rotor about its geometric axis; and A characteristic current extraction unit, configured to extract a characteristic current from the winding current obtained by the magnetic levitation rotor system; and The static balance counterweight calculation unit is used to calculate the counterweight mass and counterweight angular position required by the static balance of the unbalanced rotor according to the characteristic current. 2. A magnetic levitation rotor static balancing system based on magnetic bearing magnetic calculation according to claim 1, wherein the magnetic levitation rotor system unit includes a displacement sensor, a magnetic bearing drive controller, and a rotor system; The magnetic bearing drive controller receives the floating command sent by the full-turn rotation control unit and the output signal of the displacement sensor, calculates the control amount and performs power amplification, and supplies the magnetic bearing winding Au, winding Av, winding Bu, and winding Bv of the rotor system Provide current; simultaneously collect magnetic bearing winding Au current i _au , winding Av current i _av , winding Bu current i _bu , winding Bv current i _bv and send them to the characteristic current extraction unit; The displacement sensor is used to detect the unbalanced rotor position of the rotor system, and the difference from the reference position is sent to the magnetic bearing drive controller; The rotor system unit includes an unbalanced rotor, a balance plate A, a magnetic bearing A, a magnetic bearing B, and a balance plate B; the balance plate A, the magnetic bearing A, the magnetic bearing B, and the balance plate B are fixed on the unbalanced rotor, along the The unbalanced rotor is placed axially; magnetic bearing A includes magnetic pole Au, winding Au, magnetic pole Av, and winding Av; magnetic bearing B includes magnetic pole Bu, winding Bu, magnetic pole Bv, and winding Bv; magnetic bearing A and magnetic bearing B generate electromagnetic force For the unbalanced rotor, the unbalanced rotor is suspended to a reference position; the balance plate A places the counterweight mass _ma , and the balance plate B places the counterweight mass m _b to realize the static balance counterweight of the unbalanced rotor. 3. A static balancing system for a magnetic levitation rotor based on magnetic calculation of magnetic bearings according to claim 2, wherein the static coordinate system O(x, y) of the magnetic levitation rotor system unit and the fixed rotor coordinate system O(u , v) is determined as follows: Let the geometric center axis of the unbalanced rotor be O, the direction from O to the center of the magnetic pole Au is the Ou direction of the rotor fixed coordinate system, and the direction from O to the center of the magnetic pole Av is the Ov direction of the rotor fixed coordinate system, and the Ov direction is Rotate 90° counterclockwise in the Ou direction; rotate the unbalanced rotor to reach the characteristic angular position, at this time the Ox direction of the stationary coordinate system O(x,y) coincides with the Ou direction of the rotor fixed coordinate system O(u,v), The Oy direction of the stationary coordinate system O(x,y) coincides with the Ov direction of the fixed rotor coordinate system O(u,v). 4. A static balancing system for a magnetic levitation rotor based on magnetic calculation of magnetic bearings according to claim 2, wherein the magnetic bearing drive controller calculates the control amount, including: Integrate the control error to obtain the integral control quantity, which is used to eliminate the static error and realize the rotation of the unbalanced rotor around its geometric axis; Amplify the control error to obtain the proportional control amount, which is used to provide the support stiffness; Differential processing is performed on the control error to obtain the differential control value, which is used to provide support damping; The weighted addition of the integral control quantity, proportional control quantity and differential control quantity is the control quantity calculated by the magnetic bearing drive controller, which provides current to the magnetic bearing winding Au, winding Av, winding Bu and winding Bv of the rotor system through power amplification. 5. A static balancing system for a magnetic levitation rotor based on magnetic calculations of magnetic bearings according to claim 2, wherein the full-circle rotation control unit first sends a levitation instruction to the system unit of the magnetic levitation rotor; then controls the magnetic levitation rotor The unbalanced rotor in the system unit rotates at a steady speed of speed ω; after the speed is stable, the static balance calculation start command is sent to the characteristic current extraction unit, and the static balance calculation end command is sent after rotating for t seconds; where t is unbalanced The time required for the rotor to rotate M full cycle, t=2πM/ω. 6. The static balancing system of a magnetic levitation rotor based on magnetic calculation of magnetic bearings according to claim 2, wherein the characteristic current extraction unit receives the static balance calculation initial command sent by the full-circle rotation control unit, and accumulates The counter n counts from zero, collects the current i _au of the magnetic bearing winding Au, the current i _av of the winding Av, the current i _bu of the winding Bu, and the current i _av of the winding Bv, and performs accumulation operation;

Receive the static balance calculation end command sent by the full-circle rotation control unit, at this time the accumulative counter n counts to N, and calculate the components of each winding current in the direction of the fixed rotor coordinate system Ou and Ov, which is:

Wherein, N=t/T is the accumulative duration, T is the servo cycle time, and t is the full cycle time of the unbalanced rotor rotating M circles. 7. The static balancing system of a magnetic levitation rotor based on magnetic calculation of magnetic bearings according to claim 2, wherein the static balancing counterweight calculating unit includes a static balancing counterweight component calculation module, a static balancing counterweight mass Calculation module and static balance counterweight angular position calculation module; The static balance counterweight component calculation module calculates the components of the static balance counterweight in the Ou and Ov directions of the fixed rotor coordinate system according to the results obtained by the characteristic current extraction unit, and the result is:

Among them, _ma is the correction mass required by the balance plate A, m _b is the correction mass required by the balance plate B, ma _au is the component of ma _a in the direction of the rotor fixed coordinate system Ou, and ma _av is the component of ma _a in the fixed rotor coordinate system The component in the Ov direction of the coordinate system, m _bu is the component of m _b in the Ou direction of the fixed rotor coordinate system, and m _bv is the component of m _b in the Ov direction of the rotor fixed coordinate system; r _a and r _b are the balance discs The distance from the calibration mass on A and B to the rotating shaft, k _ia and k _ib are the current stiffnesses of magnetic bearing A and magnetic bearing B respectively; L _mta is the axial distance from _ma to the center of mass of the unbalanced rotor, and L _mtb is m _b The axial distance to the center of mass of the unbalanced rotor, L is the axial distance from balance disk A to balance disk B, _L2 is the axial distance from magnetic bearing A to magnetic bearing B, and g is the gravitational acceleration constant; The mass calculation module of the static balance counterweight calculates the mass ma of the counterweight required by the balance plate A and the mass m _b of the counterweight required by the balance plate _B according to the results obtained by the component calculation module of the static balance counterweight, respectively:

The static balance counterweight angular position calculation module calculates the angular position of the counterweight mass required by the balance plate A according to the results obtained by the static balance counterweight component calculation module

The angular position of the counterweight mass required for the balance plate B

They are:

8. A static balancing method for a magnetic levitation rotor realized by a static balancing system of a magnetic levitation rotor based on magnetic bearing magnetic calculation according to claim 1, characterized in that it comprises: Control unbalanced rotor suspension; Control the unbalanced rotor to rotate stably around its geometric axis; Obtain the winding current of the unbalanced rotor; Extract the characteristic current component from the winding current; According to the characteristic current components, the counterweight mass required by the unbalanced rotor is calculated. 9. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method according to claim 1 are realized. 10. A static balancing device for a magnetic levitation rotor based on magnetic calculation of magnetic bearings, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that: the processor The steps of the method as claimed in claim 1 are realized when the computer program is executed.

Images