CN117739795A - Self-calibration method and system of displacement sensor for magnetic suspension bearing - Google Patents
Self-calibration method and system of displacement sensor for magnetic suspension bearing Download PDFInfo
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Abstract
The invention relates to a self-calibration method and a self-calibration system of a displacement sensor for a magnetic suspension bearing, wherein the self-calibration method comprises the following steps: under the electromagnetic force action of the magnetic suspension bearing, when the rotor moves to the maximum displacement in the negative direction of a certain coordinate axis, the initial bias voltage U provided by the calibration circuit is based on 1 The initial amplification factor K and the output displacement signal are U out Obtaining a displacement signal U input by a calibration circuit i And the output voltage U after superposition bias 2 The method comprises the steps of carrying out a first treatment on the surface of the Obtaining output voltage U after superposition bias in calibration circuit 2 Target set value R of corresponding bias digital potentiometer when being 0 w4 * The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the target displacement signal U output by the calibration circuit out * Target set value R of corresponding amplified digital potentiometer w5 * The method comprises the steps of carrying out a first treatment on the surface of the Thereby completing the automatic calibration of the displacement sensor. The method can realize automatic calibration of the displacement sensor, does not need manual work, has higher accuracy, and has important significance for realizing remote calibration of the displacement sensor.
Description
Technical Field
The invention relates to a self-calibration method and a self-calibration system of a displacement sensor for a magnetic suspension bearing, and belongs to the technical field of self-calibration of displacement sensors.
Background
The active magnetic suspension bearing needs to obtain a displacement signal by means of a displacement sensor, so that stable suspension is realized. The controller processes the difference between the actual displacement signal and the set reference signal to obtain a control signal.
When in debugging, taking the y-axis direction and outputting the displacement signal range of 0V-5V as an example, firstly, independently powering on the electromagnet in the y-axis negative direction, adjusting the offset adjustable potentiometer to enable the displacement signal to be 0V, then independently powering on the electromagnet in the y-axis positive direction, adjusting the amplifying adjustable potentiometer to enable the displacement signal to be 5V, setting the reference value of the displacement signal to be 2.5V in actual control, and considering that the rotor is positioned at the middle position when the output displacement signal is 2.5V.
However, in the process of calibrating and debugging the displacement sensor, the bias adjustable potentiometer and the amplification adjustable potentiometer in the bias and amplification circuit are mostly manually adjusted by manpower, the sizes of the bias adjustable potentiometer and the amplification adjustable potentiometer are determined according to the size of the displacement signal output by the bias and amplification circuit, the operation is complex, the automation level is low, and the labor cost is increased. The mechanical digital potentiometer has the numerical drift phenomenon along with the vibration of equipment, and the accuracy of calibration is reduced. In addition, when the equipment fails on the customer site, calibration of the displacement sensor is required, and the manufacturer is required to send a person to the customer site for maintenance, so that the operation cost is increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a self-calibration method of the displacement sensor for the magnetic suspension bearing, which can realize automatic calibration of the displacement sensor without manual work, has higher accuracy and has important significance for realizing remote calibration of the displacement sensor.
The invention also provides a self-calibration system of the displacement sensor for the magnetic suspension bearing.
