WO2015188669A1 - 磁悬浮轴承系统的控制方法、控制装置及空调 - Google Patents
磁悬浮轴承系统的控制方法、控制装置及空调 Download PDFInfo
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- WO2015188669A1 WO2015188669A1 PCT/CN2015/078539 CN2015078539W WO2015188669A1 WO 2015188669 A1 WO2015188669 A1 WO 2015188669A1 CN 2015078539 W CN2015078539 W CN 2015078539W WO 2015188669 A1 WO2015188669 A1 WO 2015188669A1
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- weighting coefficient
- separation weighting
- rotor
- suspension
- eddy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
Definitions
- the invention belongs to the technical field of magnetic suspension bearings, and particularly relates to a control method, a control device and an air conditioner of a magnetic suspension bearing system.
- the magnetic suspension bearing system is a new type of bearing system. During its operation, the rotor is suspended in the air by magnetic force, so that there is no mechanical contact between the rotor and the stator, which has the advantages of low wear, low energy consumption and low noise.
- magnetic suspension bearing systems are mostly used in compressors, that is, magnetic suspension compressors.
- the eccentricity of the rotor's mass will cause vibration, which will affect the suspension accuracy and stability of the rotor.
- the suspension accuracy characterizes the amount of displacement of the rotor from the center position.
- an object of the present invention is to provide a control method and a control device for a magnetic suspension bearing system to realize control of a magnetic suspension bearing system and improve suspension accuracy and stability of the rotor.
- the present invention also discloses an air conditioner.
- the present invention provides the following technical solutions:
- the invention discloses a control method of a magnetic suspension bearing system, and the control method comprises:
- a control signal is generated based on the currently compensated displacement signal to control the power amplifier to adjust the excitation current flowing through the bearing coil in the magnetic suspension bearing.
- the initial value of the eddy separation weighting coefficient is 0 or 1
- the operation of determining the optimal eddy separation weighting coefficient comprises:
- the eddy separation weighting coefficient used in the previous week is determined as the optimal eddy separation weighting coefficient.
- the first step length is between 0.001 and 0.01.
- the initial value of the eddy separation weighting coefficient is a first value greater than 0 and less than 1, and the operation of determining the optimal eddy separation weighting coefficient comprises:
- the eddy separation weighting coefficient used in the previous week is determined as the optimal eddy separation weighting coefficient.
- the second step and the third step are between 0.001 and 0.01.
- the invention also discloses a control device for a magnetic suspension bearing system, comprising:
- a displacement signal acquiring unit configured to acquire a displacement signal of the rotor in the magnetic suspension bearing system
- a sinusoidal component determining unit configured to determine a sinusoidal component of the displacement signal acquired by the displacement signal acquiring unit and the same frequency as the rotational speed
- a compensation unit configured to compensate the displacement signal by using a compensation signal, where the compensation signal is a product of the sinusoidal component and an optimal eddy separation weighting coefficient;
- control unit configured to generate a control signal based on the currently compensated displacement signal to control the power amplifier to adjust an excitation current flowing through the bearing coil in the magnetic suspension bearing;
- a weighting coefficient determining unit is configured to determine an optimal eddy separation weighting coefficient.
- the initial value of the eddy separation weighting coefficient is 0 or 1
- the weighting coefficient determining unit comprises:
- a suspension accuracy determining module configured to determine a suspension accuracy of the rotor after being compensated based on a current eddy separation weighting coefficient
- a first judging module configured to determine whether the currently acquired suspension accuracy of the rotor is higher than a suspension accuracy of the rotor acquired in a previous period
- a first processing module configured to: when the determination result of the first determining module is YES, adjust a vortex separation weighting coefficient along a preset direction by using a first step length, and then trigger the levitation precision determining module;
- the second processing module is configured to determine, as the determination result of the first determining module is negative, the eddy separation weighting coefficient used in the previous period as the optimal eddy separation weighting coefficient.
- the initial value of the eddy separation weighting coefficient is a first value greater than 0 and less than 1, and the weighting coefficient determining unit comprises:
- a suspension accuracy determining module configured to determine a suspension accuracy of the rotor after being compensated based on a current eddy separation weighting coefficient
- a first determining module configured to determine whether the currently acquired suspension accuracy of the rotor is higher than a previous one Suspension accuracy of the rotor obtained during the cycle
- a third processing module configured to: in the case that the determination result of the first determining module is YES, adjust the eddy separation weighting coefficient in the first direction by using the second step, and then trigger the suspension precision determining module;
- a fourth processing module configured to determine, when the determination result of the first determining module is negative, a vortex separation weighting coefficient used in a previous period as a first eddy separation weighting coefficient, and to vortex separation weighting The coefficient is adjusted to a second value, the second value is located in a second direction of the first value, and then the suspension accuracy determining module is triggered;
- a second judging module configured to determine whether the suspension accuracy of the rotor after being compensated based on the second value-based eddy separation weighting coefficient is lower than a suspension accuracy after being compensated based on the first eddy separation weighting coefficient
- a fifth processing module configured to determine, in a case that the determination result of the second determining module is YES, that the first eddy separation weighting coefficient is an optimal eddy separation weighting coefficient
- a sixth processing module configured to adjust, according to the second step, the vortex separation weighting coefficient in the second direction, if the determination result of the second determining module is negative, until the adjusted whirl After the separation weighting coefficient is compensated, the suspension accuracy of the rotor is lower than the suspension precision of the previous week, and the eddy separation weighting coefficient used in the previous week is determined as the optimal eddy separation weighting coefficient.
- the invention also discloses an air conditioner comprising a magnetic levitation compressor, the magnetic levitation compressor comprising a magnetic levitation bearing system, the magnetic levitation bearing system comprising: a magnetic levitation bearing, a rotor, a power amplifier, a displacement detecting device and any one of the above control devices.
- the beneficial effects of the present invention are: the control method and the control device of the magnetic suspension bearing system disclosed by the present invention, after acquiring the displacement signal of the rotor, determining the sinusoidal component of the current displacement signal and the same frequency as the rotational speed, The product of the sinusoidal component and the optimal eddy separation weighting coefficient is used as a compensation signal to compensate the current displacement signal to reduce or even cancel the periodic interference signal in the displacement signal, thereby reducing the fluctuation component of the control signal and improving the rotor's Suspension accuracy and stability.
- FIG. 1 is a flow chart of a control method of a magnetic suspension bearing system disclosed by the present invention
- FIG. 2 is a flow chart of a method for determining an optimal eddy separation weighting coefficient in the present invention
- FIG. 3 is a flow chart of another method for determining an optimal eddy separation weighting coefficient in the present invention.
