A method and apparatus for regulating the operation of a magnetic levitation centrifuge

Abstract

This invention discloses a method and apparatus for controlling the operation of a magnetic levitation centrifuge, including: acquiring the rotor offset at the current moment; obtaining a preset rotor offset range; comparing the current rotor offset with the preset rotor offset range; if the current rotor offset exceeds the preset rotor offset range, switching to a first control algorithm to adjust the operating parameters of the magnetic levitation centrifuge in real time; if the current rotor offset is within the preset rotor offset range, executing a second control algorithm to control the operation of the magnetic levitation centrifuge. This invention acquires rotor position information in real time and adjusts operating parameters promptly according to an adaptive control algorithm to improve rotor levitation accuracy, ensuring stable rotor levitation within a set range, eliminating the influence of external impacts and other factors on the centrifuge, thereby ensuring stable and efficient operation of the centrifuge, and improving its shock resistance and operational reliability.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of control, and particularly relates to a method and device for regulating operation of a magnetic suspension centrifuge. BACKGROUND

[0002] When the magnetic suspension centrifuge is running in a full cycle, it is easily affected by impact load in some working conditions, such as surge, start and stop. Impact load is one of the main factors affecting the reliability of the magnetic suspension centrifuge. Severe impact can cause strong vibration of the rotor, and even damage the magnetic suspension centrifuge in a short time. Therefore, in order to ensure stable operation of the magnetic suspension centrifuge, the impact resistance and reliability of the magnetic suspension centrifuge need to be improved through reasonable control.

[0003] The control method in the related art switches different stiffness coefficients and damping parameters in different speed sections to ensure stable operation of the machine. However, this method is only applicable to a fixed type of magnetic suspension centrifuge. Different types of magnetic suspension centrifuges need to set different groups of control parameters in advance, and the control parameters at different positions of the rotor also need to be found in advance. The control parameters cannot be adjusted in time according to the specific working conditions, which affects the impact resistance and operation reliability of the magnetic suspension centrifuge. SUMMARY

[0004] The purpose of the present application is to provide a method and device for regulating operation of a magnetic suspension centrifuge, so as to solve the problem that the control parameters cannot be adjusted in time according to the specific working conditions in the related art, which affects the impact resistance and operation reliability of the magnetic suspension centrifuge.

[0005] In a first aspect, the present application provides a method for regulating operation of a magnetic suspension centrifuge, comprising:

[0006] acquiring a rotor offset at a current time, obtaining a preset rotor offset range, and comparing the rotor offset at the current time with the preset rotor offset range;

[0007] if the rotor offset at the current time is out of the preset rotor offset range, switching to a first control algorithm to adjust operation parameters of the magnetic suspension centrifuge in real time; the operation parameters include stiffness parameters of bearings and damping parameters of the bearings;

[0008] if the rotor offset at the current time is within the preset rotor offset range, executing a second control algorithm to control operation of the magnetic suspension centrifuge.

[0009] Optionally, if the rotor offset at the current time is out of the preset rotor offset range, switching to the first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time, comprising:

[0010] Adjusting the operation parameter of the magnetic suspension centrifuge according to the size relationship between the rotor offset at the current time and the preset rotor offset range and the size of the rotor operation speed.

[0011] Optionally, adjusting the operation parameter of the magnetic suspension centrifuge according to the size relationship between the rotor offset at the current time and the preset rotor offset range and the size of the rotor operation speed comprises:

[0012] If the rotor offset at the current time is greater than the preset maximum rotor offset, determining whether the rotor operation speed is greater than 0;

[0013] If the rotor operation speed is greater than 0, gradually changing the proportional coefficient so that the bearing stiffness gradually increases;

[0014] If the rotor operation speed is less than 0, adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0015] Optionally, adjusting the operation parameter of the magnetic suspension centrifuge according to the size relationship between the rotor offset at the current time and the preset rotor offset range and the size of the rotor operation speed comprises:

[0016] If the rotor offset at the current time is less than the preset minimum rotor offset, determining whether the rotor operation speed is greater than 0;

[0017] If the rotor operation speed is greater than 0, adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient;

[0018] If the rotor operation speed is less than 0, gradually changing the proportional coefficient so that the bearing stiffness gradually increases.

[0019] Optionally, adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient comprises:

[0020] If the proportional coefficient is greater than the minimum set value of the proportional coefficient, gradually changing the proportional coefficient so that the bearing stiffness gradually decreases;

[0021] If the proportional coefficient is less than the minimum set value of the proportional coefficient, setting the proportional coefficient to the minimum set value of the proportional coefficient to adjust the bearing stiffness.

[0022] Optionally, the method for regulating the operation of the magnetic suspension centrifuge, when adjusting the operation parameter of the magnetic suspension centrifuge, keeps the damping ratio unchanged.

[0023] Optionally, the method for regulating the operation of the magnetic suspension centrifuge further comprises:

[0024] After switching to the first control algorithm to adjust the operating parameters of the magnetic suspension centrifuge in real time, the adjustment is stopped when the detected rotor deviation returns to the preset rotor deviation threshold, and the second control algorithm is switched to control the operation of the magnetic suspension centrifuge.

