CN115664260A - Magnetic suspension rotor static balance system and method based on magnetic bearing magnetomotive calculation - Google Patents
Magnetic suspension rotor static balance system and method based on magnetic bearing magnetomotive calculation Download PDFInfo
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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
Technical Field
The invention relates to a magnetic suspension rotor static balance system and method based on magnetic bearing magnetometry, which are suitable for carrying out online static balance on a magnetic suspension rotor system.
Background
Compared with the traditional mechanical bearing support, the magnetic suspension bearing support has the characteristics of no contact, no abrasion, small vibration, active control and the like, and has wide application prospect in aerospace precise electromechanical products such as a magnetic suspension flywheel, a magnetic suspension control moment gyro, a magnetic suspension rotary joint and the like.
The rotating part of the magnetic suspension rotating joint is a non-rotating body, and a plurality of single-machine devices are arranged on the rotating part, and the mass distribution of the single-machine devices cannot be accurately estimated and measured. Meanwhile, although the rotating speed of the magnetic suspension rotary joint is low, the mass and the moment of inertia of the rotor part are extremely large, and the magnetic suspension rotary joint has large residual unbalance. In order to improve the linearity of the magnetic bearing and remove the negative rigidity of displacement, the magnetic suspension rotary joint adopts a Lorentz force type magnetic bearing, and the bearing capacity is small. The residual unbalance amount causes that the magnetic suspension rotary joint cannot achieve the suspension control precision. The large residual unbalance may even exceed the maximum bearing capacity of the magnetic bearing, resulting in the occurrence of a phenomenon in which the rotor hits the protective bearing. Therefore, it is necessary to perform high-precision static balance on the rotating portion of the magnetic levitation rotary joint.
The existing static unbalance measuring method mainly comprises a balancing machine and a gravity testing method, and no matter whether the off-line and on-line balancing machines need a rotor with higher rotating speed, but the rotating speed of a magnetic suspension rotating joint is lower, the requirement of the rotating speed threshold of the balancing machine cannot be met; the gravity test method is to horizontally place the rotor and use a trial and error method to complete the static balance weight. The rotary joint is difficult to place horizontally on the ground, so that the conventional gravity test method cannot be used.
In summary, the static unbalance of the magnetic suspension rotary joint is large, which seriously affects the control precision of the system, and the existing static balance method cannot be applied to the low-rotating-speed and horizontally-placed rotating body of the magnetic suspension rotary joint.
Disclosure of Invention
The technical problem solved by the invention is as follows: the static balance system of the magnetic suspension rotor based on the magnetic bearing dead reckoning is used for carrying out online static balance on the magnetic suspension system of the sensor and the magnetic bearing on the rotor, and can realize the static balance of the magnetic suspension rotor which is low in rotating speed and cannot be horizontally placed with high efficiency and high precision.
The technical solution of the invention is as follows: a magnetic levitation rotor static balancing system based on magnetic bearing magnetometry, comprising:
the magnetic suspension rotor system unit is used for suspending the unbalanced rotor; and
the full-circle rotation control unit is used for controlling the unbalanced rotor to stably rotate around the geometric axis of the unbalanced rotor; and
the characteristic current extraction unit is used for extracting characteristic current from the winding current acquired by the magnetic suspension rotor system; and
and the static balance weight calculating unit is used for calculating the weight mass and the weight angular position required by the static balance of the unbalanced rotor according to the characteristic current.
