CN117811453A - Magnetic suspension bearing parameter calculation method and device and centrifugal compressor - Google Patents
Magnetic suspension bearing parameter calculation method and device and centrifugal compressor Download PDFInfo
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Abstract
The application discloses a calculation method and device of magnetic suspension bearing parameters and a centrifugal compressor, and belongs to the technical field of magnetic suspension, wherein the method comprises the following steps: controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling acting force applied to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing again to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device can effectively avoid result deviation of theoretical calculation and improve the effect of magnetic bearing control.
Description
Technical Field
The application belongs to the technical field of magnetic suspension, and particularly relates to a magnetic suspension bearing parameter calculation method and device and a centrifugal compressor.
Background
The magnetic suspension bearing suspends the rotor by magnetic force, has no mechanical contact, can reach very high running speed, and has the advantages of no friction, no abrasion, long service life, no lubrication, high efficiency, low noise and the like. Therefore, the proportion of the magnetic suspension bearing in the fields of high-speed rotating machinery such as high-speed motors, centrifuges, compressors, blowers and the like is gradually increased.
In order to enable the rotor to stably float and run at a high speed, a corresponding controller needs to be designed, and the controller needs to obtain accurate parameters such as current stiffness, displacement stiffness and the like related to magnetic bearing force, and related system identification needs to be carried out on a bearing system to obtain the determined parameters of the bearing system. At present, theoretical calculation simulation values are mostly adopted in the industry for parameters such as current rigidity, displacement rigidity and the like of the magnetic bearing, and due to manufacturing errors, assembly deviations and the like, differences between theoretical calculation results and actual results can be caused, and even design and actual control effects of the controller can be seriously affected.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a method and an apparatus for calculating parameters of a magnetic suspension bearing, and a centrifugal compressor, so as to solve at least one of the above technical problems.
An embodiment of a first aspect of the present application provides a method for calculating parameters of a magnetic suspension bearing, including:
controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing again to obtain a second group of measurement data;
bearing parameters of the magnetic bearing are calculated based on the first set of measurement data and the second set of measurement data.
According to the method for calculating the magnetic suspension bearing parameters, the rotor corresponding to the magnetic suspension bearing is controlled to float to the initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, the bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device for calculating the bearing parameters of the magnetic bearing by actually measuring the control current of the magnetic bearing and the displacement of the rotor can effectively avoid deviation of the theoretical calculation result, provide favorable conditions for a more reasonable-design controller, and further improve the magnetic bearing control effect.
The device for calculating the magnetic suspension bearing parameter according to the embodiment of the second aspect of the application comprises:
the control module is used for controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
a first measurement module for applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
the second measuring module is used for canceling the acting force applied to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing again to obtain a second group of measuring data;
and the calculating module is used for calculating the bearing parameters of the magnetic suspension bearing based on the first set of measurement data and the second set of measurement data.
According to the calculating device for the magnetic suspension bearing parameters, the rotor corresponding to the magnetic suspension bearing is controlled to suspend to the initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, the bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device for calculating the bearing parameters of the magnetic bearing by actually measuring the control current of the magnetic bearing and the displacement of the rotor can effectively avoid deviation of the theoretical calculation result, provide favorable conditions for a more reasonable-design controller, and further improve the magnetic bearing control effect.
The centrifugal compressor of the embodiment of the third aspect of the application comprises a magnetic suspension bearing, wherein the bearing parameters of the magnetic suspension bearing are calculated by adopting the calculation method of the magnetic suspension bearing parameters of the embodiment of the first aspect.
A water chiller according to an embodiment of a fourth aspect of the present application includes the centrifugal compressor of the embodiment of the third aspect.
An electronic device according to an embodiment of a fifth aspect of the present application includes: the magnetic bearing parameter calculation method comprises a memory, a processor and a computer program stored in the memory and capable of being run on the processor, wherein the processor realizes the magnetic bearing parameter calculation method of the embodiment of the first aspect when the processor runs the computer program.
A computer readable storage medium of an embodiment of the sixth aspect of the present application has stored thereon computer readable instructions executable by a processor to implement the method of calculating the magnetic bearing parameter of the embodiment of the first aspect.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of a method for calculating magnetic bearing parameters according to an embodiment of the present application;
FIG. 2 illustrates one specific application scenario diagram of a magnetic bearing;
FIG. 3 shows a second exemplary illustration of a magnetic bearing;
fig. 4 shows a schematic diagram of a magnetic bearing parameter calculation device according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
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 protection claimed by the present invention.