The technical scheme of the invention is as follows:
on one hand, the invention provides a self-calibration method of a displacement sensor for a magnetic suspension bearing, which comprises the following steps:
the displacement signal detected by the displacement sensor is input into a calibration circuit after differential demodulation, and the calibration circuit is used for realizing the functions of filtering, biasing and amplifying the displacement signal after differential demodulation;
when calibration is carried out, the rotor moves to a certain self-position under the electromagnetic force action of the magnetic suspension bearingSetting the initial set values of the offset digital potentiometer and the amplifying digital potentiometer in the calibration circuit as R respectively from the maximum displacement in the degree direction w4 And R is w5 The bias digital potentiometer is used for adjusting bias voltage provided by the calibration circuit, and the amplifying digital potentiometer is used for adjusting the amplification factor of the calibration circuit to the signal; the displacement signal output by the calibration circuit is U out ；
Initial bias voltage U provided based on calibration circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposed and offset output signal U 2 ，U 2 I.e. amplifying the input signal of the link;
obtaining the output voltage U after superposition and bias in the calibration circuit 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4 * Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom;
or obtain the target displacement signal U output by the calibration circuit out * The target set value of the corresponding amplified digital potentiometer is R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom;
after calibration, when the rotor moves within a certain maximum displacement range of the degree of freedom, the output displacement signal range of the displacement sensor is [0,U ] out * ]Setting the displacement reference signal as U out * And/2, the rotor is suspended in the middle of the maximum displacement range in the positive and negative directions in a certain degree of freedom.
According to the invention, the calibration circuit comprises a bias circuit and an amplifying circuit with a filtering function;
the bias circuit with filtering function comprises a first resistor R 1 A second resistor R 2 Third resistor R 3 Bias digital potentiometer, sixth resistor R 6 Seventh resistor R 7 First capacitor C 1 A second capacitor C 2 And a first operational amplifier;
the filtering function is formed by a first resistor R 1 A second resistor R 2 Third resistor R 3 First capacitor C 1 A second capacitor C 2 An infinite gain multipath feedback filter consisting of a first operational amplifier is realized;
the bias function is realized by biasing the digital potentiometer and the sixth resistor R 6 Seventh resistor R 7 Realizing;
second resistor R 2 And a third resistor R 3 The first operational amplifier is connected with the inverting input end of the first operational amplifier after being connected in series;
first resistor R 1 And a third resistor R 3 Series connected with a first capacitor C 1 Parallel connection;
first capacitor C 1 A first capacitor C connected to the inverting input of the first operational amplifier 1 The other end of the first operational amplifier is connected with the output end of the first operational amplifier;
second capacitor C 2 One end of the second capacitor C is grounded 2 And the other end of the second resistor R 2 Third resistor R 3 Homogeneous phase connection;
bias digital potentiometer and sixth resistor R 6 The first operational amplifier is connected with the non-inverting input end of the first operational amplifier after being connected in series;
seventh resistor R 7 Is grounded at one end of the seventh resistor R 7 The other end of the first switch is connected with the non-inverting input end;
the amplifying circuit comprises an amplifying digital potentiometer and an eighth resistor R 8 And a second operational amplifier for providing a second signal to the second amplifier,
the output end of the first operational amplifier is connected with the non-inverting input end of the second operational amplifier;
eighth resistor R 8 Is grounded at one end of the eighth resistor R 8 The other end of the second operational amplifier is connected with the inverting input end of the second operational amplifier,
one end of the amplifying digital potentiometer is connected with the inverting input end of the second operational amplifier, and the other end of the amplifying digital potentiometer is connected with the output end of the second operational amplifier.
According to the invention, it is preferred that the calibration is based onInitial bias voltage U provided by circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposed and offset output signal U 2 The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following steps:
determining an initial amplification factor K and an initial bias voltage U 1 The method specifically comprises the following steps:
in the formula (II), R 4 Represents the maximum resistance value of the bias digital potentiometer, R W4 Represents the initial set value of the bias digital potentiometer, R W5 Indicating the initial set value of the amplified digital potentiometer; v (V) + Representing a positive voltage of a voltage source providing bias, V - A negative voltage representing a voltage source for providing bias, thereby realizing positive and negative adjustment of the bias voltage U1, a sixth resistor R 6 And a seventh resistor R 7 Is a known value. R is as follows W4 And R is W5 Is an initial value that is initially set empirically.
According to the initial amplification factor K and the output displacement signal U out Obtaining the output voltage U after superposition and bias 2 The method comprises the following steps:
determining the displacement signal U input by the calibration circuit according to formula (IV) i The method comprises the following steps:
in the formula (IV), U 1 Represents an initial bias voltage, U 2 After being superimposed and biasedAn output voltage of a first resistor R 1 And a second resistor R 2 Is a known value.