- FIG. 4 is a schematic block diagram of determining a sinusoidal component of the same frequency as the rotational speed in the displacement signal by using a variable step length LMS method
- Figure 5 is a schematic block diagram of a control process of the magnetic suspension bearing system disclosed in the present invention.
- FIG. 6 is a comparison diagram of effects of a control method disclosed in the present invention on a magnetic suspension bearing system and an existing control method
- FIG. 7 is a schematic structural view of a control device of the magnetic suspension bearing system disclosed in the present invention.
- FIG. 8 is a schematic structural diagram of a weighting coefficient determining unit according to the present invention.
- FIG. 9 is another schematic structural diagram of a weighting coefficient determining unit in the present invention.
- the invention discloses a control method of a magnetic suspension bearing system, which realizes control of a magnetic suspension bearing system and improves suspension precision and stability of the rotor.
- FIG. 1 is a flow chart of a control method of a magnetic suspension bearing system disclosed by the present invention.
- the control method includes:
- Step S11 Acquire a displacement signal of the rotor in the magnetic suspension bearing system.
- the magnetic suspension bearing system mainly includes a magnetic suspension bearing, a rotor, a control device, a power amplifier and a displacement detecting device.
- the displacement detecting device can detect the displacement of the rotor from the center position and output a displacement signal.
- Step S12 determining a sinusoidal component of the displacement signal that is the same frequency as the rotational speed.
- Step S13 Compensating the current displacement signal by using a compensation signal, which is a product of the sinusoidal component and the optimal eddy separation weighting coefficient.
- the displacement signal detected by the displacement detecting device includes both a periodic interference signal and a random vibration signal (useful signal).
- the periodic interfering signals in the displacement signal cause fluctuations in the same frequency in the control signal, which ultimately leads to vibration of the rotor.
- the sinusoidal component of the displacement signal and the same speed as the rotational speed is extracted, and a part of the sinusoidal component is used to compensate the displacement signal detected by the displacement sensor, thereby reducing or even canceling the periodic interference signal in the displacement signal, thereby reducing the control.
- the wave component in the signal improves the suspension accuracy and stability of the rotor.
- Step S14 generating a control signal based on the currently compensated displacement signal to control the power amplifier to adjust the excitation current flowing through the bearing coil in the magnetic suspension bearing.
- the control device in the magnetic levitation bearing system generates a control signal based on the compensated displacement signal, which is consistent with the prior art process of generating a control signal based on the displacement signal.
- the control signal generated by the control device is transmitted to the power amplifier in the magnetic suspension bearing system, and the power amplifier amplifies the control signal to adjust the current flowing through the bearing coil in the magnetic suspension bearing system, thereby changing the magnetic force acting on the rotor, and adjusting the rotor Suspended position.
- the control method of the magnetic suspension bearing system disclosed by the present invention determines the sinusoidal component of the current displacement signal and the same frequency as the rotational speed after acquiring the displacement signal of the rotor, and compensates the product of the sinusoidal component and the optimal eddy separation weighting coefficient as compensation
- the signal compensates the current displacement signal to reduce or even cancel the periodic interference signal in the displacement signal, thereby reducing the fluctuation component of the control signal and improving the suspension accuracy and stability of the rotor.
- the optimal eddy separation weighting coefficient in the invention is obtained by automatically optimizing the suspension accuracy of the rotor as the optimization target.
- the operation of determining the optimal eddy separation weighting factor can be carried out for the first time in the magnetic suspension bearing system. Execution at the time of the line can also be performed periodically, for example once a day or once a week.
- the optimal eddy separation weighting factor can be determined in a variety of ways, as explained below in connection with Figures 2 and 3.
- FIG. 2 is a flow chart of a method for determining an optimal eddy separation weighting coefficient in the present invention.
- the initial value of the eddy separation weighting coefficient is 0 or 1
- the method comprises:
- Step S21 determining the suspension accuracy of the rotor after compensation based on the current eddy separation weighting coefficient.
- the suspension accuracy of the rotor characterizes the displacement of the rotor from the center position.
- the suspension accuracy of the rotor is high, the distance between the current position of the rotor and its center position is small.
- the suspension accuracy of the rotor is low, the current position of the rotor is indicated. The distance between it and its center position is large.
- Step S22 It is judged whether the suspension precision of the currently obtained rotor is higher than the suspension precision of the rotor acquired in the previous period, and if yes, step S23 is performed, otherwise, step S24 is performed.
- Step S23 adjusting the vortex separation weighting coefficient along the preset direction by using the first step length, and executing step S21.
- the first step is used to adjust the eddy separation weighting coefficient along the preset direction. Specifically: in the case where the initial value of the vortex separation weighting coefficient is 0, the first step is used to adjust the eddy separation weighting coefficient along the preset direction, specifically by using the first step length to increase the eddy separation weighting coefficient; In the case where the initial value of the dynamic separation weighting coefficient is 1, the first step is used to adjust the eddy separation weighting coefficient along the preset direction, specifically by using the first step length to reduce the eddy separation weighting coefficient.
- the first step length can be a fixed value or a variable value.
- the first step is between 0.001 and 0.01.
- Step S24 Determine the eddy separation weighting coefficient in the previous week as the optimal eddy separation weighting coefficient.
- the suspension accuracy of the rotor is lower than the suspension accuracy of the rotor obtained in the previous week after compensation based on the current eddy separation weighting coefficient, it indicates that the eddy separation weighting coefficient before the most recent adjustment is the optimal eddy separation.
- the weighting factor that is, the eddy separation weighting coefficient used in the previous week is the optimal eddy separation weighting coefficient.
- the initial value of the eddy separation weighting coefficient is 0 or 1
- the eddy separation weighting coefficient is adjusted along the preset direction by the first step length, after each adjustment of the eddy separation weighting coefficient Determine the suspension accuracy of the rotor after compensation based on the adjusted eddy separation weighting coefficient, and determine whether the suspension accuracy is higher than the suspension accuracy of the rotor in the previous week until the suspension accuracy of the rotor is lower than the previous one.
- the eddy separation weighting coefficient used in the previous week is determined as the optimal eddy separation weighting coefficient.
- FIG. 3 is a flow chart of another method for determining an optimal eddy separation weighting coefficient in the present invention.
- the initial value of the eddy separation weighting coefficient is a first value greater than 0 and less than 1, the method comprising:
- Step S31 determining the suspension accuracy of the rotor after compensation based on the current eddy separation weighting coefficient.
- Step S32 It is judged whether the suspension precision of the currently obtained rotor is higher than the suspension precision of the rotor acquired in the previous period, and if yes, step S33 is performed, otherwise, step S34 is performed.
- Step S33 adjusting the eddy separation weighting coefficient in the first direction by using the second step, and performing step S31.
- the adjusting the eddy separation weighting coefficient in the first direction by using the second step is specifically: increasing the eddy separation weighting coefficient by using the second step, or reducing the eddy separation weighting coefficient by using the second step.