Further, the magnetic suspension rotor system unit comprises a displacement sensor, a magnetic bearing drive controller and a rotor system;
the magnetic bearing drive controller receives a floating instruction sent by the full-circle rotation control unit and an output signal of the displacement sensor, calculates a control quantity and amplifies power, and provides current for a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system; simultaneous acquisition of Au current i of magnetic bearing winding au Av current i of winding av Winding Bu Current i bu Winding Bv current i bv Transmitting to a characteristic current extraction unit;
the displacement sensor is used for detecting the position of an unbalanced rotor of the rotor system and sending the position difference to the magnetic bearing drive controller;
the rotor system unit comprises an unbalanced rotor, a balance disc A, a magnetic bearing B and a balance disc B; the balance disc A, the magnetic bearing B and the balance disc B are fixed on the unbalanced rotor and are axially arranged along the unbalanced rotor; the magnetic bearing A comprises a magnetic pole Au, a winding Au, a magnetic pole Av and a winding Av, and the magnetic bearing B comprises a magnetic pole Bu, a winding Bu, a magnetic pole Bv and a winding Bv; the magnetic bearing A and the magnetic bearing B generate electromagnetic force to be applied to the unbalanced rotor, so that the unbalanced rotor is suspended to a reference position; balance weight mass m placed on balance disc A a The balance weight mass m is placed on the balance disc B b For realizing static balance weights of the unbalanced rotor.
Further, the stationary coordinate system O (x, y) and the rotor-fastening coordinate system O (u, v) of the magnetically levitated rotor system unit are determined as follows: setting the geometric central axis of the unbalanced rotor as O, the direction from O to the center of a magnetic pole Au as the Ou direction of a rotor fixed coordinate system, the direction from O to the center of a magnetic pole Av as the Ov direction of the rotor fixed coordinate system, and the Ov direction rotates 90 degrees anticlockwise in the Ou direction; the unbalanced rotor is rotated to reach a characteristic angular position, at which the Ox direction of the stationary coordinate system O (x, y) coincides with the Ov 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 Ov direction of the rotor-fixed coordinate system O (u, v).
Further, the magnetic bearing drive controller calculates a control amount including:
performing integral processing on the control error to obtain integral control quantity for eliminating static difference and realizing that the unbalanced rotor rotates around the geometric axis of the unbalanced rotor;
amplifying the control error to obtain a proportional control quantity for providing supporting rigidity;
carrying out differential processing on the control error to obtain a differential control quantity for providing supporting damping;
and the control quantity obtained by calculating the magnetic bearing drive controller is obtained by weighted addition of the integral control quantity, the proportional control quantity and the differential control quantity, and the currents are supplied to a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system through power amplification.
Furthermore, the full-circle rotation control unit firstly sends a floating instruction to the magnetic suspension rotor system unit; then controlling an unbalanced rotor in the magnetic suspension rotor system unit to rotate at a constant speed of a rotating speed omega; after the rotating speed is stable, sending a static balance calculation starting instruction to the characteristic current extraction unit, and sending a static balance calculation ending instruction after rotating for t seconds; wherein t is the time required by the unbalanced rotor to rotate for M circles in a whole period, and t =2 pi M/omega.
Furthermore, the characteristic current extraction unit receives a static balance calculation starting instruction sent by the full-circle rotation control unit, the accumulation counter n starts counting from zero, and Au current i of the magnetic bearing winding is collected au Avcurrent i of winding av Winding Bu Current i bu Winding Bv current i av And performing accumulation operation;
receiving a static balance calculation finishing instruction sent by a full-circle rotation control unit, counting to N by an accumulation counter N at the moment, calculating components of each winding current in the directions of a rotor fixed coordinate system Ou and Ov, and comprising the following steps:
wherein, N = T/T is the accumulated time length, T is the servo cycle time, and T is the full cycle time of the unbalanced rotor rotating M circles.
