Hardware-in-the-loop simulation system, method, electronic equipment and medium for magnetic levitation bearings

Abstract

This invention relates to the field of hardware-in-the-loop (HIL) simulation testing, and discloses a HIL simulation system, method, electronic device, and medium for magnetic levitation bearings. The system includes: a magnetic levitation bearing, a simulation development computer, and a real-time simulation target machine. The simulation development computer constructs a drive circuit model based on the drive circuit of the magnetic levitation bearing and sends the completed drive circuit model to the real-time simulation target machine. The real-time simulation target machine collects the operating data of the magnetic levitation bearing in real time, inputs the operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing, and determines the first control parameters based on the first operating state to drive the magnetic levitation bearing to move. The real-time simulation target machine pre-stores various correspondences between the operating states of the magnetic levitation bearing and the control parameters. This addresses the problems existing when studying magnetic levitation bearing systems using full physical testing or full digital simulation methods.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of hardware-in-the-loop simulation testing, and in particular to a hardware-in-the-loop simulation system, method, electronic device and medium for magnetic levitation bearings. Background Technology

[0002] Magnetic levitation bearing technology uses controllable electromagnetic force to levitate objects, eliminating mechanical contact between the object and the shaft. This offers advantages such as no mechanical friction, no wear, no lubrication, low power consumption, and high speed. The support characteristics of the magnetic levitation bearing system, such as stiffness and damping, are adjusted through control parameters to enhance system stability and reduce vibration. However, due to the high technical complexity and development difficulty of magnetic levitation bearings, it is particularly important to conduct experimental research on the function and performance of the magnetic levitation bearing system and to verify key technical issues encountered during the research and development process.

[0003] Traditional physical testing or digital simulation methods are commonly used to study magnetic levitation bearing systems. However, physical testing is costly, time-consuming, and inconvenient for optimizing and iterative experiments on magnetic levitation bearing systems. The reliability of test data obtained by digital simulation methods is relatively low. Summary of the Invention

[0004] The purpose of this invention is to provide a hardware-in-the-loop simulation system, method, electronic device, and medium for magnetic levitation bearings, which can solve the problems existing when studying magnetic levitation bearing systems using full physical testing methods or full digital simulation methods.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a hardware-in-the-loop simulation system for magnetic levitation bearings, comprising: a magnetic levitation bearing, a simulation development computer, and a real-time simulation target machine; the magnetic levitation bearing, the simulation development computer, and the real-time simulation target machine are communicatively connected; the simulation development computer is used to construct a drive circuit model based on the drive circuit of the magnetic levitation bearing, and send the constructed drive circuit model to the real-time simulation target machine; the real-time simulation target machine is used to collect the operating data of the magnetic levitation bearing in real time, input the operating data into the drive circuit model to obtain a first operating state of the magnetic levitation bearing, and determine a first control parameter for controlling the action of the magnetic levitation bearing based on the first operating state, so as to drive the magnetic levitation bearing to act through the first control parameter; wherein, the real-time simulation target machine pre-stores the correspondence between various operating states of magnetic levitation bearings and control parameters.

[0006] To address the aforementioned technical problems, embodiments of the present invention also provide a semi-physical simulation method for a magnetic levitation bearing, comprising: real-time acquisition of the operating data of the magnetic levitation bearing; inputting the operating data into a drive circuit model to obtain the current operating state of the magnetic levitation bearing; wherein the drive circuit model is pre-constructed based on the drive circuit of the magnetic levitation bearing; determining target control parameters according to the current operating state of the magnetic levitation bearing and pre-stored correspondences between various operating states and control parameters of the magnetic levitation bearing, and driving the magnetic levitation bearing to move through the target control parameters.

[0007] To address the aforementioned technical problems, embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the aforementioned semi-physical simulation method for magnetic levitation bearings.

[0008] To address the aforementioned technical problems, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned hardware-in-the-loop simulation method for magnetic levitation bearings.