According to the invention, the output voltage U after superposition bias in the calibration circuit is obtained 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4* Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; comprising the following steps:
when the output voltage U after the bias is superimposed 2 When the voltage is 0, the bias voltage required to be provided by the calibration circuit is U 1 * The method comprises the following steps:
according to the deformation of formula (II), obtaining the target set value R of the offset digital potentiometer w4 * The method comprises the following steps:
the calibration procedure will set the target value R w4 * And converting the displacement sensor into a digital signal and sending the digital signal to the offset digital potentiometer, thereby completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom.
According to the invention, the target displacement signal U is obtained when the calibration circuit outputs out * The target set value of the corresponding amplified digital potentiometer is R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom; comprising the following steps:
when the calibration circuit outputs the target displacement signal U out * When the target magnification is K * The method comprises the following steps:
according to the variation of formula (I), an amplified digital potential is obtainedTarget set value R of the device w5 * The method comprises the following steps:
eighth resistor R in formula (VIII) 8 Is a known value;
the calibration procedure will set the target value R w5 * And converting the displacement sensor into a digital signal, and sending the digital signal to an amplifying digital potentiometer to finish self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom.
The invention also provides a self-calibration system of the displacement sensor for the magnetic suspension bearing, which comprises a differential demodulation module, a displacement calibration module, an A/D conversion module, a magnetic suspension bearing control module and a debugging module,
the differential demodulation module is used for demodulating the amplitude-modulated wave output by the displacement sensor to obtain a displacement signal;
the displacement calibration module is used for biasing and amplifying the input demodulated displacement signal;
the A/D conversion module is used for converting the analog signal output by the displacement calibration module into a digital displacement signal;
the magnetic bearing control module is used for regulating and controlling the current of magnetic poles in the magnetic bearing calibration process, so that the rotor moves to the maximum displacement in the negative or positive direction of a certain degree of freedom; when the rotor is in suspension work, the current of the magnetic poles in the magnetic suspension bearing is regulated and controlled, so that the rotor is stably suspended in the middle position of the magnetic suspension bearing;
the debugging module is used for superposing the offset output voltage U in the displacement calibration module 2 When the value is 0, regulating and controlling a target set value R of the bias digital potentiometer w4 * Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; when the displacement calibration module outputs the target voltage value Uout * When in use, the target set value R of the amplified digital potentiometer is regulated and controlled w5 * Completing the maximum displacement of the displacement sensor in the positive direction of a certain degree of freedomSelf-calibration at; when the rotor moves within a certain degree of freedom maximum displacement range, the output displacement signal range of the displacement sensor is [0, uout * ]。
The beneficial effects of the invention are as follows:
the self-calibration method of the displacement sensor for the magnetic suspension bearing provided by the invention adopts the digital potentiometer to regulate and control the displacement calibration module, so that the operation is more flexible. The calibration method can replace manual regulation and control, and the regulation is more accurate. When related equipment of the magnetic suspension bearing fails, the remote regulation and control are convenient.
The self-calibration method of the displacement sensor for the magnetic suspension bearing has the advantages that the displacement output range is constant, the displacement reference signal can be set to be a set value, the subsequent control program and the programming of the PLC alarm program are simplified, and the subsequent data analysis is facilitated.
Drawings
Fig. 1 is a schematic diagram of a differential eddy current displacement sensor.
Fig. 2 is a schematic diagram of a calibration circuit according to the present invention.
Fig. 3 is a schematic structural diagram of a self-calibration system of the displacement sensor for the magnetic suspension bearing.
Detailed Description
The following description of the several embodiments of the present application, while clearly and fully describing the embodiments of the present invention, is provided by way of illustration, and is not intended to limit the invention to the particular embodiments disclosed, but to limit the scope of the invention to all other embodiments available to one of ordinary skill in the art without inventive faculty based on the embodiments disclosed herein.