Further, the static balance weight resolving unit comprises a static balance weight component calculating module, a static balance weight mass calculating module and a static balance weight angular position calculating module;
the static balance weight component calculation module calculates the components of the static balance weight in the directions of the rotor fixed connection coordinate system Ou and Ov according to the result obtained by the characteristic current extraction unit, and the result is as follows:
wherein m is a Mass required for balancing disk A, m b Mass required for balancing disk B, m au Is m a Component in the direction of the rotor-attached coordinate system Ou, m av Is m a Component in the direction of the rotor-fixed coordinate system Ov, m bu Is m b Component in the direction of the rotor-attached coordinate system Ou, m bv Is m b A component in the direction of the rotor fixed coordinate system Ov; r is a radical of hydrogen a 、r b For balancing the distance of the correcting masses on the discs A, B from the axis of rotation, k ia 、k ib The current stiffness of the magnetic bearing A and the magnetic bearing B are respectively; l is mta Is m a Axial distance to center of mass of unbalanced rotor, L mtb Is m b Axial distance to the center of mass of the unbalanced rotor, L being the axial distance from the balance disc A to the balance disc B, L 2 The axial distance from the magnetic bearing A to the magnetic bearing B, and g is a gravity acceleration constant;
the static balance weight mass calculating module calculates the weight mass m required by the balance disc A according to the result obtained by the static balance weight component calculating module a The mass m of the balance weight required by the balance disc B b Respectively is as follows:
the static balance weight angular position calculation module calculates the angular position of the weight mass required by the balance disc A according to the result obtained by the static balance weight component calculation module
Angular position of the counterweight mass required for balancing disk B
Respectively as follows:
the magnetic suspension rotor static balance method realized by the magnetic suspension rotor static balance system based on the magnetic bearing magnetomotive force comprises the following steps:
controlling the unbalanced rotor to suspend;
controlling the unbalanced rotor to stably rotate around a geometric shaft of the unbalanced rotor;
obtaining winding current of an unbalanced rotor;
extracting characteristic current components from the winding current;
and calculating the required counterweight mass of the unbalanced rotor according to the characteristic current component.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for static balancing of a magnetically levitated rotor based on magnetic bearing magnetomotive estimation.
A magnetically levitated rotor static balancing apparatus based on magnetic bearing dead reckoning comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of said magnetically levitated rotor static balancing method based on magnetic bearing dead reckoning when executing said computer program.
Compared with the prior art, the invention has the advantages that:
(1) The invention does not need to horizontally place a rotary joint in the ground experiment stage, carries out force/torque balance analysis on the magnetic suspension rotor, and uses the radial magnetic bearing winding current to solve the static balance weight with high precision, thereby improving the static balance precision.
(2) The invention uses the magnetic bearing/position sensor carried by the magnetic suspension rotary joint as the static balance weight resolving device, does not need to arrange an additional detection sensor, and improves the working efficiency.
Drawings
FIG. 1 is a block diagram of a magnetically levitated rotor static balancing system based on magnetic bearing magnetomotive force estimation;
FIG. 2 is a diagram of a magnetic levitation rotor system;
fig. 3 is a schematic diagram of a stationary coordinate system O (x, y) and a rotor-secured coordinate system O (u, v);
FIG. 4 is a schematic view of the static unbalance and counterweight force of the magnetic suspension rotor;
FIG. 5 is a block diagram of a feature current extraction unit;
fig. 6 is a block diagram of a static balance weight calculation unit.
Detailed Description
In order to better understand the technical solutions of the present application, the following detailed descriptions are provided with accompanying drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and in a case of no conflict, the technical features in the embodiments and examples of the present application may be combined with each other.
The following describes in further detail a magnetic levitation rotor static balance system based on magnetic bearing magnetometry provided in an embodiment of the present application with reference to the accompanying drawings of the specification, and specific implementations may include (as shown in fig. 1 to fig. 6): the magnetic suspension rotor system unit is used for suspending the unbalanced rotor; and a full-circle rotation control unit for controlling the unbalanced rotor to stably rotate around the geometric axis thereof; the characteristic current extraction unit is used for extracting characteristic current from the winding current acquired by the magnetic suspension rotor system; and the static balance weight resolving unit is used for resolving the weight mass and the weight angular position required by the static balance of the unbalanced rotor according to the characteristic current.