[0009] Compared to existing technologies, the hardware-in-the-loop simulation system for magnetic levitation bearings in this invention includes a magnetic levitation bearing, a simulation development computer, and a real-time simulation target machine. The simulation development computer constructs a drive circuit model based on the drive circuit of the magnetic levitation bearing and sends the completed drive circuit model to the real-time simulation target machine. The real-time simulation target machine collects the operating data of the magnetic levitation bearing in real time, inputs the operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing, and determines the first control parameters based on the first operating state to drive the magnetic levitation bearing to move. The real-time simulation target machine pre-stores various correspondences between the operating states of the magnetic levitation bearing and the control parameters. Because this application combines the physical magnetic levitation bearing, the simulation development computer, and the real-time simulation target machine—that is, it simulates the magnetic levitation bearing system through hardware-in-the-loop simulation—it can not only simulate the real environment and operating state of the magnetic levitation bearing to the greatest extent possible, improving the confidence of the simulation results, but also allows the hardware-in-the-loop simulation system of the magnetic levitation bearing to be used for the research, development, and testing of the entire life cycle of the magnetic levitation bearing. This results in a short experimental verification cycle, low cost, and facilitates iterative verification of the magnetic levitation bearing system.

[0010] In addition, the simulation development computer is also used to construct a controller model and send the completed controller model to the real-time simulation target machine; the real-time simulation target machine is also used to input the first control parameters into the controller model to output command signals to drive the magnetic levitation bearing to move. In this application, there is no need to add a real device controller to control the movement of the magnetic levitation bearing. Instead, the magnetic levitation bearing is driven to move by outputting command signals through the constructed controller model, which can reduce hardware costs.

[0011] In addition, the hardware-in-the-loop simulation system also includes an interface auxiliary layer that communicates with the real-time simulation target machine. This interface auxiliary layer is specifically used to adjust the output command signal to obtain a drive signal that matches the magnetic levitation bearing. In this application, considering that the command signal directly output by the real-time simulation target machine is not compatible with the magnetic levitation bearing, the interface auxiliary layer adjusts the output command signal to a drive signal that matches the magnetic levitation bearing, thereby driving the magnetic levitation bearing to operate normally.

[0012] In addition, the interface auxiliary layer specifically includes: a signal conditioning and interface adapter box and a power drive unit; the signal conditioning and interface adapter box is specifically used to convert the command signal to obtain a first drive signal matching the magnetic levitation bearing; the power drive unit is specifically used to amplify the command signal to obtain a second drive signal matching the magnetic levitation bearing. In this application, considering that the command signal directly output by the real-time simulation target machine may be different from the signal type required by the magnetic levitation bearing and / or too small, the signal conditioning and interface adapter box of the interface auxiliary layer converts the command signal to obtain a signal of the same type as the magnetic levitation bearing, and / or the power drive unit amplifies the command signal to obtain a signal of the same magnitude as the magnetic levitation bearing.

[0013] In addition, the hardware-in-the-loop simulation system further includes a controller; the controller is a real device, connected to both the magnetic levitation bearing and the real-time simulation target machine; specifically, the controller is used to output a third drive signal according to the first control parameters to drive the magnetic levitation bearing to move. This application uses a real device controller, which can directly output a drive signal according to the received first control parameters to drive the magnetic levitation bearing to move, thus improving testing efficiency.

[0014] Furthermore, the simulation development computer is also used to construct an external environment model based on the external environment of the magnetic levitation bearing, and send the completed external environment model to the real-time simulation target machine; the real-time simulation target machine is also used to input the operating data of the magnetic levitation bearing into the external environment model to obtain the second operating state of the magnetic levitation bearing, and determine the second control parameters based on the second operating state, so as to drive the magnetic levitation bearing to move through the second control parameters. In this application, the external environment model constructed by the simulation development computer can simulate extreme test conditions that cannot be built in the laboratory, so as to conduct system function and performance tests in the laboratory.