The application provides a calculation method and device for magnetic suspension bearing parameters, a centrifugal compressor, a water chilling unit, electronic equipment and a storage medium, wherein a rotor corresponding to a magnetic suspension bearing is controlled to suspend to an initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, the bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device for calculating the bearing parameters of the magnetic bearing by actually measuring the control current of the magnetic bearing and the displacement of the rotor can effectively avoid deviation of the theoretical calculation result, provide favorable conditions for a more reasonable-design controller, and further improve the magnetic bearing control effect.
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Example 1
Fig. 1 is a flowchart of a method for calculating magnetic bearing parameters according to an embodiment of the present application, where, as shown in fig. 1, the method for calculating magnetic bearing parameters includes:
step S101: controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
step S102: applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
step S103: canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data;
step S104: bearing parameters of the magnetic bearing are calculated based on the first set of measurement data and the second set of measurement data.
Fig. 2 and fig. 3 are schematic diagrams of a specific application scenario of a magnetic suspension bearing (hereinafter referred to as magnetic bearing), wherein two magnetic bearings are respectively arranged on the left side and the right side of the rotor in the drawing, namely a left magnetic bearing and a right magnetic bearing.
Taking any one of the magnetic bearings in fig. 2 and 3 as an example, in step S101, the magnetic bearings are controlled to be energized, and the rotor shown in fig. 2 and 3 is suspended to an initial equilibrium position, that is, the left and right ends of the rotor are respectively suspended to the initial equilibrium positions, where the initial equilibrium positions may be positions set by a user according to actual situations.
In step S102, a force perpendicular to the rotor is applied to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of a displacement of the rotor and a control current of the magnetic suspension bearing.
The acting force is applied to the position, close to the magnetic bearing, of the rotor, specifically, the acting force can be applied through an automatic force application device, the acting force can also be applied through a mode of mounting a weight block as shown in fig. 2 and 3, the weight block can be a weight, the mass of the weight can be 100g, 200 g and the like, and the application is not limited.
In the step S102, when the first parameter is the displacement of the rotor, the second parameter is the control current of the magnetic suspension bearing. That is, the identification of the current stiffness can be performed by adopting a mode of firstly stabilizing the suspension of the magnetic suspension rotor and then gradually adding weights at the loading position, and measuring and recording the increment of the control current of the magnetic suspension bearing.
In the step S102, when the first parameter is the control current of the magnetic suspension bearing, the second parameter is the displacement of the rotor. That is, the identification of the current stiffness can also be performed by adopting a mode of firstly stabilizing the suspension of the magnetic suspension rotor and then gradually increasing weights at the loading position, keeping the control current unchanged, and measuring and recording the increment of the corresponding rotor displacement.
In step S103, canceling the application of the force to the rotor means controlling the rotor corresponding to the magnetic suspension bearing to suspend to the initial equilibrium position, directly changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing that changes with the displacement of the rotor, so as to obtain a second set of measurement data.
The execution of the above steps S102 and S103 is not sequential.
In particular, the bearing parameters include current stiffness and displacement stiffness.
The step S104 specifically includes: calculating a current stiffness of the magnetic bearing based on the first set of measurement data; and calculating the displacement stiffness of the magnetic suspension bearing based on the second set of measurement data and the current stiffness.
Specifically, the first parameter is displacement of the rotor, the second parameter is control current of the magnetic suspension bearing, and the step S104 specifically includes:
calculating the current increment of the control current of the magnetic suspension bearing corresponding to each acting force in the first group of measurement data; and calculating the current rigidity of the magnetic suspension bearing according to the gradient increment of the acting force and the current increment. The current stiffness of the magnetic suspension bearing can be calculated by the following formula；
；
Wherein,representing the gradient increment of the force, +.>For the control current of the magnetic bearing recorded when the force was increased the ith time, +.>To increase the total number of said forces.
The acting force generated by the 100g weight is 0.98N, so that the gradient increment of the acting force0.98 and N.