In the scheme provided by the embodiment of the application, the magnetic suspension rotor static balance system based on the magnetic bearing magnetomotive mainly 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 position sensor and the magnetic bearing of the magnetic suspension rotary joint are both arranged on the rotor, the eccentric value of the geometric center of the unbalanced rotor detected by the sensor is a direct current quantity, the control force applied to the unbalanced rotor by the magnetic bearing is also a direct current quantity, the unbalanced rotor rotates around the geometric center of the unbalanced rotor at a constant speed under low rotating speed, and the gravity moment generated by the static unbalance (mass center offset) of the rotor and the action moment of the direct current electromagnetic force of the magnetic bearing on the rotor form moment balance. The rotor is balanced by using a biplane method, the moment balance is formed by the sum of gravity moments generated by the counterweight masses on the balancing surfaces at the two ends and the action moment of the direct-current electromagnetic force of the magnetic bearing on the rotor, the moment balance is also formed by the centrifugal moment generated by the counterweight masses on the balancing surfaces at the two ends, and the static unbalance counterweight mass can be solved according to the force/moment balance relationship.
1. Magnetic suspension rotor static balance system based on magnetic bearing magnetomotive calculation
As shown in fig. 1, the invention mainly comprises a magnetic suspension rotor system unit 1, a full-circle rotation control unit 2, a characteristic current extraction unit 3 and a static balance weight resolving unit 4; the magnetic suspension rotor system unit 1 suspends the unbalanced rotor, and the full-circle rotation control unit 2 controls the geometric axis of the unbalanced rotor to stably rotate. The characteristic current extraction unit 3 extracts a characteristic current from the winding current acquired by the magnetic levitation rotor system unit 2. And the static balance weight calculating unit 4 calculates the weight mass and the weight angular position required by the static balance of the magnetic suspension rotor according to the characteristic current obtained by the characteristic current extracting unit.
2. Magnetic suspension rotor system unit
The magnetic suspension rotor system unit comprises a displacement sensor, a magnetic bearing drive controller and a rotor system; the magnetic bearing drive controller receives a floating instruction sent by the full-circle rotation control unit and an output signal of the displacement sensor, calculates a control quantity and amplifies power, and provides current for a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system; simultaneous acquisition of Au current i of magnetic bearing winding au Av current i of winding av Winding Bu current i bu Winding Bv current i bv Transmitted to the characteristic current extraction unit; the displacement sensor is used for detecting the position of an unbalanced rotor of the rotor system and sending the position difference to the magnetic bearing drive controller; the rotor system unit comprises an unbalanced rotor, a balance disc A, a magnetic bearing B and a balance disc B; the balance disc A, the magnetic bearing B and the balance disc B are fixed on the unbalanced rotor and are axially placed along the unbalanced rotor; the magnetic bearing A comprises a magnetic pole Au, a winding Au, a magnetic pole Av and a winding Av, and the magnetic bearing B comprises a magnetic pole Bu, a winding Bu, a magnetic pole Bv and a winding Bv; the magnetic bearing A and the magnetic bearing B generate electromagnetic force to be applied to the unbalanced rotor, so that the unbalanced rotor is suspended to a reference position; balance weight mass m placed on balance disc A a The balance weight mass m is placed on the balance disc B b For realizing static balance weights of the unbalanced rotor.
Specifically, as shown in fig. 2, the magnetic levitation rotor system unit of the present invention includes: the magnetic bearing drive controller receives a floating command sent by the full-circle rotation control unit, the displacement sensor detects the position of an unbalanced rotor of the rotor system, the unbalanced rotor is differed from a reference position and sent to the magnetic bearing drive controller, the control quantity is obtained through calculation and power amplification, and currents are provided for a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system. The magnetic bearings a and B of the rotor system generate electromagnetic forces to be applied to the unbalanced rotor, causing the unbalanced rotor to levitate to a reference position. Magnetic bearing drive controller acquisition magnetic bearing windingAu Current i au Avcurrent i of winding av Winding Bu current i bu Current i of winding Bv bv To the characteristic current extraction unit.