[0015] In addition, the operating data of the magnetic levitation bearing specifically includes: the displacement, temperature, rotational speed, and current of the magnetic levitation bearing. This application acquires the displacement, temperature, rotational speed, and current data of the magnetic levitation bearing in real time to accurately obtain the operating status of the magnetic levitation bearing. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a structural diagram of a semi-physical simulation system for a magnetic levitation bearing according to an embodiment of the present invention;

[0018] Figure 2 This is a structural diagram of a semi-physical simulation system for a magnetic levitation bearing according to another embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a hardware-in-the-loop simulation system for a magnetic levitation bearing according to an embodiment of the present invention;

[0020] Figure 4 This is a flowchart of a semi-physical simulation method for a magnetic levitation bearing according to an embodiment of the present invention;

[0021] Figure 5 This is a structural diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the various embodiments of the present invention to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0023] One embodiment of the present invention relates to a hardware-in-the-loop simulation system for a magnetic levitation bearing. The implementation details of this hardware-in-the-loop simulation system are described below. These details are provided for ease of understanding and are not essential for implementing this solution. See the structural diagram of the hardware-in-the-loop simulation system in this embodiment. Figure 1 Specifically, this includes: magnetic levitation bearings, simulation development computers, and real-time simulation target machines.

[0024] The system includes a communication connection between the magnetic levitation bearing, the simulation development computer, and the real-time simulation target machine. The simulation development computer is used to construct a drive circuit model based on the drive circuit of the magnetic levitation bearing and send the completed drive circuit model to the real-time simulation target machine. The real-time simulation target machine is used to collect the operating data of the magnetic levitation bearing in real time, input the operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing, and determine the first control parameters based on the first operating state to drive the magnetic levitation bearing to move. The real-time simulation target machine pre-stores the correspondence between the operating states and control parameters of various magnetic levitation bearings.

[0025] The hardware-in-the-loop simulation system in this embodiment is divided into the following business layers: system development layer and simulation operation layer. The system development layer is the upper-level business layer of the entire hardware-in-the-loop simulation system, composed of a high-performance commercial workstation computer, i.e., a simulation development computer. It is mainly responsible for the offline design and development of the entire business, specifically the development of the magnetic levitation bearing system model and the development of the software to control the entire system's operation, thereby enabling human-computer interaction in the hardware-in-the-loop simulation system. The simulation operation layer is the core support layer of the entire hardware-in-the-loop simulation system. All offline-developed magnetic levitation bearing system models are run in real-time on the simulation operation layer, i.e., the real-time simulation target machine, to conduct dynamic testing of the magnetic levitation bearing operation.

[0026] Specifically, the simulation development computer can use MATLAB or Simulink modeling tools to build a drive circuit model of the magnetic levitation bearing based on the drive circuit. Since the drive circuit model can perform real-time fully digital simulation of the operation process of the magnetic levitation bearing, it can greatly increase the simulation speed compared with offline simulation. This allows developers to observe the operating status and dynamic characteristics of the magnetic levitation bearing through the established drive circuit model, so as to conduct research and analysis on system stability and magnetic levitation bearing control strategies.

[0027] In practice, the simulation development computer will also build a physical model of the magnetic levitation bearing, but the physical model of the magnetic levitation bearing is not used in practice.

[0028] After the simulation development computer in this embodiment completes the construction of the drive circuit model, it sends the drive circuit model to the real-time simulation target machine that is connected to it. During the operation of the magnetic levitation bearing, the real-time simulation target machine collects the operating data of the magnetic levitation bearing in real time and inputs the collected operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing. Based on the first operating state of the magnetic levitation bearing and the correspondence between the operating states and control parameters of various magnetic levitation bearings pre-stored in the real-time simulation target machine, the first control parameters required for the magnetic levitation bearing in the first operating state are determined. The magnetic levitation bearing is driven to operate through the first control parameters so that the magnetic levitation bearing can operate normally.

[0029] In one example, the simulation development computer in this embodiment is also used to construct an external environment model based on the external environment of the magnetic levitation bearing, and send the completed external environment model to the real-time simulation target machine. The real-time simulation target machine is also used to input the operating data of the magnetic levitation bearing into the external environment model to obtain the second operating state of the magnetic levitation bearing, and determine the second control parameters based on the second operating state, so as to drive the magnetic levitation bearing to move through the second control parameters. Since the magnetic levitation bearing may be affected by external environmental interference during operation, such as human collisions causing changes in the state of the magnetic levitation bearing, by considering various factors of the external environment and constructing an external environment model of the magnetic levitation bearing, extreme test conditions that cannot be built in the laboratory can be simulated using the external environment model, so as to conduct system function and performance tests in the laboratory.