[0025] In a second aspect, the present application provides a device for regulating the operation of a magnetic suspension centrifuge, comprising:

[0026] A hardware detection module is configured to collect the rotor deviation at the current time, obtain a preset rotor deviation range, and compare the rotor deviation at the current time with the preset rotor deviation range.

[0027] A parameter control module is configured to switch to a first control algorithm to adjust the operating parameters of the magnetic suspension centrifuge in real time if the rotor deviation at the current time is outside the preset rotor deviation range; the operating parameters include the stiffness parameter of the bearing and the damping parameter of the bearing.

[0028] The parameter control module is further configured to execute a second control algorithm to control the operation of the magnetic suspension centrifuge if the rotor deviation at the current time is within the preset rotor deviation range.

[0029] Optionally, the parameter control module is further configured to:

[0030] The operating parameters of the magnetic suspension centrifuge are adjusted according to the size relationship between the rotor deviation at the current time and the preset rotor deviation range and the size of the rotor operating speed.

[0031] Optionally, the parameter control module is further configured to:

[0032] If the rotor deviation at the current time is greater than the preset maximum rotor deviation, it is determined whether the rotor operating speed is greater than 0.

[0033] If the rotor operating speed is greater than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

[0034] If the rotor operating speed is less than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0035] If the rotor deviation at the current time is less than the preset minimum rotor deviation, it is determined whether the rotor operating speed is greater than 0.

[0036] If the rotor operating speed is greater than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0037] If the rotor operating speed is less than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

[0038] Optionally, the device for regulating the operation of the magnetic suspension centrifuge keeps the damping ratio unchanged when adjusting the operation parameters of the magnetic suspension centrifuge.

[0039] Optionally, the parameter control module is further configured to:

[0040] After switching to the first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time, the adjustment is stopped when the detected rotor offset amount returns to the preset rotor offset amount threshold, and the second control algorithm is switched to control the operation of the magnetic suspension centrifuge.

[0041] Therefore, the present application provides a method and device for regulating the operation of a magnetic suspension centrifuge. The method comprises collecting the rotor offset amount at the current time, obtaining a preset rotor offset amount range, comparing the rotor offset amount at the current time with the preset rotor offset amount range, switching to a first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time if the rotor offset amount at the current time exceeds the preset rotor offset amount range, and the operation parameters include the stiffness parameters of the bearing and the damping parameters of the bearing, and executing a second control algorithm to control the operation of the magnetic suspension centrifuge if the rotor offset amount at the current time is within the preset rotor offset amount range.

[0042] The present application collects rotor position information in real time, adjusts relevant operation parameters in a timely manner according to an adaptive control algorithm to improve the suspension precision of the rotor, ensures stable suspension of the rotor within a set range, eliminates the influence of external impact and other factors on the centrifuge, and further ensures stable and efficient operation of the centrifuge, thereby improving the impact resistance and operation reliability.

[0043] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be understood by those skilled in the art through implementation of the present application.

[0044] The technical solutions of the present application will be described in further detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 a Flowchart for setting PID control parameters in related art;

[0046] Figure 1 b Schematic diagram of the switching principle of control parameters in related art;

[0047] Figure 2 Flowchart of the method for regulating the operation of a magnetic suspension centrifuge provided by the present application;

[0048] Figure 3 Schematic diagram of the control parameter gradual change rule provided by the present application;

[0049] Figure 4 A flowchart of a parameter self-adaptive control algorithm provided by the present application;

[0050] Figure 5 A structural diagram of a device for regulating the operation of the magnetic suspension centrifuge. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0053] The present inventors have found that, in order to ensure stable operation of the centrifuge, it is necessary to reasonably improve the impact resistance of the centrifuge and the reliability of its operation. In the related art, as shown in FIG. 1, one control method is to store control parameters in the magnetic suspension control system in advance, to select different PID control parameters according to different rotor positions, and to thereby achieve the purpose of improving the reliability of the centrifuge, such as switching different bearing stiffness and damping parameters in different speed sections to ensure stable operation of the machine. However, this method can only be applied to a certain fixed centrifuge, and different centrifuges of different models need to be set with different groups of control parameters in advance, and the universality is not strong. In addition, it is necessary to debug and find the control parameters at different positions of the rotor in advance, which is a large amount of work and low in efficiency.

[0054] Another control method is to use fuzzy control to set the PID parameters, to realize stable operation of the magnetic suspension molecular pump. Although this variable parameter control method can improve the reliability of the magnetic suspension molecular pump, the control principle is relatively complex and the calculation takes a long time.

[0055] To solve the above problems, the application provides a method and device for regulating the operation of a magnetic suspension centrifuge.

[0056] Figure 2 The application provides a flowchart for regulating the operation of a magnetic suspension centrifuge. As shown in the figure, the method for regulating the operation of a magnetic suspension centrifuge comprises:

[0057] S100: Collect the rotor offset at the current time, obtain a preset rotor offset range, and compare the rotor offset at the current time with the preset rotor offset range.