- Step S34 Determine the eddy separation weighting coefficient used in the previous week as the first eddy separation weighting coefficient, and adjust the eddy separation weighting coefficient to the second value.
- the second value is located in the second direction of the first value.
- the second direction is opposite to the first direction.
- the first direction is to increase the vortex separation weighting coefficient
- the second direction is to reduce the eddy separation weighting coefficient
- the first direction is to reduce the eddy separation weighting coefficient
- the second direction is to increase the eddy separation weighting coefficient.
- the eddy separation weighting coefficient used in the previous week is the optimal eddy of the eddy separation weighting coefficient from the initial value in the first direction adjustment process.
- the weighting coefficient is separated, and then the eddy separation weighting coefficient is adjusted to a second value to determine whether there is a better value in the adjustment process of the eddy separation weighting coefficient from the initial value in the second direction.
- Step S35 determining whether the suspension accuracy of the rotor after compensating based on the vortex separation weighting coefficient of the second value is lower than the suspension accuracy after compensation based on the first eddy separation weighting factor, and if yes, executing step S36, otherwise, performing steps S37.
- Step S36 determining that the first eddy separation weighting coefficient is an optimal eddy separation weighting coefficient.
- Step S37 Adjust the eddy separation weighting coefficient in the second direction by using the third step.
- Step S38 It is judged whether the suspension accuracy of the rotor after the compensation based on the adjusted eddy separation weighting coefficient is lower than the suspension accuracy of the previous period, and if so, step S39 is performed, otherwise, step S37 is performed.
- Step S39 Determine the eddy separation weighting coefficient used in the previous week as the optimal eddy separation weighting coefficient.
- the first eddy separation weighting coefficient is determined as the optimal eddy separation weighting coefficient.
- the vortex separation weighting coefficient is adjusted along the second direction by the third step until the adjusted eddy separation weighting coefficient is performed.
- the suspension accuracy of the rotor is lower than that of the previous one week, and the eddy separation weighting coefficient used in the previous week is determined as the optimal eddy separation weighting coefficient, that is, the eddy separation weighting before the last adjustment is weighted.
- the coefficient is determined as the optimal eddy separation weighting coefficient.
- the second step and the third step may be fixed values or variable values.
- the second step and the third step are between 0.001 and 0.01.
- the initial value of the eddy separation weighting coefficient is between 0 and 1
- the eddy separation weighting coefficient is first adjusted in the first direction in the second step to determine the first eddy separation.
- Weighting coefficient, the first eddy separation weighting coefficient is an optimal whirl in the process of adjusting from the initial value in the first direction Separating the weighting coefficient, and then adjusting the eddy separation weighting coefficient to a second value in the second direction of the initial value, and the suspension accuracy after the rotor is compensated based on the second value is lower than the first eddy separation weighting coefficient
- the first eddy separation weighting coefficient is determined as the optimal eddy separation weighting coefficient, and the suspension accuracy after the rotor is compensated based on the second value is higher than that based on the first eddy separation weighting coefficient
- the vortex separation weighting coefficient is adjusted along the second direction in the third step until the suspension accuracy of the rotor is compensate
- variable step size LMS least mean square
- the displacement signal of the rotor contains both periodic interference signals and random vibration signals (useful signals).
- e(k) is the displacement signal of the rotor.
- the reference inputs x 1 (k) and x 2 (k) are standard sinusoidal signals of the same period as the interfering signals, and the two signals are 90° out of phase.
- the purpose of the LMS algorithm is to obtain the values of the weight vectors w 1 (k) and w 2 (k) such that the combined output signal y(k) cancels out the periodic interference signal in the original displacement signal e(k), thereby achieving The mean square of the error is the smallest.
- the LMS algorithm changes the gain parameters at each sampling time, which is easier to implement.
- the weight vectors w 1 (k) and w 2 (k) iteratively search for the optimal weight vector using the steepest descent method, so that the mean square error is minimized.
- the iterative formula is:
- ⁇ is a fixed compensation factor.
- the key to this algorithm lies in the selection of ⁇ .
- ⁇ is, the faster the system converges, but the bandwidth of the adaptive filter will become larger, which will affect the signal that does not need compensation, or even be filtered out.
- ⁇ can be adjusted by the following formula:
- f is the rotational frequency of the rotor and ⁇ is the weighting factor
- the purpose is to increase the influence of the error signal on the variable step size.
- the control process of the magnetic suspension bearing system disclosed in the present invention is as shown in FIG. After the applicant applies control to the magnetic suspension bearing system according to the control method disclosed by the present invention, compared with the existing control mode, the fluctuation of the excitation current in the bearing coil is reduced by about 55%, and the suspension accuracy of the rotor is increased by about 30%. 6 is shown.
- the above invention discloses a control method of a magnetic suspension bearing system. Accordingly, the present invention also discloses a control device for a magnetic suspension bearing system to implement the control method.
- FIG. 7 is a schematic structural view of a control device of the magnetic suspension bearing system disclosed in the present invention.
- the control device includes a displacement signal acquisition unit 1, a sine component determination unit 2, a compensation unit 3, a control unit 4, and a weighting coefficient determination unit 5.
- the displacement signal acquisition unit 1 is configured to acquire a displacement signal of the rotor in the magnetic suspension bearing system.
- the displacement detecting device can detect the displacement of the rotor from the center position and output a displacement signal, and the displacement signal acquiring unit 1 acquires the signal of the rotor from the displacement detecting device.
- the sinusoidal component determining unit 2 is configured to determine a sinusoidal component of the displacement signal acquired by the displacement signal acquiring unit 1 at the same frequency as the rotational speed.
- the compensation unit 3 is configured to compensate the displacement signal by using the compensation signal, wherein the compensation signal is the product of the sinusoidal component determined by the sinusoidal component determining unit 2 and the optimal eddy separation weighting coefficient.
- the control unit 4 is configured to generate a control signal based on the currently compensated displacement signal to control the power amplifier to adjust the excitation current flowing through the bearing coil in the magnetic suspension bearing.
- the weighting coefficient determining unit 5 is configured to determine an optimal eddy separation weighting coefficient.
- the control device of the magnetic suspension bearing system disclosed by the present invention after acquiring the displacement signal of the rotor, Determining the sinusoidal component of the current displacement signal at the same frequency as the rotational speed, and using the product of the sinusoidal component and the optimal eddy separation weighting coefficient as a compensation signal to compensate the current displacement signal to reduce or even cancel the period in the displacement signal
- the interference signal thereby reducing the fluctuation component of the control signal, improving the suspension accuracy and stability of the rotor.