The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Furthermore, in various embodiments of the present disclosure, the same or similar reference numerals denote the same or similar components.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of the claimed invention.
Taking radial magnetic suspension bearings as an example, as shown in fig. 1, in the direction of single degree of freedom, under the limitation of the protection bearings, the rotor can be attracted to two positions of 0 position and 5 position by the electromagnet, and the displacement of the rotor during suspension can be kept to be 2.5V all the time by the controller. The 0 bit is the maximum displacement position of the rotor in the negative direction of a certain degree of freedom, the voltage output by the calibration circuit is 0V, and the 5 bit is the maximum displacement position of the rotor in the positive direction of a certain degree of freedom, and the voltage output by the calibration circuit is 5V. Therefore, during debugging, the 0-bit electromagnet is firstly electrified independently, the displacement signal is 0V by adjusting the offset adjustable potentiometer, then the 5-bit electromagnet is electrified independently, the amplified adjustable potentiometer is adjusted to enable the displacement signal to be 5V, and at the moment, 2.5V is the middle position; the final displacement signal output by the displacement sensor through the calibration circuit will remain between 0-5V.
Example 1
The embodiment provides a self-calibration method of a displacement sensor for a magnetic suspension bearing, which comprises the following steps:
the displacement signal detected by the displacement sensor is input into a calibration circuit after differential demodulation, and the calibration circuit is used for realizing the functions of filtering, biasing and amplifying the demodulated displacement signal;
taking a radial displacement sensor as an example, under the electromagnetic force action of a magnetic suspension bearing, independently supplying power to an electromagnet in the negative direction of a certain degree of freedom, so that a rotor moves to the maximum displacement position in the negative direction of the degree of freedom, and respectively setting initial setting values of an offset digital potentiometer and an amplified digital potentiometer in a calibration circuit as R w4 And R is w5 The bias digital potentiometer is used for adjusting the bias voltage provided by the calibration circuit, and the amplification digital potentiometer is used for adjusting the amplification factor of the calibration circuit; the displacement signal output by the calibration circuit is U out The method comprises the steps of carrying out a first treatment on the surface of the Calibration ofThe displacement signal output by the circuit is U out ；
Initial bias voltage U provided based on calibration circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposed and offset output signal U 2 ，U 2 I.e. amplifying the input signal of the link;
obtaining the output voltage U after superposition and bias in the calibration circuit 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4* Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom;
or under the electromagnetic force action of the magnetic suspension bearing, independently supplying power to the electromagnet in the positive direction of the same degree of freedom, so that the rotor moves to the maximum displacement in the positive direction of the degree of freedom; respectively setting initial setting values of an offset digital potentiometer and an amplified digital potentiometer in a calibration circuit as R w4 And R is w5 ；
Obtaining the target displacement signal U output by the calibration circuit out * Target set value R of corresponding amplified digital potentiometer w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of the degree of freedom;
after calibration, when the rotor moves within a certain maximum displacement range of the degree of freedom, the output displacement signal range of the displacement sensor is [0,U ] out * ]Setting the displacement reference signal as U out * And/2, the rotor is suspended in the middle of the maximum displacement range in the positive and negative directions in a certain degree of freedom.