Taking a mode of mounting a weight block as an example, as shown in fig. 2, the principle of identifying the current stiffness of the left magnetic bearing is as follows:
first, hanging a weight tray near the left magnetic bearing, as shown in the approximate position marked in fig. 2;
secondly, electrifying the magnetic bearing, floating the rotor to an initial balance position, and recording the control current value of the left magnetic bearing at the moment；
Thirdly, putting weights one by one on a weight tray, suggesting to adopt 100g weights, adding the weights one by one into the weight tray, and recording the current value when adding one weightN is the total number of weights, and the suspension is ensured to be unchanged at the initial balance position.
Right magnetic bearing current stiffness identification method and left magnetic bearing current stiffness identification methodThe steps are repeated to obtain the control current value of the right magnetic bearing。
The current stiffness is the conversion coefficient of force and current, and the formula is:wherein->Indicating force, & lt>Representing the current.
The following table shown in table 1 records all control currents and corresponding weight masses, the least square method is used to fit the table records, the current stiffness value is finally calculated, and the identified left bearing current stiffness isThe right bearing current stiffness is +.>。
TABLE 1
The establishment process of the calculation formula of the current stiffness is as follows:
firstly, establishing a variance error:
deriving parameters：
And (3) finishing to obtain:
the step S104 further specifically includes:
calculating displacement increment corresponding to each value of the displacement of the rotor in the second group of measurement data and current increment of the control current of the magnetic suspension bearing; and calculating the displacement rigidity of the magnetic suspension bearing according to the displacement increment, the current increment and the current rigidity.
The displacement rigidity of the magnetic suspension bearing can be calculated by the following formula；
Wherein,the ith value for the displacement of the rotor,/->Is->Control current of the corresponding magnetic bearing, < >>The total number of times to change the displacement value of the rotor.
The relation between the current stiffness and the displacement stiffness is as follows:
wherein,fis the external disturbance force applied when the rotor stably floats,is the corresponding amount of change in the control current,is the corresponding amount of change in rotor displacement. Let f=0, the relationship between the current stiffness and the displacement stiffness becomes:
the left bearing current stiffness to be identifiedBringing in the above, the left bearing displacement stiffness is obtained>Is calculated according to the formula:
wherein,is the variation of the control current of the left magnetic bearing,/-, for example>Is the amount of change in the displacement of the left magnetic bearing rotor.
The value of (2) can be obtained by changing the control current of the controller to the magnetic bearing, measuring the change of the rotor displacement by using a displacement sensor, and carrying out fitting calculation on the experimental result by using a least square method.
The specific implementation method is as follows:
first, the magnetic bearing is electrified and the rotor is rotatedFloating to the initial balance position, recording the current valueAnd displacement value。
Then, the levitation position of the rotor is changed, the control current value at the moment is recorded, the levitation position of the rotor is continuously changed, and the corresponding control current value is recorded. The table shown in Table 2 below records all displacements and corresponding control current values, fits the experimental results using least squares, and finally calculates。
TABLE 2
The construction process of the displacement stiffness calculation formula is as follows:
firstly, establishing a variance error:
the following is obtained:
and (3) finishing to obtain:
nowValue sum of>The product of these is the displacement stiffness of the left bearing, which has been identified. Displacement of right bearing just +>The degree identification method is the same as the left side, and the steps are repeated.
According to the method for calculating the magnetic suspension bearing parameters, the rotor corresponding to the magnetic suspension bearing is controlled to float to the initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, the bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device for calculating the bearing parameters of the magnetic bearing by actually measuring the control current of the magnetic bearing and the displacement of the rotor can effectively avoid deviation of the theoretical calculation result, provide favorable conditions for a more reasonable-design controller, and further improve the magnetic bearing control effect.
Example two
The embodiment of the application provides a magnetic bearing parameter calculating device, which corresponds to the magnetic bearing parameter calculating method in the first embodiment, and relevant parts only need to be described in the first embodiment. The method embodiments described below are merely illustrative.
Fig. 4 is a schematic diagram of a magnetic bearing parameter calculating device according to an embodiment of the present application, as shown in fig. 4, the device 10 includes:
the control module 101 is used for controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
a first measurement module 102 for applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
a second measurement module 103, configured to cancel the application of the force to the rotor, change a value of displacement of the rotor, and detect a value of a control current of the magnetic suspension bearing that changes with the displacement of the rotor, to obtain a second set of measurement data;
a calculation module 104 is configured to calculate a bearing parameter of the magnetic suspension bearing based on the first set of measurement data and the second set of measurement data.