[0030] Furthermore, the collected operating data of the magnetic levitation bearing specifically includes: the displacement, temperature, rotational speed, and current of the magnetic levitation bearing, in order to accurately obtain the operating status of the magnetic levitation bearing.

[0031] Specifically, the real-time simulation target machine collects the operating data of the magnetic levitation bearing through displacement sensors, temperature sensors, speed sensors, and current sensors. For example, based on the collected operating data, it is found that the current speed of the magnetic levitation bearing has reached 1000 revolutions per minute, but the current of the magnetic levitation bearing is only 10mA. According to the pre-stored correspondence between the operating states and control parameters of various magnetic levitation bearings, it is determined that at 1000 revolutions per minute, the magnetic levitation bearing needs 15mA of current to maintain normal operation. That is, the first control parameter required by the magnetic levitation bearing in the first operating state is 10mA. Therefore, the real-time simulation target machine will output 10mA of current to the magnetic levitation bearing to enable it to operate normally.

[0032] In practical implementation, the real-time simulation target machine is equipped with an input / output (I / O) board. This board is connected to the magnetic levitation bearing via cables and specified interfaces. The first control parameter is output to the magnetic levitation bearing through the I / O board to drive its movement. Similarly, the operating data of the magnetic levitation bearing is also acquired through the I / O board and input into the drive circuit model, forming a closed-loop system simulation. This allows for simulation testing of the magnetic levitation bearing system's functionality, performance, and dynamic characteristics.

[0033] In one example, the simulation development computer of this embodiment of the invention is also used to construct a controller model and send the constructed controller model to a real-time simulation target machine. The real-time simulation target machine is further used to input the first control parameters into the controller model to output command signals to drive the magnetic levitation bearing to move. Since the controller model is pre-constructed before the real-time simulation target machine simulates the controller operation process of the magnetic levitation bearing, there is no need to add a real device controller to control the movement of the magnetic levitation bearing. Instead, the magnetic levitation bearing is driven to move by outputting command signals through the constructed controller model, which can reduce hardware costs.

[0034] In another example, the semi-physical simulation system for the magnetic levitation bearing of this embodiment of the invention further includes a controller. In this embodiment, the controller is a real device and is connected to both the magnetic levitation bearing and the real-time simulation target machine. Specifically, the controller is used to output a third drive signal according to the control parameters to drive the magnetic levitation bearing to move. By using a real device controller, the drive signal can be directly output according to the received first control parameters to drive the magnetic levitation bearing to move, which can improve the testing efficiency.

[0035] In this embodiment, the controller model can output a command signal for driving the magnetic levitation bearing based on the first control parameter, or the actual device controller can output a drive signal for driving the magnetic levitation bearing based on the first control parameter. Those skilled in the art can choose either method according to actual needs.

[0036] In this embodiment, the hardware-in-the-loop simulation system for magnetic levitation bearings includes a magnetic levitation bearing, a simulation development computer, and a real-time simulation target machine. The simulation development computer is used to construct a drive circuit model based on the drive circuit of the magnetic levitation bearing and send the completed drive circuit model to the real-time simulation target machine. The real-time simulation target machine is used to collect the operating data of the magnetic levitation bearing in real time, input the operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing, and determine the first control parameters based on the first operating state to drive the magnetic levitation bearing to move. The real-time simulation target machine pre-stores various correspondences between the operating states of the magnetic levitation bearing and the control parameters. Because this application combines the physical magnetic levitation bearing, the simulation development computer, and the real-time simulation target machine—that is, simulates the magnetic levitation bearing system through hardware-in-the-loop simulation—it can not only simulate the real environment and operating state of the magnetic levitation bearing to the greatest extent possible, improving the confidence of the simulation results, but also allows the hardware-in-the-loop simulation system of the magnetic levitation bearing to be used for the research, development, and testing of the entire life cycle of the magnetic levitation bearing. This results in a short experimental verification cycle, low cost, and facilitates iterative verification of the magnetic levitation bearing system.