Example 2
The present embodiment provides a self-calibration method of a displacement sensor for a magnetic bearing, which is different from embodiment 1 in that:
as shown in fig. 2, the calibration circuit includes a bias circuit and an amplifying circuit having a filtering function;
the bias circuit with filtering function comprises a first resistor R 1 A second resistor R 2 Third resistor R 3 Bias digital electricityBit device, sixth resistor R 6 Seventh resistor R 7 First capacitor C 1 A second capacitor C 2 And a first operational amplifier;
the filtering function is formed by a first resistor R 1 A second resistor R 2 Third resistor R 3 First capacitor C 1 A second capacitor C 2 An infinite gain multipath feedback filter consisting of a first operational amplifier is realized;
the bias function is realized by biasing the digital potentiometer and the sixth resistor R 6 Seventh resistor R 7 Realizing;
second resistor R 2 And a third resistor R 3 The first operational amplifier is connected with the inverting input end of the first operational amplifier after being connected in series;
first resistor R 1 And a third resistor R 3 Series connected with a first capacitor C 1 Parallel connection;
first capacitor C 1 A first capacitor C connected to the inverting input of the first operational amplifier 1 The other end of the first operational amplifier is connected with the output end of the first operational amplifier;
second capacitor C 2 One end of the second capacitor C is grounded 2 And the other end of the second resistor R 2 Third resistor R 3 Homogeneous phase connection;
bias digital potentiometer and sixth resistor R 6 The first operational amplifier is connected with the non-inverting input end of the first operational amplifier after being connected in series;
seventh resistor R 7 Is grounded at one end of the seventh resistor R 7 The other end of the first switch is connected with the non-inverting input end;
the amplifying circuit comprises an amplifying digital potentiometer and an eighth resistor R 8 And a second operational amplifier for providing a second signal to the second amplifier,
the output end of the first operational amplifier is connected with the non-inverting input end of the second operational amplifier;
eighth resistor R 8 Is grounded at one end of the eighth resistor R 8 The other end of the second operational amplifier is connected with the inverting input end of the second operational amplifier,
one end of the amplifying digital potentiometer is connected with the inverting input end of the second operational amplifier, and the other end of the amplifying digital potentiometer is connected with the output end of the second operational amplifier.
Example 3
The present embodiment provides a self-calibration method of a displacement sensor for a magnetic bearing, which is different from embodiment 2 in that:
initial bias voltage U provided based on calibration circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposed and offset output signal U 2； The method comprises the following steps:
determining an initial amplification factor K and an initial bias voltage U 1 The method specifically comprises the following steps:
in the formula (II), R 4 Represents the maximum resistance value of the bias digital potentiometer, R W4 Represents the initial set value of the bias digital potentiometer, R W5 Indicating the initial set value of the amplified digital potentiometer; v (V) + Representing the positive voltage of the voltage source providing the bias, V-representing the negative voltage of the voltage source providing the bias, thereby causing an initial bias voltage U 1 Realize positive and negative regulation, sixth resistor R 6 And a seventh resistor R 7 Is a known value. R is as follows W4 And R is W5 Is an initial value that is initially set empirically.
According to the initial amplification factor K and the output displacement signal U out Obtaining the output voltage U after superposition and bias 2 The method comprises the following steps:
determining a calibration circuit output according to (IV)Incoming displacement signal U i The method comprises the following steps:
in the formula (IV), U 1 Represents an initial bias voltage, U 2 To superimpose the biased output voltage, a first resistor R 1 And a second resistor R 2 Is a known value.
Example 4
The present embodiment provides a self-calibration method of a displacement sensor for a magnetic bearing, which is different from embodiment 3 in that:
obtaining the output voltage U after superposition and bias in the calibration circuit 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4* Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; comprising the following steps:
when the output voltage U after the bias is superimposed 2 When the voltage is 0, the bias voltage required to be provided by the calibration circuit is U 1 * The method comprises the following steps:
according to the deformation of formula (II), obtaining the target set value R of the offset digital potentiometer w4 * The method comprises the following steps:
the calibration procedure will set the target value R w4 * The digital signals are converted into digital signals and sent to the offset digital potentiometer, so that the self calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom is completed, namely the self calibration of 0 bit is completed.