In some embodiments of the present application, the bearing parameters include current stiffness and displacement stiffness;
the computing module 104 is specifically configured to:
calculating a current stiffness of the magnetic bearing based on the first set of measurement data;
and calculating the displacement stiffness of the magnetic suspension bearing based on the second set of measurement data and the current stiffness.
In some embodiments of the present application, the computing module 104 is specifically configured to:
the first parameter is the displacement of the rotor, and the second parameter is the control current of the magnetic suspension bearing;
calculating the current increment of the control current of the magnetic suspension bearing corresponding to each acting force in the first group of measurement data;
and calculating the current rigidity of the magnetic suspension bearing according to the gradient increment of the acting force and the current increment.
In some embodiments of the present application, the computing module 104 is specifically configured to:
calculating the current stiffness of the magnetic suspension bearing according to the gradient increment of the acting force and the current increment by the following formula；
；
Wherein,representing the gradient increment of the force, +.>For the control current of the magnetic bearing recorded when the force was increased the ith time, +.>To increase the total number of said forces.
In some embodiments of the present application, the computing module 104 is specifically configured to:
calculating displacement increment corresponding to each value of the displacement of the rotor in the second group of measurement data and current increment of the control current of the magnetic suspension bearing;
and calculating the displacement rigidity of the magnetic suspension bearing according to the displacement increment, the current increment and the current rigidity.
In some embodiments of the present application, the computing module 104 is specifically configured to:
calculating the displacement rigidity of the magnetic suspension bearing according to the displacement increment, the current increment and the current rigidity by the following formula；
；
Wherein,the ith value for the displacement of the rotor,/->Is->Control current of the corresponding magnetic bearing, < >>The total number of times to change the displacement value of the rotor.
According to the calculating device for the magnetic suspension bearing parameters, the rotor corresponding to the magnetic suspension bearing is controlled to suspend to an initial balance position; applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing; canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing, which changes along with the displacement of the rotor, so as to obtain a second group of measurement data; based on the first group of measurement data and the second group of measurement data, the bearing parameters of the magnetic bearing are calculated, and compared with the prior art, the method and the device for calculating the bearing parameters of the magnetic bearing by actually measuring the control current of the magnetic bearing and the displacement of the rotor can effectively avoid deviation of the theoretical calculation result, provide favorable conditions for a more reasonable-design controller, and further improve the magnetic bearing control effect.
Example III
The embodiment of the application also provides a centrifugal compressor, which comprises a magnetic suspension bearing, wherein the bearing parameters of the magnetic suspension bearing are calculated by adopting the calculation method of the magnetic suspension bearing parameters of any one embodiment of the embodiment.
The centrifugal compressor provided by the embodiment of the application and the magnetic suspension bearing parameter calculation method provided by the embodiment of the application are the same in conception and have the same beneficial effects as the method adopted, operated or realized by the centrifugal compressor.
Example IV
The embodiment of the application also provides a water chilling unit, which comprises the centrifugal compressor in the third embodiment.
Example five
The embodiment of the application also provides electronic equipment, which comprises: the magnetic bearing parameter calculation method comprises a memory, a processor and a computer program stored in the memory and capable of being run on the processor, wherein the processor executes the computer program to realize the magnetic bearing parameter calculation method according to any one of the first embodiment. The electronic device may be a home appliance using a magnetic bearing, such as an air conditioner, which is not limited in this application.
Specifically, the electronic device may include: the device comprises a processor, a memory, a bus and a communication interface, wherein the processor, the communication interface and the memory are connected through the bus; the memory stores a computer program that can be run on the processor, and when the processor runs the computer program, the method for calculating the magnetic suspension bearing parameter provided by any one of the foregoing embodiments of the present application is executed.
The memory may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and the at least one other network element is implemented through at least one communication interface (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory is configured to store a program, and the processor executes the program after receiving an execution instruction, and the method for calculating the magnetic bearing parameter disclosed in any of the foregoing embodiments of the present application may be applied to the processor or implemented by the processor.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the method for calculating the magnetic bearing parameters provided by the embodiment of the application are the same in invention conception, and have the same beneficial effects as the method adopted, operated or realized by the electronic equipment.
Example six
The present embodiments also provide a computer readable storage medium having stored thereon computer readable instructions executable by a processor to implement a method for calculating magnetic bearing parameters according to any of the embodiments.