[0037] Another embodiment of the present invention relates to a hardware-in-the-loop simulation system for magnetic levitation bearings. The implementation details of this embodiment's hardware-in-the-loop simulation system are described below. The following details are provided for ease of understanding and are not essential for implementing this solution. See the structural diagram of the hardware-in-the-loop simulation system in this embodiment. Figure 2 Specifically, it includes: magnetic levitation bearings, simulation development computer, real-time simulation target machine, and interface auxiliary layer.

[0038] The simulation development computer is used to construct the drive circuit model and controller model, and the drive circuit model and controller model are the same as in the first embodiment, so they will not be described again here. The real-time simulation target machine is the same as in the first embodiment, so it will not be described again here.

[0039] The interface auxiliary layer is used to adjust the command signals output by the control model to obtain drive signals that match the magnetic levitation bearing.

[0040] Specifically, the interface auxiliary layer is the key layer for the entire hardware-in-the-loop simulation system to complete hardware-in-the-loop simulation experiments and to interconnect with the magnetic levitation bearing. Since the control model of the real-time simulation target machine has a limited signal size when outputting signals through the board, it cannot reach the signal size required by the magnetic levitation bearing, or the output signal does not match the signal type required by the magnetic levitation bearing. Therefore, by adjusting the output command signal through the interface auxiliary layer, the command signal can be adjusted to a drive signal that matches the magnetic levitation bearing, thereby driving the magnetic levitation bearing to operate normally.

[0041] The interface auxiliary layer specifically includes a signal conditioning and interface adapter box and a power drive unit. The signal conditioning and interface adapter box is used to convert the second command signal to obtain a first drive signal matching the magnetic levitation bearing. The power drive unit is used to amplify the second command signal to obtain a second drive signal matching the magnetic levitation bearing. For example, if the magnetic levitation bearing requires a current signal, but the real-time simulation target machine's board outputs voltage, the signal conditioning and interface adapter box needs to convert the board's output voltage into current. If the magnetic levitation bearing requires a voltage of 100V, but the board's maximum output voltage is only 10V, the power drive unit needs to amplify the board's output voltage to 100V.

[0042] It should be noted that the power drive unit amplifies the command signal proportionally. For example, the power drive unit amplifies the output signal by 10 times. If the magnetic levitation bearing requires a voltage of 50V, the board will output a voltage of 5V accordingly. The power drive unit will amplify the voltage output by the board to 50V.

[0043] In one example, the implementation principle diagram of the hardware-in-the-loop simulation system for the magnetic levitation bearing in this embodiment can be found in [reference needed]. Figure 3 The simulation system includes a simulation development computer and a real-time simulation target machine, while the physical equipment includes a magnetic levitation bearing, a signal conditioning and interface adapter box, and a power drive unit.

[0044] The simulation development computer sends the completed controller model and drive circuit model to the real-time simulation target machine;

[0045] The real-time simulation target machine will collect the operating data of the magnetic levitation bearing in real time and input it into the constructed model to output command signals;

[0046] The signal conditioning and interface adapter box and the power drive unit adjust the output command signal to obtain the drive signal, which drives the magnetic levitation bearing to move.

[0047] It should be noted that the examples described above in this embodiment are merely illustrative for ease of understanding and do not constitute a limitation on the technical solution of the present invention.

[0048] In this embodiment, the hardware-in-the-loop simulation system for the magnetic levitation bearing includes: a magnetic levitation bearing, a simulation development computer, a real-time simulation target machine, and an interface auxiliary layer. Considering that the command signal directly output by the real-time simulation target machine may be different from the signal type required by the magnetic levitation bearing and / or too small, the command signal is converted through signal conditioning and interface adapter box of the interface auxiliary layer to obtain a signal of the same type as the signal required by the magnetic levitation bearing, and / or the command signal is amplified through the power drive unit to obtain a signal of the same magnitude as the signal required by the magnetic levitation bearing. This enables interconnection between the real-time simulation target machine and the magnetic levitation bearing, matching the command signal of the hardware-in-the-loop simulation system with the magnetic levitation bearing, thereby allowing for hardware-in-the-loop simulation testing of the complete system.