Specifically, the magnetic bearing drive controller calculates a control amount including:
performing integral processing on the control error to obtain integral control quantity for eliminating static difference and realizing that the unbalanced rotor rotates around the geometric axis of the unbalanced rotor;
amplifying the control error to obtain a proportional control quantity for providing supporting rigidity;
carrying out differential processing on the control error to obtain a differential control quantity for providing supporting damping;
and the control quantity obtained by calculating the magnetic bearing drive controller is obtained by weighted addition of the integral control quantity, the proportional control quantity and the differential control quantity, and the currents are supplied to a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system through power amplification.
3. Definition of a stationary coordinate system O (x, y) and a rotor-stationary coordinate system O (u, v)
The rotor system unit comprises an unbalanced rotor, a balance disc A, a magnetic bearing B and a balance disc B, wherein the magnetic bearing A comprises a magnetic pole Au, a winding Au, a magnetic pole Av and a winding Av, and the magnetic bearing B comprises a magnetic pole Bu, a winding Bu, a magnetic pole Bv and a winding Bv.
Fig. 3 is a schematic diagram of a stationary coordinate system O (x, y) and a rotor fastening coordinate system O (u, v) of a magnetic levitation rotor static balance system based on magnetic bearing magnetometry. The stationary coordinate system O (x, y) and the rotor-fastening coordinate system O (u, v) of the rotor system are determined as follows: setting a geometric central shaft of the rotor as O, setting the direction from the O to the center of a magnetic pole Au as the direction of a rotor fixedly-connected coordinate system Ou, setting the direction from the O to the center of a magnetic pole Av as the direction of the rotor fixedly-connected coordinate system Ov, and rotating the Ov counterclockwise for 90 degrees in the Ou direction; the unbalanced rotor is rotated to reach a characteristic angular position (an angular position at which the angular position sensor output is zero), at which time the Ox direction of the stationary coordinate system O (x, y) coincides with the Ov 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 Ov direction of the rotor-fixed coordinate system O (u, v).
4. Static unbalance and counterweight stress schematic diagram of magnetic suspension rotor
Fig. 4 is a schematic view of the static unbalance and counterweight stress of the magnetic suspension rotor according to the present invention. The axial distance between the balance disc A, the magnetic bearing A, the balance disc B and the magnetic bearing B is as follows: l is a radical of an alcohol 1 、L 2 、L 3 ，L 1 +L 2 +L 3 L. The axial distances from the balance disc A and the balance disc B to the mass center are respectively L mta 、L mtb . The axial distances from the magnetic bearing A and the magnetic bearing B to the mass center are respectively L ma 、L mb . Balance weight mass m on balance disc A and balance disc B a 、m b The axial distances to the rotating shaft are respectively r a 、r b . Unbalanced rotor center of mass eccentricity of e m . Gravity of the rotor system is G m . Counterweight mass m on balance disc A a Gravity of G ma Counterweight mass m on balance disc B b Gravity of G mb 。
A. The magnetic force balance equation of the B-terminal magnetic bearing is as follows:
F ma +F mb ＝0
A. b-terminal magnetic bearing magnetic force F ma 、F mb Moment of action and gravity G on an unbalanced rotor m The balance equation of the centroid eccentric moment is as follows:
F ma ×L ma -F mb ×L mb ＝G m ×e m
A. b-terminal magnetic bearing magnetic force F ma 、F mb Acting torque on rotor and counterweight mass m at A and B ends a 、m b The equilibrium equation of the gravity moment is:
F ma ×L ma -F mb ×L mb ＝m a ×g×r a -m b ×g×r b
A. end B counterweight mass m a 、m b The equilibrium equation for the centrifugal moment of (c) is:
m a ×r a ×L mta +m b ×r b ×L mtb ＝0
A. the sum of the axial distances from the balance disc at the B end to the mass center of the unbalanced rotor satisfies
L mta +L mtb ＝L
A. The sum of the axial distances from the magnetic bearing at the B end to the mass center of the unbalanced rotor satisfies
L ma +L mb ＝L 2
A. B-terminal magnetic bearing magnetic force F ma 、F mb Satisfies the following equation
F ma ＝k ia i au +k ia i av
F mb ＝k ib i bu +k ib i bv
Wherein k is ia 、k ib Current stiffness, i, of magnetic bearings A and B, respectively au For magnetic bearing winding Au current, i av For magnetic bearing winding Av current, i bu For magnetic bearing winding Bu current, i av Is the magnetic bearing winding Bv current.