- the optimal eddy separation weighting coefficient can be determined in various ways, and correspondingly, the weighting coefficient determining unit 5 has a different structure. The following description will be respectively made.
- FIG. 8 is a schematic structural diagram of a weighting coefficient determining unit according to the present invention.
- the initial value of the eddy separation weighting coefficient is 0 or 1.
- the weighting coefficient determining unit includes a floating precision determining module 501, a first determining module 502, a first processing module 503, and a second processing module 504.
- the suspension accuracy determining module 501 is configured to determine a suspension accuracy of the rotor after the compensation based on the current eddy separation weighting coefficient.
- the first determining module 502 is configured to determine whether the currently acquired suspension accuracy of the rotor is higher than the suspension accuracy of the rotor acquired in the previous week.
- the first processing module 503 is configured to adjust the eddy separation weighting coefficient along the preset direction by using the first step length in the case that the determination result of the first determining module 502 is YES, and then trigger the suspension precision determining module 501.
- the eddy separation weighting coefficient is adjusted along the preset direction by using the first step length, specifically by using the first step length to increase the eddy separation weighting coefficient;
- the first step is used to adjust the eddy separation weighting coefficient along the preset direction.
- the first step length is used to reduce the eddy separation weighting coefficient.
- the first step length can be a fixed value or a variable value.
- the first step is between 0.001 and 0.01.
- the second processing module 504 is configured to determine, as the determination result of the first determining module 502 is negative, the eddy separation weighting coefficient used in the previous period as the optimal eddy separation weighting coefficient.
- the initial value of the eddy separation weighting coefficient is 0 or 1
- the eddy separation weighting coefficient is adjusted along the preset direction by the first step length, and the eddy separation is added at each adjustment.
- determine the suspension accuracy of the rotor after compensation based on the adjusted eddy separation weighting coefficient and determine whether the suspension accuracy is higher than the suspension accuracy of the rotor in the previous week until the suspension accuracy of the rotor is lower than the previous one.
- the levitation accuracy in the period is determined by the eddy separation weighting coefficient used in the previous week as the optimal eddy separation weighting coefficient.
- FIG. 9 is a schematic structural diagram of a weighting coefficient determining unit according to the present invention.
- the initial value of the eddy separation weighting coefficient is a first value greater than 0 and less than 1.
- the weighting coefficient determining unit includes a suspension accuracy determining module 511, a first determining module 512, a third processing module 513, a fourth processing module 514, and a first value.
- the suspension accuracy determining module 511 is configured to determine a suspension accuracy of the rotor after being compensated based on the current eddy separation weighting coefficient.
- the first determining module 512 is configured to determine whether the currently acquired suspension accuracy of the rotor is higher than the suspension accuracy of the rotor acquired in the previous period.
- the third processing module 513 is configured to adjust the eddy separation weighting coefficient in the first direction by using the second step in the case that the determination result of the first determining module 512 is YES, and then trigger the suspension precision determining module 511.
- the fourth processing module 514 is configured to determine, when the determination result of the first determining module 512 is negative, the eddy separation weighting coefficient used in the previous period as the first eddy separation weighting coefficient, and the eddy separation weighting The coefficient is adjusted to a second value, and the second value is located in the second direction of the first value, after which the suspension accuracy determination module 511 is triggered.
- the second direction is opposite to the first direction.
- the second determining module 515 is configured to determine whether the suspension accuracy of the rotor after being compensated based on the eddy separation weighting coefficient of the second value is lower than the suspension accuracy after the compensation based on the first eddy separation weighting coefficient.
- the fifth processing module 516 is configured to determine, in a case where the determination result of the second determining module 515 is YES, that the first eddy separation weighting coefficient is an optimal eddy separation weighting coefficient.
- the sixth processing module 517 is configured to: when the determination result of the second determining module 515 is negative, Adjusting the eddy separation weighting coefficient in the second direction by using the third step length until the suspension accuracy of the rotor is compensated by the adjusted eddy separation weighting coefficient is lower than the suspension precision of the previous period, and will be used in the previous period
- the eddy separation weighting coefficient is determined as the optimal eddy separation weighting coefficient.
- Adjusting the eddy separation weighting coefficient along the first direction by using the second step is specifically: increasing the eddy separation weighting coefficient by using the second step size, or reducing the eddy separation weighting coefficient by using the second step size.
- the second direction is opposite to the first direction.
- the second direction is to reduce the eddy separation weighting coefficient
- the first direction is to reduce the eddy separation weighting coefficient
- the second direction is to increase the eddy separation weighting coefficient.
- the second step and the third step may be fixed values or variable values.
- the second step and the third step are between 0.001 and 0.01.
- the initial value of the eddy separation weighting coefficient is between 0 and 1
- the vortex separation weighting coefficient is first adjusted in the first direction by the second step to determine the first vortex.
- the first eddy separation weighting coefficient is an optimal eddy separation weighting coefficient during the adjustment from the initial value in the first direction, and then adjusting the eddy separation weighting coefficient to the second direction of the initial value
- the second value determines that the first eddy separation weighting coefficient is the optimal eddy separation when the suspension accuracy after the rotor is compensated based on the second value is lower than the suspension accuracy compensated based on the first eddy separation weighting coefficient
- the weighting coefficient adjusts the eddy separation weighting coefficient in the second direction along the third step when the suspension accuracy after the rotor is compensated based on the second value is higher than the suspension accuracy compensated based on the first eddy separation weighting coefficient, Until the compensation based on the adjusted eddy separation weight
- the present invention also discloses an air conditioner including a magnetic levitation compressor including a magnetic levitation bearing system, wherein the magnetic levitation bearing system includes a magnetic levitation bearing, a rotor, a power amplifier, a displacement detecting device, and the above-disclosed control device of the present invention.
- the air conditioner disclosed in the invention has high suspension precision and stability of the rotor in the magnetic suspension bearing system.