[0049] It is worth mentioning that all modules involved in the above embodiments are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0050] One embodiment of the present invention relates to a hardware-in-the-loop simulation method for magnetic levitation bearings, applied to a hardware-in-the-loop simulation system for magnetic levitation bearings. The implementation details of the hardware-in-the-loop simulation system for magnetic levitation bearings according to this embodiment are described below. The following details are provided for ease of understanding and are not essential for implementing this solution. The specific flow of the hardware-in-the-loop simulation method in this embodiment is as follows: Figure 4 As shown, it includes:

[0051] Step 401: Collect real-time operating data of the magnetic levitation bearing.

[0052] The specific operational data includes the displacement, temperature, rotational speed, and current of the magnetic levitation bearing.

[0053] Step 402: Input the running data into the drive circuit model to obtain the current running state of the magnetic levitation bearing; wherein, the drive circuit model is pre-built based on the drive circuit of the magnetic levitation bearing.

[0054] In one example, this embodiment simultaneously inputs operational data into both the drive circuit model and the external environment model to obtain the current operating state of the magnetic levitation bearing. The external environment model is pre-constructed based on the external environment of the magnetic levitation bearing. By simultaneously inputting operational data into both the drive circuit model and the external environment model, the external environment of the magnetic levitation bearing can be taken into account. Extreme test conditions that cannot be replicated in a laboratory are simulated using the external environment model, allowing the hardware-in-the-loop simulation method of this embodiment to be implemented in a laboratory setting.

[0055] Step 403: Determine the target control parameters based on the current operating status of the magnetic levitation bearing and the pre-stored correspondence between the operating status and control parameters of various magnetic levitation bearings.

[0056] Step 404: Drive the magnetic levitation bearing to move by using the target control parameters.

[0057] In one example, if the hardware-in-the-loop simulation system for the magnetic levitation bearing in this embodiment includes a controller for the magnetic levitation bearing, then a drive signal is directly output based on the target control parameters to drive the magnetic levitation bearing. If a real device controller is used, a drive signal can be directly output based on the target control parameters to drive the magnetic levitation bearing, improving testing efficiency.

[0058] In another example, if the semi-physical simulation system of the magnetic levitation bearing in this embodiment does not include a controller for the magnetic levitation bearing, but a completed controller model of the magnetic levitation bearing exists, then there is no need to add a real device controller to control the movement of the magnetic levitation bearing. Instead, the magnetic levitation bearing is driven to move by outputting command signals through the constructed controller model, thereby reducing hardware costs. Specifically, step 404 can be implemented through the following sub-steps:

[0059] Sub-step 4001: Input the target control parameters into the pre-built controller model of the magnetic levitation bearing to output command signals.

[0060] Sub-step 4002 involves adjusting the output command signal.

[0061] Specifically, if the type of the command signal does not match the type of signal required by the magnetic levitation bearing, the type of the command signal is converted; if the magnitude of the command signal does not match the signal required by the magnetic levitation bearing, the output command signal is amplified.

[0062] Sub-step 4003 drives the magnetic levitation bearing to move by adjusting the command signal.

[0063] In this embodiment, by inputting the operating data of the real magnetic levitation bearing into the driving circuit model of the magnetic levitation bearing, the current operating state of the magnetic levitation bearing can be obtained. Based on the current operating state of the magnetic levitation bearing and the pre-stored correspondence between the operating states and control parameters of various magnetic levitation bearings, the target control parameters can be determined. The magnetic levitation bearing is then driven to move by the target control parameters. This can simulate the real environment and operating state of the magnetic levitation bearing to the greatest extent, improve the confidence of the simulation results, and can be used for the research, development, and testing of the entire life cycle of the magnetic levitation bearing. The experimental verification cycle is short and the cost is low, which facilitates the iterative verification of the magnetic levitation bearing system.

[0064] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0065] It is not difficult to see that this embodiment is a method embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0066] Another embodiment of the present invention relates to an electronic device, such as... Figure 5 As shown, it includes: at least one processor 501; and a memory 502 communicatively connected to the at least one processor 501; wherein the memory 502 stores instructions executable by the at least one processor 501, the instructions being executed by the at least one processor 501 to enable the at least one processor 501 to execute the semi-physical simulation method of the magnetic levitation bearing in the above embodiment.

[0067] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0068] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0069] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the method embodiments described above.