5. Characteristic current extraction unit
As shown in fig. 5, which is a flowchart of the characteristic current extraction unit 4 according to the present invention, the characteristic current extraction unit receives a static balance calculation start instruction sent by the full-circle rotation control unit, and the counter n accumulates from zero to collect the Au current i of the magnetic bearing winding au Avcurrent i of winding av Winding Bu current i bu Current i of winding Bv av And performing an accumulation operation.
Receiving a static balance calculation ending instruction sent by a full-circle rotation control unit, counting to N by a counter N (N = T/T is accumulation duration, T is servo cycle time, and T is rotor rotation M-circle full-cycle time), and calculating components of winding current in the directions of a rotor fixed connection coordinate system Ou and Ov, wherein the components are as follows:
6. static balance weight resolving unit
As shown in fig. 6, which is a block diagram of the static balance weight calculating unit 4 according to the present invention, the static balance weight calculating unit includes a static balance weight component calculating module 41, a static balance weight mass calculating module 42, and a static balance weight angular position calculating module 43.
The static balance weight component calculation module 41 calculates the components of the static balance weight in the directions of the rotor fixed coordinate system Ou and Ov according to the result obtained by the characteristic current extraction unit 3, and the result is:
wherein m is a Mass required for balancing disk A, m b Mass required for balancing disk B, m au Is m a Component in the direction of the rotor-attached coordinate system Ou, m av Is m a Component in the direction of the rotor-fastening coordinate system Ov, m bu Is m b Component in the direction of the rotor-attached coordinate system Ou, m bv Is m b A component in the direction of the rotor fixation coordinate system Ov; r is a 、r b For balancing the distance of the correcting masses on the discs A, B from the axis of rotation, k ia 、k ib The current stiffness of the magnetic bearing a and the magnetic bearing B, respectively. L is a radical of an alcohol mta 、L mtb Are each m a And m b Axial distance to the center of mass of the unbalanced rotor, L being the axial distance from the balance disk A to the balance disk B, L 2 The axial distance from the magnetic bearing A to the magnetic bearing B, and g is a gravity acceleration constant.
The static balance weight mass calculation module 42 calculates the weight mass m required for the balance disk a based on the result obtained by the static balance weight component calculation module 41 a The mass m of the balance weight required by the balance disc B b Respectively is as follows:
static balance fittingThe weight angle position calculation module 43 calculates the angular position of the weight mass required for the balance disk a based on the result obtained by the static balance weight component calculation module 41
Angular position of the counterweight mass required for balancing disk B
Respectively as follows:
the whole-circle rotation control unit firstly sends a floating instruction to the magnetic suspension rotor system unit; then controlling an unbalanced rotor in the magnetic suspension rotor system unit to rotate at a constant speed at a rotating speed omega; after the rotating speed is stable, sending a static balance calculation starting instruction to the characteristic current extraction unit, and sending a static balance calculation finishing instruction after rotating for t seconds; wherein t is the time required by the unbalanced rotor to rotate for M circles of a complete cycle, and t =2 π M/ω.