Example 5
The present embodiment provides a self-calibration method of a displacement sensor for a magnetic bearing, which is different from embodiment 3 in that:
under the electromagnetic force action of the magnetic suspension bearing, the electromagnet in the positive direction of a certain degree of freedom is independently powered, so that the rotor moves to the maximum displacement in the positive direction of the degree of freedom;
obtaining the target displacement signal U output by the calibration circuit out * The target set value of the corresponding amplified digital potentiometer is R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom; comprising the following steps:
when the calibration circuit outputs the target displacement signal U out * When the target magnification is K * The method comprises the following steps:
according to the deformation of formula (I), obtaining the target set value R of the amplified digital potentiometer w5 * The method comprises the following steps:
eighth resistor R in formula (VIII) 8 Is a known value;
the calibration procedure will set the target value R w5 * The digital signals are converted into digital signals and sent to an amplifying digital potentiometer, and self calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom is completed, namely, self calibration of 5 bits is completed, namely, self calibration of an amplifying link is completed.
When the axial magnetic suspension bearing is self-calibrated, the output displacement signal range of the displacement sensor is [0, uout ] at the positive and negative maximum displacement positions in the axial degree of freedom * ]And obtaining the corresponding target set values of the offset digital potentiometer and the amplified digital potentiometer.
Example 6
The embodiment provides a self-calibration system of a displacement sensor for a magnetic suspension bearing, which is used for realizing the calibration method provided by any one of embodiments 1 to 5, and as shown in fig. 3, the self-calibration system comprises a differential demodulation module, a displacement calibration module, an a/D conversion module, a magnetic suspension bearing control module and a debugging module, wherein the magnetic suspension bearing control module is abbreviated as a magnetic bearing control module.
The differential demodulation module is used for demodulating the amplitude-modulated wave output by the displacement sensor to obtain a displacement signal;
the displacement calibration module is used for biasing and amplifying the input demodulated displacement signal;
the A/D conversion module is used for converting the analog signal output by the displacement calibration module into a digital displacement signal;
the magnetic bearing control module is used for regulating and controlling the current of magnetic poles in the magnetic bearing calibration process, so that the rotor moves to the maximum displacement in the negative or positive direction of a certain degree of freedom; when the rotor is in suspension work, the current of the magnetic poles in the magnetic suspension bearing is regulated and controlled, so that the rotor is stably suspended in the middle position of the magnetic suspension bearing;
the debugging module is used for superposing the offset output voltage U in the displacement calibration module 2 When the value is 0, regulating and controlling a target set value R of the bias digital potentiometer w4 * Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; when the displacement calibration module outputs the target voltage value Uout * When in use, the target set value R of the amplified digital potentiometer is regulated and controlled w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom; when the rotor moves within a certain degree of freedom maximum displacement range, the output displacement signal range of the displacement sensor is [0, uout * ]。
Claims (6)
1. The self-calibration method of the displacement sensor for the magnetic suspension bearing is characterized by comprising the following steps of:
the displacement signal detected by the displacement sensor is input into a calibration circuit after differential demodulation, and the calibration circuit is used for filtering, biasing and amplifying the displacement signal after differential demodulation;
under the electromagnetic force action of the magnetic suspension bearing, the rotor moves to the maximum displacement position in the direction of a certain degree of freedom, and initial set values of the offset digital potentiometer and the amplified digital potentiometer in the calibration circuit are respectively set as R w4 And R is w5 The bias digital potentiometer is used for adjusting bias voltage provided by the calibration circuit, and the amplifying digital potentiometer is used for adjusting the amplification factor of the calibration circuit to the signal;
initial bias voltage U provided based on calibration circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposed and offset output signal U 2 ；
Obtaining the output voltage U after superposition and bias in the calibration circuit 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4 * Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom;
or obtain the target displacement signal U output by the calibration circuit out * The target set value of the corresponding amplified digital potentiometer is R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom;
after calibration, when the rotor moves within a certain maximum displacement range of the degree of freedom, the output displacement signal range of the displacement sensor is [0,U ] out * ]Setting the displacement reference signal as U out * And/2, the rotor is suspended in the middle of the maximum displacement range in the positive and negative directions in a certain degree of freedom.