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Abstract
一种磁悬浮轴承系统的控制方法，包括：获取磁悬浮轴承系统中转子的位移信号；确定该位移信号中与转速同频的正弦分量；利用补偿信号对位移信号进行补偿，补偿信号为正弦分量与最优涡动分离加权系数的乘积；基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经磁悬浮轴承中轴承线圈的励磁电流。该控制方法能够减小控制信号的波动成分，提高转子的悬浮精度和稳定性。另外，本发明还涉及相应的控制装置及空调。
Description
本申请要求于2014年6月11日提交中国专利局、申请号为201410259063.9、发明名称为“磁悬浮轴承系统的控制方法、控制装置及空调”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明属于磁悬浮轴承技术领域，尤其涉及磁悬浮轴承系统的控制方法、控制装置及空调。
磁悬浮轴承系统是一种新型轴承系统，在其运行过程中，利用磁力作用将转子悬浮于空中，使转子与定子之间没有机械接触，具有磨损小、能耗低、噪音小的优点。目前磁悬浮轴承系统多应用于压缩机，也就是磁悬浮压缩机。在磁悬浮轴承系统运行过程中，其转子的质量偏心会引发振动，从而影响转子的悬浮精度和稳定性。其中，悬浮精度表征了转子偏离中心位置的位移量。
如何对磁悬浮轴承系统的运行过程进行控制，以便提高其悬浮精度和稳定性，是本领域技术人员所面临的问题。
发明内容
有鉴于此，本发明的目的在于提供磁悬浮轴承系统的控制方法及控制装置，以实现对磁悬浮轴承系统的控制，提高转子的悬浮精度和稳定性。另外，本发明还公开一种空调。
为实现上述目的，本发明提供如下技术方案：
本发明公开了一种磁悬浮轴承系统的控制方法，所述控制方法包括：
获取所述磁悬浮轴承系统中转子的位移信号；
确定所述位移信号中与转速同频的正弦分量；
利用补偿信号对所述位移信号进行补偿，所述补偿信号为所述正弦分量与
最优涡动分离加权系数的乘积；
基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经所述磁悬浮轴承中轴承线圈的励磁电流。
优选的，涡动分离加权系数的初始值为0或1，确定最优涡动分离加权系数的操作，包括：
确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；
判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；
若是，则利用第一步长沿预设方向调整涡动分离加权系数，返回执行确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度的步骤；
若否，则将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
优选的，所述第一步长位于0.001至0.01之间。
优选的，涡动分离加权系数的初始值为大于0且小于1的第一数值，确定最优涡动分离加权系数的操作，包括：
确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；
判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；
若是，则利用第二步长沿第一方向调整涡动分离加权系数，返回执行确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度的步骤；
若否，则将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权系数，将所述涡动分离加权系数调整至第二数值，所述第二数值位于所述第一数值的第二方向上，判断基于第二数值的涡动分离加权系数进行补偿后所述转子的悬浮精度是否低于基于所述第一涡动分离加权系数进行补偿后的悬浮精度，若是，则确定所述第一涡动分离加权系数为最优涡动分离加权系数，否则，利用第三步长沿所述第二方向调整所述涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后所述转子的悬浮精度低于前一周期内的悬浮精
度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
优选的，所述第二步长和所述第三步长位于0.001至0.01之间。
本发明还公开一种磁悬浮轴承系统的控制装置，包括：
位移信号获取单元，用于获取所述磁悬浮轴承系统中转子的位移信号；
正弦分量确定单元，用于确定所述位移信号获取单元获取到的位移信号中与转速同频的正弦分量；
补偿单元，用于利用补偿信号对所述位移信号进行补偿，所述补偿信号为所述正弦分量与最优涡动分离加权系数的乘积；
控制单元，用于基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经所述磁悬浮轴承中轴承线圈的励磁电流；
加权系数确定单元，用于确定最优涡动分离加权系数。
优选的，涡动分离加权系数的初始值为0或1，所述加权系数确定单元包括：
悬浮精度确定模块，用于确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；
第一判断模块，用于判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；
第一处理模块，用于在所述第一判断模块的判断结果为是的情况下，利用第一步长沿预设方向调整涡动分离加权系数，之后触发所述悬浮精度确定模块；
第二处理模块，用于在所述第一判断模块的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
优选的，涡动分离加权系数的初始值为大于0且小于1的第一数值，所述加权系数确定单元包括：
悬浮精度确定模块，用于确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；
第一判断模块，用于判断当前获取到的所述转子的悬浮精度是否高于前一
周期内获取到的所述转子的悬浮精度；
第三处理模块，用于在所述第一判断模块的判断结果为是的情况下，利用第二步长沿第一方向调整涡动分离加权系数，之后触发所述悬浮精度确定模块；
第四处理模块，用于在所述第一判断模块的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权系数，将涡动分离加权系数调整至第二数值，所述第二数值位于所述第一数值的第二方向上，之后触发所述悬浮精度确定模块；
第二判断模块，用于判断基于第二数值的涡动分离加权系数进行补偿后所述转子的悬浮精度是否低于基于所述第一涡动分离加权系数进行补偿后的悬浮精度；
第五处理模块，用于在所述第二判断模块的判断结果为是的情况下，确定所述第一涡动分离加权系数为最优涡动分离加权系数；
第六处理模块，用于在所述第二判断模块的判断结果为否的情况下，利用第三步长沿所述第二方向调整所述涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后所述转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
本发明还公开一种空调，包括磁悬浮压缩机，所述磁悬浮压缩机包括磁悬浮轴承系统，所述磁悬浮轴承系统包括：磁悬浮轴承、转子、功率放大器、位移检测装置和上述任意一种控制装置。