Based on the same inventive concept as that of fig. 1, the invention also provides a magnetic suspension rotor static balance method realized by the magnetic suspension rotor static balance system based on magnetic bearing magnetometry, which comprises the following steps:
controlling the unbalanced rotor to suspend;
controlling the unbalanced rotor to stably rotate around a geometric shaft of the unbalanced rotor;
obtaining winding current of an unbalanced rotor;
extracting characteristic current components from the winding current;
and calculating the required counterweight mass of the unbalanced rotor according to the characteristic current component.
A computer readable storage medium is provided that stores computer instructions that, when executed on a computer, cause the computer to perform the method described in fig. 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. 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, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A magnetically levitated rotor static balancing system based on magnetic bearing magnetometry, comprising:
the magnetic suspension rotor system unit is used for suspending the unbalanced rotor; and
the full-circle rotation control unit is used for controlling the unbalanced rotor to stably rotate around a geometric shaft of the unbalanced rotor; and
the characteristic current extraction unit is used for extracting characteristic current from the winding current acquired by the magnetic suspension rotor system; and
and the static balance weight calculating unit is used for calculating the weight mass and the weight angular position required by the static balance of the unbalanced rotor according to the characteristic current.
2. A magnetic bearing magnetomotive based magnetic levitation rotor static balance system according to claim 1, wherein the magnetic levitation rotor system unit comprises a displacement sensor, a magnetic bearing drive controller, a rotor system;
the magnetic bearing drive controller receives a floating instruction sent by the full-circle rotation control unit and an output signal of the displacement sensor, calculates a control quantity and amplifies power, and provides current for a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system; simultaneously collecting Au current i of magnetic bearing winding au Avcurrent i of winding av Winding Bu Current i bu Winding Bv current i bv Transmitting to a characteristic current extraction unit;
the displacement sensor is used for detecting the position of an unbalanced rotor of the rotor system, and sending the position difference to the magnetic bearing drive controller;
the rotor system unit comprises an unbalanced rotorBalance disc A, magnetic bearing B, balance disc B; the balance disc A, the magnetic bearing B and the balance disc B are fixed on the unbalanced rotor and are axially placed along the unbalanced rotor; the magnetic bearing A comprises a magnetic pole Au, a winding Au, a magnetic pole Av and a winding Av, and the magnetic bearing B comprises a magnetic pole Bu, a winding Bu, a magnetic pole Bv and a winding Bv; the magnetic bearings A and B generate electromagnetic force to be applied to the unbalanced rotor, so that the unbalanced rotor is suspended to a reference position; balance weight mass m placed on balance disc A a The balance weight mass m is placed on the balance disc B b For realizing static balance weights of the unbalanced rotor.
3. A magnetically levitated rotor static balancing system based on magnetic bearing magnetometry as claimed in claim 2, characterized in that the stationary coordinate system O (x, y) and the rotor-fastening coordinate system O (u, v) of the magnetically levitated rotor system unit are determined as follows: setting the geometric central axis of the unbalanced rotor as O, setting the direction from O to the center of a magnetic pole Au as the Ou direction of a rotor fixed coordinate system, setting the direction from O to the center of a magnetic pole Av as the Ov direction of the rotor fixed coordinate system, and rotating the Ou direction by 90 degrees anticlockwise for the Ou direction; the unbalanced rotor is rotated to reach a characteristic angular position, at which the Ox direction of the stationary coordinate system O (x, y) coincides with the Ov 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 Ov direction of the rotor-fixed coordinate system O (u, v).
4. A magnetic levitation rotor static balance system based on magnetic bearing magnetometry as claimed in claim 2, wherein the magnetic bearing drive controller calculates a control quantity comprising:
performing integral processing on the control error to obtain integral control quantity for eliminating static difference and realizing that the unbalanced rotor rotates around the geometric axis of the unbalanced rotor;
amplifying the control error to obtain a proportional control quantity for providing supporting rigidity;
carrying out differential processing on the control error to obtain a differential control quantity for providing supporting damping;
and the control quantity obtained by calculating the magnetic bearing drive controller is obtained by weighted addition of the integral control quantity, the proportional control quantity and the differential control quantity, and the currents are supplied to a magnetic bearing winding Au, a winding Av, a winding Bu and a winding Bv of the rotor system through power amplification.