Examples of the computer readable storage medium may also include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage medium, which are not described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application and the method for calculating the magnetic bearing parameter provided by the embodiment of the present application have the same advantages as the method adopted, operated or implemented by the application program stored therein, because of the same inventive concept.
It should be noted that:
in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in the creation means of a virtual machine according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as an apparatus or device program (e.g., computer program and computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (12)
1. The method for calculating the magnetic suspension bearing parameters is characterized by comprising the following steps of:
controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
canceling the application of the acting force to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing again to obtain a second group of measurement data;
bearing parameters of the magnetic bearing are calculated based on the first set of measurement data and the second set of measurement data.
2. The method of claim 1, wherein the bearing parameters include current stiffness and displacement stiffness;
the calculating bearing parameters of the magnetic bearing based on the first set of measurement data and the second set of measurement data comprises:
calculating a current stiffness of the magnetic bearing based on the first set of measurement data;
and calculating the displacement stiffness of the magnetic suspension bearing based on the second set of measurement data and the current stiffness.
3. The method of calculating a magnetic bearing parameter of claim 2, wherein the calculating the current stiffness of the magnetic bearing based on the first set of measurement data comprises:
the first parameter is the displacement of the rotor, and the second parameter is the control current of the magnetic suspension bearing;
calculating the current increment of the control current of the magnetic suspension bearing corresponding to each acting force in the first group of measurement data;
and calculating the current rigidity of the magnetic suspension bearing according to the gradient increment of the acting force and the current increment.
4. A method of calculating a magnetic bearing parameter according to claim 3, wherein said calculating the current stiffness of the magnetic bearing from the gradient increment of the applied force and the current increment comprises:
calculating the current stiffness of the magnetic suspension bearing according to the gradient increment of the acting force and the current increment by the following formula；
；
Wherein,representing the gradient increment of the force, +.>For the control current of the magnetic bearing recorded when the force was increased the ith time, +.>To increase the total number of said forces.
5. The method of calculating a magnetic bearing parameter of claim 4, wherein the calculating a displacement stiffness of the magnetic bearing based on the second set of measurement data and the current stiffness comprises:
calculating displacement increment corresponding to each value of the displacement of the rotor in the second group of measurement data and current increment of the control current of the magnetic suspension bearing;
and calculating the displacement rigidity of the magnetic suspension bearing according to the displacement increment, the current increment and the current rigidity.
6. The method of claim 5, wherein calculating the displacement stiffness of the magnetic bearing based on the displacement increment, the current increment, and the current stiffness comprises:
calculating the displacement rigidity of the magnetic suspension bearing according to the displacement increment, the current increment and the current rigidity by the following formula；
；
Wherein,the ith value for the displacement of the rotor,/->Is->The corresponding control current of the magnetic suspension bearing,the total number of times to change the displacement value of the rotor.
7. A computing device for magnetic bearing parameters, comprising:
the control module is used for controlling the rotor corresponding to the magnetic suspension bearing to suspend to an initial balance position;
a first measurement module for applying a force to the rotor perpendicular to the rotor; keeping the first parameter unchanged, increasing the acting force in a gradient way, and detecting the value of the second parameter changed along with the acting force to obtain a first group of measurement data; the first parameter and the second parameter are respectively one of the displacement of the rotor and the control current of the magnetic suspension bearing;
the second measuring module is used for canceling the acting force applied to the rotor, changing the value of the displacement of the rotor, and detecting the value of the control current of the magnetic suspension bearing again to obtain a second group of measuring data;
and the calculating module is used for calculating the bearing parameters of the magnetic suspension bearing based on the first set of measurement data and the second set of measurement data.
8. The apparatus for calculating a magnetic bearing parameter according to claim 7, wherein the bearing parameter includes a current stiffness and a displacement stiffness;
the computing module is specifically configured to:
calculating a current stiffness of the magnetic bearing based on the first set of measurement data;
and calculating the displacement stiffness of the magnetic suspension bearing based on the second set of measurement data and the current stiffness.
9. A centrifugal compressor comprising a magnetic bearing, the bearing parameters of which are calculated using the method of any one of claims 1 to 6.
10. A chiller comprising the centrifugal compressor of claim 9.
11. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when the computer program is run by the processor.
12. A computer readable storage medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1 to 6.
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