由此可见，本发明的有益效果为：本发明公开的磁悬浮轴承系统的控制方法和控制装置，在获取到转子的位移信号后，确定当前的位移信号中与转速同频的正弦分量，将该正弦分量与最优涡动分离加权系数的乘积作为补偿信号，对当前的位移信号进行补偿，以减小甚至抵消位移信号中的周期性干扰信号，从而减小控制信号的波动成分，提高转子的悬浮精度和稳定性。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明公开的磁悬浮轴承系统的一种控制方法的流程图；
图2为本发明中确定最优涡动分离加权系数的一种方法的流程图；
图3为本发明中确定最优涡动分离加权系数的另一种方法的流程图；
图4为采用变步长LMS方法确定位移信号中与转速同频的正弦分量的原理框图；
图5为本发明公开的磁悬浮轴承系统的控制过程的原理框图；
图6为基于本发明公开的控制方法对磁悬浮轴承系统施加控制后与现有控制方法的效果对比图；
图7为本发明公开的磁悬浮轴承系统的一种控制装置的结构示意图；
图8为本发明中加权系数确定单元的一种结构示意图；
图9为本发明中加权系数确定单元的另一种结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明公开一种磁悬浮轴承系统的控制方法，以实现对磁悬浮轴承系统的控制，提高转子的悬浮精度和稳定性。
参见图1，图1为本发明公开的磁悬浮轴承系统的一种控制方法的流程图。该控制方法包括：
步骤S11：获取磁悬浮轴承系统中转子的位移信号。
磁悬浮轴承系统主要包括磁悬浮轴承、转子、控制装置、功率放大器和位移检测装置。在磁悬浮轴承系统运行过程中，位移检测装置能够检测转子偏离于中心位置的位移，并输出位移信号。
步骤S12：确定位移信号中与转速同频的正弦分量。
步骤S13：利用补偿信号对当前的位移信号进行补偿，该补偿信号为该正弦分量与最优涡动分离加权系数的乘积。
位移检测装置检测到的位移信号既包含周期性干扰信号，也包含随机振动信号(有用信号)。位移信号中的周期性干扰信号会导致控制信号中产生同频率的波动成分，最终导致转子的振动。本发明中提取位移信号中与转速同频的正弦分量，利用正弦分量中的一部分对位移传感器检测到的位移信号进行补偿，可以减小甚至抵消位移信号中的周期性干扰信号，从而减小控制信号中的波动成分，提高转子的悬浮精度和稳定性。
步骤S14：基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经磁悬浮轴承中轴承线圈的励磁电流。
磁悬浮轴承系统中的控制装置基于经过补偿后的位移信号生成控制信号，与现有技术中基于位移信号生成控制信号的处理过程一致。控制装置生成的控制信号传输至磁悬浮轴承系统中的功率放大器，由功率放大器对控制信号进行放大处理，调整流经磁悬浮轴承系统中轴承线圈的电流，从而改变作用在转子上的磁力，调整转子的悬浮位置。
本发明公开的磁悬浮轴承系统的控制方法，在获取到转子的位移信号后，确定当前的位移信号中与转速同频的正弦分量，将该正弦分量与最优涡动分离加权系数的乘积作为补偿信号，对当前的位移信号进行补偿，以减小甚至抵消位移信号中的周期性干扰信号，从而减小控制信号的波动成分，提高转子的悬浮精度和稳定性。
本发明中的最优涡动分离加权系数以转子的悬浮精度为寻优目标经过自动寻优获得。确定最优涡动分离加权系数的操作可以在磁悬浮轴承系统首次运
行时执行，也可以周期性执行，例如每天或者每周执行一次。最优涡动分离加权系数可以通过多种方式确定，下面结合图2和图3进行说明。
参见图2，图2为本发明中确定最优涡动分离加权系数的一种方法的流程图。其中，涡动分离加权系数的初始值为0或1，该方法包括：
步骤S21：确定基于当前的涡动分离加权系数进行补偿后转子的悬浮精度。
转子的悬浮精度表征了转子偏离中心位置的位移量，当转子的悬浮精度较高时，表示转子当前位置与其中心位置之间的距离较小，当转子的悬浮精度较低时，表示转子当前位置与其中心位置之间的距离较大。
步骤S22：判断当前获取到的转子的悬浮精度是否高于前一周期内获取到的转子的悬浮精度，若是，则执行步骤S23，否则，执行步骤S24。
步骤S23：利用第一步长沿预设方向调整涡动分离加权系数，执行步骤S21。
如果基于当前的涡动分离加权系数进行补偿后，转子的悬浮精度高于前一周期内获取到的转子的悬浮精度，就利用第一步长沿预设方向调整涡动分离加权系数。具体的：在涡动分离加权系数的初始值为0的情况下，利用第一步长沿预设方向调整涡动分离加权系数具体是利用第一步长增大涡动分离加权系数；在涡动分离加权系数的初始值为1的情况下，利用第一步长沿预设方向调整涡动分离加权系数具体是利用第一步长减小涡动分离加权系数。
实施中，第一步长可以为定值，也可以为变值。作为优选方案，第一步长位于0.001至0.01之间。
步骤S24：将前一周期内的涡动分离加权系数确定为最优涡动分离加权系数。
如果基于当前的涡动分离加权系数进行补偿后，转子的悬浮精度低于前一周期内获取到的转子的悬浮精度，则说明进行最近一次调整之前的涡动分离加权系数是最优涡动分离加权系数，也就是前一周期内使用的涡动分离加权系数是最优涡动分离加权系数。
在本发明图2所示的方法中，涡动分离加权系数的初始值为0或1，以第一步长沿预设方向调整涡动分离加权系数，在每次调整涡动分离加权系数后，确定转子在基于调整后的涡动分离加权系数进行补偿后的悬浮精度，并判断该悬浮精度是否高于转子在前一周期内的悬浮精度，直至转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
参见图3，图3为本发明中确定最优涡动分离加权系数的另一种方法的流程图。其中，涡动分离加权系数的初始值为大于0小于1的第一数值，该方法包括：
步骤S31：确定基于当前的涡动分离加权系数进行补偿后转子的悬浮精度。
步骤S32：判断当前获取到的转子的悬浮精度是否高于前一周期内获取到的转子的悬浮精度，若是，则执行步骤S33，否则，执行步骤S34。
步骤S33：利用第二步长沿第一方向调整涡动分离加权系数，执行步骤S31。
其中，利用第二步长沿第一方向调整涡动分离加权系数具体为：利用第二步长增大涡动分离加权系数，或者利用第二步长减小涡动分离加权系数。
在利用第二步长沿第一方向调整涡动分离加权系数后，确定基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度，如果该悬浮精度高于前一周期内转子的悬浮精度(也就是基于最近一次调整前的涡动分离加权系数进行补偿后转子的悬浮精度)，则继续利用第二步长沿第一方向调整涡动分离加权系。
步骤S34：将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权系数，将涡动分离加权系数调整为第二数值。
其中，第二数值位于第一数值的第二方向上。第二方向与第一方向相反，当第一方向为增大涡动分离加权系数时，第二方向为减小涡动分离加权系数，当第一方向为减小涡动分离加权系数时，第二方向为增大涡动分离加权系数。
在转子的悬浮精度低于前一周期内转子的悬浮精度时，表明前一周期内使用的涡动分离加权系数是涡动分离加权系数从初始值沿第一方向调整过程中的最优涡动分离加权系数，之后要将涡动分离加权系数调整为第二数值，以判断涡动分离加权系数从初始值沿第二方向调整过程中是否存在更优的数值。
步骤S35：判断基于第二数值的涡动分离加权系数进行补偿后转子的悬浮精度是否低于基于第一涡动分离加权系数进行补偿后的悬浮精度，若是，则执行步骤S36，否则，执行步骤S37。
步骤S36：确定第一涡动分离加权系数为最优涡动分离加权系数。
步骤S37：利用第三步长沿第二方向调整涡动分离加权系数。
步骤S38：判断基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度是否低于前一周期内的悬浮精度，若是，执行步骤S39，否则，执行步骤S37。
步骤S39：将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