2. The method for self-calibration of a displacement sensor for a magnetic bearing according to claim 1, wherein the calibration circuit includes a bias circuit and an amplifying circuit having a filter function;
the bias circuit with filtering function comprises a first resistor R 1 A second resistor R 2 Third resistor R 3 Bias digital potentiometer, sixth resistor R 6 Seventh resistor R 7 A first capacitorC 1 A second capacitor C 2 And a first operational amplifier;
second resistor R 2 And a third resistor R 3 The first operational amplifier is connected with the inverting input end of the first operational amplifier after being connected in series;
first resistor R 1 And a third resistor R 3 Series connected with a first capacitor C 1 Parallel connection;
first capacitor C 1 A first capacitor C connected to the inverting input of the first operational amplifier 1 The other end of the first operational amplifier is connected with the output end of the first operational amplifier;
second capacitor C 2 One end of the second capacitor C is grounded 2 And the other end of the second resistor R 2 Third resistor R 3 Homogeneous phase connection;
bias digital potentiometer and sixth resistor R 6 The first operational amplifier is connected with the non-inverting input end of the first operational amplifier after being connected in series;
seventh resistor R 7 Is grounded at one end of the seventh resistor R 7 The other end of the first switch is connected with the non-inverting input end;
the amplifying circuit comprises an amplifying digital potentiometer and an eighth resistor R 8 And a second operational amplifier for providing a second signal to the second amplifier,
the output end of the first operational amplifier is connected with the non-inverting input end of the second operational amplifier;
eighth resistor R 8 Is grounded at one end of the eighth resistor R 8 The other end of the second operational amplifier is connected with the inverting input end of the second operational amplifier,
one end of the amplifying digital potentiometer is connected with the inverting input end of the second operational amplifier, and the other end of the amplifying digital potentiometer is connected with the output end of the second operational amplifier.
3. The method for self-calibration of a displacement sensor for a magnetic bearing according to claim 2, wherein the initial bias voltage U is provided based on a calibration circuit 1 Initial amplification factor K and output displacement signal U out Obtaining a displacement signal U input into the calibration circuit i And superimposing the biased output signalU 2 The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following steps:
determining an initial amplification factor K and an initial bias voltage U 1 The method specifically comprises the following steps:
in the formula (II), R 4 Represents the maximum resistance value of the bias digital potentiometer, R W4 Represents the initial set value of the bias digital potentiometer, R W5 Indicating the initial set value of the amplified digital potentiometer; v (V) + Representing a positive voltage of a voltage source providing bias, V - A sixth resistor R representing a negative voltage of the voltage source providing the bias 6 And a seventh resistor R 7 Is a known value;
according to the initial amplification factor K and the output displacement signal U out Obtaining the output voltage U after superposition and bias 2 The method comprises the following steps:
determining the displacement signal U input by the calibration circuit according to formula (IV) i The method comprises the following steps:
in the formula (IV), U 1 Represents an initial bias voltage, U 2 To superimpose the biased output voltage, a first resistor R 1 And a second resistor R 2 Is a known value.
4. A self-calibration method of a displacement sensor for a magnetic bearing as claimed in claim 3, whereinObtaining the output voltage U after superposition bias in the calibration circuit 2 The target value of the corresponding bias digital potentiometer is set as R when the bias digital potentiometer is 0 w4* Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; comprising the following steps:
when the output voltage U after the bias is superimposed 2 When the voltage is 0, the bias voltage required to be provided by the calibration circuit is U 1 * The method comprises the following steps:
according to the deformation of formula (II), obtaining the target set value R of the offset digital potentiometer w4 * The method comprises the following steps:
setting the target set value R w4 * And converting the displacement sensor into a digital signal and sending the digital signal to the offset digital potentiometer, thereby completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom.