5. A magnetically levitated rotor static balancing system based on magnetic bearing magnetometry as claimed in claim 2, wherein the full rotation control unit first sends a levitating command to the magnetically levitated rotor system unit; then controlling an unbalanced rotor in the magnetic suspension rotor system unit to rotate at a constant speed of a rotating speed omega; after the rotating speed is stable, sending a static balance calculation starting instruction to the characteristic current extraction unit, and sending a static balance calculation finishing instruction after rotating for t seconds; wherein t is the time required by the unbalanced rotor to rotate for M circles of a complete cycle, and t =2 π M/ω.
6. The system of claim 2, wherein the characteristic current extraction unit receives a static balance calculation start command sent by the full-circle rotation control unit, counts the cumulative counter n from zero, and collects the Au current i of the magnetic bearing winding au Avcurrent i of winding av Winding Bu Current i bu Winding Bv current i av And performing accumulation operation;
receiving a static balance calculation ending instruction sent by a full-circle rotation control unit, counting to N by an accumulation counter N at the moment, and calculating the components of the current of each winding in the directions of a rotor fixed connection coordinate system Ou and Ov, wherein the components are as follows:
wherein, N = T/T is the accumulated time length, T is the servo cycle time, and T is the full cycle time of the unbalanced rotor rotating M circles.
7. A magnetic suspension rotor static balance system based on magnetic bearing magnetometry as recited in claim 2, wherein the static balance weight calculation unit comprises a static balance weight component calculation module, a static balance weight mass calculation module and a static balance weight angular position calculation module;
the static balance weight component calculation module calculates the components of the static balance weight in the directions of the rotor fixed connection coordinate system Ou and Ov according to the result obtained by the characteristic current extraction unit, and the result is as follows:
wherein m is a Mass required for balancing disk A, m b Mass required for balancing disk B, m au Is m a Component in the direction of the rotor-attached coordinate system Ou, m av Is m a Component in the direction of the rotor-fastening coordinate system Ov, m bu Is m b Component in the direction of the rotor-stationary coordinate system Ou, m bv Is m b A component in the direction of the rotor fixed coordinate system Ov; r is a 、r b For balancing the distance of the correcting masses on the discs A, B from the axis of rotation, k ia 、k ib The current stiffness of the magnetic bearing A and the magnetic bearing B respectively; l is mta Is m a Axial distance to the center of mass of the unbalanced rotor, L mtb Is m b Axial distance to the center of mass of the unbalanced rotor, L being the axial distance from the balance disk A to the balance disk B, L 2 The axial distance from the magnetic bearing A to the magnetic bearing B is shown, and g is a gravity acceleration constant;
the static balance weight mass calculating module calculates the weight mass m required by the balance disc A according to the result obtained by the static balance weight component calculating module a The mass m of the balance weight required by the balance disc B b Respectively as follows:
static balance weight angleThe position calculation module calculates the angular position of the counterweight mass required by the balance disc A according to the result obtained by the static balance counterweight component calculation module
Angular position of the counterweight mass required for balancing disk B
Respectively as follows:
8. the magnetic levitation rotor static balance method realized by the magnetic levitation rotor static balance system based on magnetic bearing magnetometry as recited in claim 1, comprising:
controlling the unbalanced rotor to suspend;
controlling the unbalanced rotor to stably rotate around a geometric shaft of the unbalanced rotor;
obtaining winding current of an unbalanced rotor;
extracting a characteristic current component from the winding current;
and calculating the required counterweight mass of the unbalanced rotor according to the characteristic current component.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method as set forth in claim 1.
10. A magnetic levitation rotor static balancing apparatus based on magnetic bearing magnetometry, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized by: the processor when executing the computer program realizes the steps of the method as claimed in claim 1.
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