在将涡动分离加权系数调整为第二数值后，确定基于该第二数值的涡动分离加权系数进行补偿后转子的悬浮精度。在该悬浮精度低于基于第一涡动分离加权系数进行补偿后转子的悬浮精度时，确定第一涡动分离加权系数为最优涡动分离加权系数。在该悬浮精度高于基于第一涡动分离加权系数进行补偿后转子的悬浮精度时，利用第三步长沿第二方向调整涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数，也就是将最近一次调整前的涡动分离加权系数确定为最优涡动分离加权系数。
实施中，第二步长和第三步长可以为定值，也可以为变值。作为优选方案，第二步长和第三步长位于0.001至0.01之间。
在本发明图3所示的方法中，涡动分离加权系数的初始值位于0至1之间，首先以第二步长沿第一方向调整涡动分离加权系数，以确定第一涡动分离加权系数，该第一涡动分离加权系数是从初始值沿第一方向调整过程中的最优涡动
分离加权系数，之后将涡动分离加权系数调整为位于初始值的第二方向上的第二数值，在转子基于该第二数值进行补偿后的悬浮精度低于基于第一涡动分离加权系数进行补偿后的悬浮精度时，确定第一涡动分离加权系数为最优涡动分离加权系数，在转子基于该第二数值进行补偿后的悬浮精度高于基于第一涡动分离加权系数进行补偿后的悬浮精度时，以第三步长沿第二方向调整涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
实施中，可以采用变步长LMS(最小均方)方法确定转子的位移信号中与转速同频的正弦分量，其原理如图4所示。
转子的位移信号中既包含周期性干扰信号，也包含随机振动信号(有用信号)。e(k)为转子的位移信号。参考输入x1(k)和x2(k)是与干扰信号同周期的标准正弦信号，两个信号相位相差90°。LMS算法的目的是获得权向量w1(k)和w2(k)的值，使得组合后的输出信号y(k)与原始位移信号e(k)中的周期干扰信号相抵消，从而达到误差的均方值最小。输出信号y(k)即为位移信号e(k)中与转速同频的正弦分量，y(k)＝x1(k)*w1(k)+x2(k)*w2(k)。LMS算法在每个采样时间更改增益参数，在算法实现上比较容易。
权向量w1(k)和w2(k)迭代采用最速下降法搜索最优的权向量，使得均方误差达到最小，迭代公式为：
其中，μ为固定补偿因子。这种算法的关键在于μ的选取，μ越大系统收敛的越快，但是自适应滤波器的带宽将变大，会对不需要补偿的信号产生影响，甚至被过滤掉，这样会对整个系统的稳定性产生影响，最终导致LMS算法的发散。另一方面μ取得过小时，系统收敛速度会变慢，但是性能会变好，μ可通过如下公式进行调节：
其中，f为转子的转动频率，α为加权系数，目的是增加误差信号对可变步长的影响。
本发明公开的磁悬浮轴承系统的控制过程如图5所示。申请人依据本发明公开的控制方法对磁悬浮轴承系统施加控制之后，与现有控制方式相比，轴承线圈中励磁电流的波动减小约55％，转子的悬浮精度提高约30％，效果如图6所示。
本发明上述公开了磁悬浮轴承系统的控制方法，相应的，本发明还公开磁悬浮轴承系统的控制装置，以实现该控制方法。
参见图7，图7为本发明公开的磁悬浮轴承系统的一种控制装置的结构示意图。该控制装置包括位移信号获取单元1、正弦分量确定单元2、补偿单元3、控制单元4和加权系数确定单元5。
其中：
位移信号获取单元1，用于获取磁悬浮轴承系统中转子的位移信号。在磁悬浮轴承系统运行过程中，位移检测装置能够检测转子偏离于中心位置的位移，并输出位移信号，位移信号获取单元1从位移检测装置获取转子的位于信号。
正弦分量确定单元2，用于确定位移信号获取单元1获取到的位移信号中与转速同频的正弦分量。
补偿单元3，用于利用补偿信号对位移信号进行补偿，其中，补偿信号为正弦分量确定单元2确定的正弦分量与最优涡动分离加权系数的乘积。
控制单元4，用于基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经磁悬浮轴承中轴承线圈的励磁电流。
加权系数确定单元5，用于确定最优涡动分离加权系数。
本发明公开的磁悬浮轴承系统的控制装置，在获取到转子的位移信号后，
确定当前的位移信号中与转速同频的正弦分量，将该正弦分量与最优涡动分离加权系数的乘积作为补偿信号，对当前的位移信号进行补偿，以减小甚至抵消位移信号中的周期性干扰信号，从而减小控制信号的波动成分，提高转子的悬浮精度和稳定性。
最优涡动分离加权系数可以通过多种方式确定，相应的，加权系数确定单元5有不同结构。下面分别进行说明。
参见图8，图8为本发明中加权系数确定单元的一种结构示意图。涡动分离加权系数的初始值为0或1，该加权系数确定单元包括悬浮精度确定模块501、第一判断模块502、第一处理模块503和第二处理模块504。
其中：
悬浮精度确定模块501，用于确定基于当前的涡动分离加权系数进行补偿后转子的悬浮精度。
第一判断模块502，用于判断当前获取到的转子的悬浮精度是否高于前一周期内获取到的转子的悬浮精度。
第一处理模块503，用于在第一判断模块502的判断结果为是的情况下，利用第一步长沿预设方向调整涡动分离加权系数，之后触发悬浮精度确定模块501。
在涡动分离加权系数的初始值为0的情况下，利用第一步长沿预设方向调整涡动分离加权系数具体是利用第一步长增大涡动分离加权系数；在涡动分离加权系数的初始值为1的情况下，利用第一步长沿预设方向调整涡动分离加权系数具体是利用第一步长减小涡动分离加权系数。实施中，第一步长可以为定值，也可以为变值。作为优选方案，第一步长位于0.001至0.01之间。
第二处理模块504，用于在第一判断模块502的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
本发明图8所示的加权系数确定单元，涡动分离加权系数的初始值为0或1，以第一步长沿预设方向调整涡动分离加权系数，在每次调整涡动分离加
权系数后，确定转子在基于调整后的涡动分离加权系数进行补偿后的悬浮精度，并判断该悬浮精度是否高于转子在前一周期内的悬浮精度，直至转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
参见图9，图9为本发明中加权系数确定单元的一种结构示意图。涡动分离加权系数的初始值为大于0且小于1的第一数值，该加权系数确定单元包括悬浮精度确定模块511、第一判断模块512、第三处理模块513、第四处理模块514、第二判断模块515、第五处理模块516和第六处理模块517。
其中：
悬浮精度确定模块511，用于确定基于当前的涡动分离加权系数进行补偿后转子的悬浮精度。
第一判断模块512，用于判断当前获取到的转子的悬浮精度是否高于前一周期内获取到的转子的悬浮精度。
第三处理模块513，用于在第一判断模块512的判断结果为是的情况下，利用第二步长沿第一方向调整涡动分离加权系数，之后触发悬浮精度确定模块511。
第四处理模块514，用于在第一判断模块512的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权系数，将涡动分离加权系数调整至第二数值，第二数值位于第一数值的第二方向上，之后触发悬浮精度确定模块511。第二方向与第一方向相反。
第二判断模块515，用于判断基于第二数值的涡动分离加权系数进行补偿后转子的悬浮精度是否低于基于第一涡动分离加权系数进行补偿后的悬浮精度。
第五处理模块516，用于在第二判断模块515的判断结果为是的情况下，确定第一涡动分离加权系数为最优涡动分离加权系数。
第六处理模块517，用于在第二判断模块515的判断结果为否的情况下，
利用第三步长沿第二方向调整涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