5. A self-calibration method of a displacement sensor for a magnetic bearing according to claim 3, wherein the target displacement signal U is obtained when the calibration circuit outputs the target displacement signal U out * The target set value of the corresponding amplified digital potentiometer is R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom; comprising the following steps:
when the calibration circuit outputs the target displacement signal U out * When the target magnification is K * The method comprises the following steps:
obtaining the amplification according to the deformation of the formula (I)Target set value R of digital potentiometer w5 * The method comprises the following steps:
eighth resistor R in formula (VIII) 8 Is a known value;
setting the target set value R w5 * And converting the displacement sensor into a digital signal, and sending the digital signal to an amplifying digital potentiometer to finish self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom.
6. The self-calibration system of the displacement sensor for the magnetic suspension bearing is used for realizing the self-calibration method according to any one of claims 1 to 5, and is characterized by comprising a differential demodulation module, a displacement calibration module, an A/D conversion module, a magnetic suspension bearing control module and a debugging module,
the differential demodulation module is used for demodulating the amplitude-modulated wave output by the displacement sensor to obtain a displacement signal;
the displacement calibration module is used for biasing and amplifying the input demodulated displacement signal;
the A/D conversion module is used for converting the analog signal output by the displacement calibration module into a digital displacement signal;
the magnetic bearing control module is used for regulating and controlling the current of magnetic poles in the magnetic bearing calibration process, so that the rotor moves to the maximum displacement in the negative or positive direction of a certain degree of freedom; when the rotor is in suspension work, the current of the magnetic poles in the magnetic suspension bearing is regulated and controlled, so that the rotor is stably suspended in the middle position of the magnetic suspension bearing;
the debugging module is used for superposing the offset output voltage U in the displacement calibration module 2 When the value is 0, regulating and controlling a target set value R of the bias digital potentiometer w4 * Completing self-calibration of the displacement sensor at the maximum displacement in the negative direction of a certain degree of freedom; when the displacement calibration module outputs the target voltage value Uout * When in use, the target of the digital potentiometer is regulated and amplifiedSet value R w5 * Completing self-calibration of the displacement sensor at the maximum displacement in the positive direction of a certain degree of freedom; when the rotor moves within a certain degree of freedom maximum displacement range, the output displacement signal range of the displacement sensor is [0, uout * ]。
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|---|---|---|---|---|
| CN104516379A (en) * | 2013-09-30 | 2015-04-15 | 珠海格力节能环保制冷技术研究中心有限公司 | Bias voltage adjustment method and device of magnetic levitation system |
| CN105823452A (en) * | 2016-04-29 | 2016-08-03 | 北京航空航天大学 | Displacement sensor displacement signal conditioning method for magnetic bearing |
| US20230117718A1 (en) * | 2020-04-10 | 2023-04-20 | Ningbo Institute Of Technology, Beihang University | Displacement detection circuit of maglev rotor system and displacement self-sensing system thereof |
| CN116182765A (en) * | 2023-04-27 | 2023-05-30 | 山东华东风机有限公司 | Self-calibration control method and device of displacement sensor based on magnetic suspension bearing |
| CN116907402A (en) * | 2023-08-03 | 2023-10-20 | 中国计量科学研究院 | Self-calibration method for displacement sensor of magnetic suspension rotor system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104516379A (en) * | 2013-09-30 | 2015-04-15 | 珠海格力节能环保制冷技术研究中心有限公司 | Bias voltage adjustment method and device of magnetic levitation system |
| CN105823452A (en) * | 2016-04-29 | 2016-08-03 | 北京航空航天大学 | Displacement sensor displacement signal conditioning method for magnetic bearing |
| US20230117718A1 (en) * | 2020-04-10 | 2023-04-20 | Ningbo Institute Of Technology, Beihang University | Displacement detection circuit of maglev rotor system and displacement self-sensing system thereof |
| CN116182765A (en) * | 2023-04-27 | 2023-05-30 | 山东华东风机有限公司 | Self-calibration control method and device of displacement sensor based on magnetic suspension bearing |
| CN116907402A (en) * | 2023-08-03 | 2023-10-20 | 中国计量科学研究院 | Self-calibration method for displacement sensor of magnetic suspension rotor system |
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