[0070] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0071] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A hardware-in-the-loop simulation system for a magnetic levitation bearing, characterized in that, The hardware-in-the-loop simulation system includes: a magnetic levitation bearing, a simulation development computer, and a real-time simulation target machine; The magnetic levitation bearing, the simulation development computer, and the real-time simulation target machine are connected by communication. The simulation development computer is used to construct a drive circuit model based on the drive circuit of the magnetic levitation bearing, and send the constructed drive circuit model to the real-time simulation target machine; The real-time simulation target machine is used to collect the operating data of the magnetic levitation bearing in real time, input the operating data into the drive circuit model to obtain the first operating state of the magnetic levitation bearing, and determine the first control parameter according to the first operating state, so as to drive the magnetic levitation bearing to move through the first control parameter; The real-time simulation target machine pre-stores the correspondence between the operating state and control parameters of the magnetic levitation bearing; the operating state includes the first operating state, and the control parameters include the first control parameters; the operating data of the magnetic levitation bearing includes the displacement, temperature, rotational speed, and current of the magnetic levitation bearing; the first operating state is determined by the displacement, temperature, rotational speed, and current of the magnetic levitation bearing.

2. The hardware-in-the-loop simulation system for magnetic levitation bearings according to claim 1, characterized in that, The simulation development computer is also used to build a controller model and send the completed controller model to the real-time simulation target machine; The real-time simulation target machine is also used to input the first control parameters into the controller model to output command signals and drive the magnetic levitation bearing to move.

3. The hardware-in-the-loop simulation system for magnetic levitation bearings according to claim 2, characterized in that, The hardware-in-the-loop simulation system also includes an interface auxiliary layer that communicates with the real-time simulation target machine. The interface auxiliary layer is specifically used to adjust the output command signal to obtain a drive signal that matches the magnetic levitation bearing.

4. The hardware-in-the-loop simulation system for magnetic levitation bearings according to claim 3, characterized in that, The interface auxiliary layer specifically includes: a signal conditioning and interface adapter box and a power drive unit; The signal conditioning and interface adapter box is specifically used to convert the command signal to obtain a first drive signal that matches the magnetic levitation bearing; The power drive unit is specifically used to amplify the command signal to obtain a second drive signal that matches the magnetic levitation bearing.

5. The hardware-in-the-loop simulation system for magnetic levitation bearings according to claim 1, characterized in that, The hardware-in-the-loop simulation system also includes: a controller; The controller is a real device, connected to both the magnetic levitation bearing and the real-time simulation target machine; specifically, the controller is used to output a third drive signal according to the first control parameter to drive the magnetic levitation bearing to move.

6. The hardware-in-the-loop simulation system for magnetic levitation bearings according to any one of claims 1 to 5, characterized in that, The simulation development computer is also used to construct an external environment model based on the external environment of the magnetic levitation bearing, and send the completed external environment model to the real-time simulation target machine; The real-time simulation target machine is also used to input the operating data of the magnetic levitation bearing into the external environment model to obtain the second operating state of the magnetic levitation bearing, and to determine the second control parameters based on the second operating state, so as to drive the magnetic levitation bearing to move through the second control parameters.

7. A semi-physical simulation method for a magnetic levitation bearing, characterized in that, A hardware-in-the-loop simulation system for magnetic levitation bearings includes: The operating data of the magnetic levitation bearing is collected in real time; the operating data of the magnetic levitation bearing includes: displacement, temperature, rotational speed and current of the magnetic levitation bearing; The operating data is input into the drive circuit model to obtain the current operating state of the magnetic levitation bearing; wherein, the drive circuit model is pre-constructed based on the drive circuit of the magnetic levitation bearing; the current operating state is determined by the displacement, temperature, rotational speed and current of the magnetic levitation bearing. The target control parameters are determined based on the current operating state of the magnetic levitation bearing and the pre-stored correspondence between the operating state and control parameters of the magnetic levitation bearing. The magnetic levitation bearing is driven to move by the target control parameters.

8. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the hardware-in-the-loop simulation method for magnetic levitation bearings as described in claim 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the hardware-in-the-loop simulation method for the magnetic levitation bearing as described in claim 7.

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