利用第二步长沿第一方向调整涡动分离加权系数具体为：利用第二步长增大涡动分离加权系数，或者利用第二步长减小涡动分离加权系数。第二方向与第一方向相反，当第一方向为增大涡动分离加权系数时，第二方向为减小涡动分离加权系数，当第一方向为减小涡动分离加权系数时，第二方向为增大涡动分离加权系数。实施中，第二步长和第三步长可以为定值，也可以为变值。作为优选方案，第二步长和第三步长位于0.001至0.01之间。
在本发明图9所示的加权系数确定单元，涡动分离加权系数的初始值位于0至1之间，首先以第二步长沿第一方向调整涡动分离加权系数，以确定第一涡动分离加权系数，该第一涡动分离加权系数是从初始值沿第一方向调整过程中的最优涡动分离加权系数，之后将涡动分离加权系数调整为位于初始值的第二方向上的第二数值，在转子基于该第二数值进行补偿后的悬浮精度低于基于第一涡动分离加权系数进行补偿后的悬浮精度时，确定第一涡动分离加权系数为最优涡动分离加权系数，在转子基于该第二数值进行补偿后的悬浮精度高于基于第一涡动分离加权系数进行补偿后的悬浮精度时，以第三步长沿第二方向调整涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
本发明还公开一种空调，包括磁悬浮压缩机，该磁悬浮压缩机包括磁悬浮轴承系统，其中磁悬浮轴承系统包括磁悬浮轴承、转子、功率放大器、位移检测装置和本发明上述公开的控制装置。本发明公开的空调，其磁悬浮轴承系统中的转子的悬浮精度和稳定性较高。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅
仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
Claims (9)
- 一种磁悬浮轴承系统的控制方法，其特征在于，所述控制方法包括：获取所述磁悬浮轴承系统中转子的位移信号；确定所述位移信号中与转速同频的正弦分量；利用补偿信号对所述位移信号进行补偿，所述补偿信号为所述正弦分量与最优涡动分离加权系数的乘积；基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经所述磁悬浮轴承中轴承线圈的励磁电流。
- 根据权利要求1所述的控制方法，其特征在于，涡动分离加权系数的初始值为0或1，确定最优涡动分离加权系数的操作，包括：确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；若是，则利用第一步长沿预设方向调整涡动分离加权系数，返回执行确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度的步骤；若否，则将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
- 根据权利要求2所述的控制方法，其特征在于，所述第一步长位于0.001至0.01之间。
- 根据权利要求1所述的控制方法，其特征在于，涡动分离加权系数的初始值为大于0且小于1的第一数值，确定最优涡动分离加权系数的操作，包括：确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；若是，则利用第二步长沿第一方向调整涡动分离加权系数，返回执行确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度的步骤；若否，则将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权 系数，将所述涡动分离加权系数调整至第二数值，所述第二数值位于所述第一数值的第二方向上，判断基于第二数值的涡动分离加权系数进行补偿后所述转子的悬浮精度是否低于基于所述第一涡动分离加权系数进行补偿后的悬浮精度，若是，则确定所述第一涡动分离加权系数为最优涡动分离加权系数，否则，利用第三步长沿所述第二方向调整所述涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后所述转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
- 根据权利要求4所述的控制方法，其特征在于，所述第二步长和所述第三步长位于0.001至0.01之间。
- 一种磁悬浮轴承系统的控制装置，其特征在于，包括：位移信号获取单元，用于获取所述磁悬浮轴承系统中转子的位移信号；正弦分量确定单元，用于确定所述位移信号获取单元获取到的位移信号中与转速同频的正弦分量；补偿单元，用于利用补偿信号对所述位移信号进行补偿，所述补偿信号为所述正弦分量与最优涡动分离加权系数的乘积；控制单元，用于基于当前经过补偿后的位移信号生成控制信号，以控制功率放大器调整流经所述磁悬浮轴承中轴承线圈的励磁电流；加权系数确定单元，用于确定最优涡动分离加权系数。
- 根据权利要求6所述的控制装置，其特征在于，涡动分离加权系数的初始值为0或1，所述加权系数确定单元包括：悬浮精度确定模块，用于确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；第一判断模块，用于判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；第一处理模块，用于在所述第一判断模块的判断结果为是的情况下，利用第一步长沿预设方向调整涡动分离加权系数，之后触发所述悬浮精度确定模块；第二处理模块，用于在所述第一判断模块的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
- 根据权利要求6所述的控制装置，其特征在于，涡动分离加权系数的初始值为大于0且小于1的第一数值，所述加权系数确定单元包括：悬浮精度确定模块，用于确定基于当前的涡动分离加权系数进行补偿后所述转子的悬浮精度；第一判断模块，用于判断当前获取到的所述转子的悬浮精度是否高于前一周期内获取到的所述转子的悬浮精度；第三处理模块，用于在所述第一判断模块的判断结果为是的情况下，利用第二步长沿第一方向调整涡动分离加权系数，之后触发所述悬浮精度确定模块；第四处理模块，用于在所述第一判断模块的判断结果为否的情况下，将前一周期内使用的涡动分离加权系数确定为第一涡动分离加权系数，将涡动分离加权系数调整至第二数值，所述第二数值位于所述第一数值的第二方向上，之后触发所述悬浮精度确定模块；第二判断模块，用于判断基于第二数值的涡动分离加权系数进行补偿后所述转子的悬浮精度是否低于基于所述第一涡动分离加权系数进行补偿后的悬浮精度；第五处理模块，用于在所述第二判断模块的判断结果为是的情况下，确定所述第一涡动分离加权系数为最优涡动分离加权系数；第六处理模块，用于在所述第二判断模块的判断结果为否的情况下，利用第三步长沿所述第二方向调整所述涡动分离加权系数，直至基于调整后的涡动分离加权系数进行补偿后所述转子的悬浮精度低于前一周期内的悬浮精度，将前一周期内使用的涡动分离加权系数确定为最优涡动分离加权系数。
- 一种空调，包括磁悬浮压缩机，所述磁悬浮压缩机包括磁悬浮轴承系统，其特征在于，所述磁悬浮轴承系统包括：磁悬浮轴承、转子、功率放大器、位移检测装置和如权利要求6、7或8所述的控制装置。
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| CN112196897A (zh) * | 2020-10-10 | 2021-01-08 | 珠海格力电器股份有限公司 | 磁悬浮轴承控制系统、方法、装置、设备和存储介质 |
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