[0058] S200: If the rotor offset at the current time exceeds the preset rotor offset range, switch to a first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time; the operation parameters include the stiffness parameters of the bearing and the damping parameters of the bearing.

[0059] In specific implementation, after switching to the first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time, the adjustment is stopped when the detected rotor offset is back within the preset rotor offset threshold, and the second control algorithm is switched to control the operation of the magnetic suspension centrifuge.

[0060] S300: If the rotor offset at the current time is within the preset rotor offset range, execute the second control algorithm to control the operation of the magnetic suspension centrifuge.

[0061] In specific implementation, the hardware detection module reads the rotor offset x out at the current time every control period t, obtains a preset rotor offset threshold thres, and then judges whether x out is within the preset rotor offset threshold thres. The preset rotor offset threshold thres is determined by the performance of the magnetic suspension bearing control system, and in specific implementation, the value does not exceed 1 / 2 of the assembly gap of the centrifuge.

[0062] If the rotor offset x out at the current time is not within the thres range, it indicates that the suspension accuracy of the rotor is poor, and the operation parameters need to be adjusted to improve the suspension accuracy. Specifically, the two-way controllable switch is adjusted to be turned off at S 02 and turned on at S 01 , the first control algorithm is switched to, the stiffness parameters and the damping parameters of the magnetic suspension bearing are adjusted in real time to change the suspension position of the rotor, and the adjustment is stopped when the detected rotor offset x out at the current time is back to the preset rotor offset threshold thres.

[0063] If the detected rotor offset x outWhen the thres interval, it indicates that the rotor suspension precision is better at this time, and there is no need to adjust the operating parameters, then the bidirectional controllable switch S01 is kept open and S02 is kept closed, and the second control algorithm is executed to control the suspension position of the rotor.

[0064] The above steps can select different control algorithms to adjust the suspension position of the rotor according to the real-time position of the rotor, which can not only improve the working efficiency of the centrifuge, but also improve the impact resistance and reliability of the centrifuge.

[0065] In specific implementation, the first control algorithm can be a parameter adaptive algorithm, and the second control algorithm can be a conventional PID control algorithm.

[0066] The PID control algorithm is a regulation mode based on feedback theory, which adjusts and controls the controlled object by performing proportional, integral and differential operations on the comparison error signal and then properly processing the result.

[0067] Further, the parameter adaptive algorithm has a small program size and can effectively resist external impact, improve the suspension precision of the rotor, and ensure the running stability of the centrifuge.

[0068] In specific implementation, according to the closed-loop system characteristic equation of the magnetic suspension bearing control system, the following equation can be obtained:

[0069] k=k1k2k i k p -k x (1)

[0070] Wherein, k1 is the gain of the power amplifier, k2 is the gain of the displacement sensor, k i is the force-current coefficient, k x is the force-displacement coefficient, k p is the proportional coefficient, and k is the bearing stiffness.

[0071] As can be seen from equation (1), k is proportional to k p , and k p increases will inevitably lead to the increase of k.

[0072] In addition, combined with the characteristic equation of the second-order system, the following equation can be obtained:

[0073]

[0074] In the equation, k d is the differential coefficient, and ξ is the damping ratio.

[0075] As can be seen from equation (2), the damping ratio ξ is affected by k p and k d . k pMainly affects the response speed of the system, larger k p will improve the response speed of the system, but will cause excessive overshoot, and even may bring instability of the system; and k d Mainly affects the dynamic performance of the system, can predict the change direction of the error in advance, and effectively reduces the overshoot. When a larger k p is selected, k d needs to be increased synchronously to maintain the stability of the system, that is, k p and k d change in the same direction.

[0076] It can be known from formula (2) that when the damping ratio is unchanged, k p is proportional to k d . Therefore, in order to improve the reliability of the system, the change of the stiffness parameter and the damping parameter in the application is carried out under the condition that the damping ratio is unchanged.

[0077] In specific implementation, the parameter adaptive control algorithm described in the application adjusts the stiffness parameter and the damping parameter of the magnetic suspension bearing in real time according to the control parameter gradual change rule in the attached Figure 3 , until the rotor runs in the expected area. The sinusoidal curve in the attached Figure 3 is the change curve of the rotor displacement, the dashed line is the preset rotor displacement threshold thres, and the area between -thres and thres is the expected running area of the rotor.

[0078] In specific implementation, the specific measures of the control parameter gradual change are shown in the attached Figure 4 .

[0079] Wherein, k min represents the minimum set value of the proportional parameter k p ; kp_delta represents the change step of the proportional parameter k p ; x out represents the rotor displacement at the current time; and v represents the rotor running speed.

[0080] If the rotor displacement x out at the current time exceeds the expected running area, the rotor running speed v is judged. In addition, during the change of the bearing stiffness, the damping ratio remains unchanged, and the damping changes in the same proportion with the change of the bearing stiffness.

[0081] Specifically, if the rotor displacement at the current time is greater than the preset maximum rotor displacement, it is determined whether the rotor running speed is greater than 0;

[0082] If the rotor running speed is greater than 0, the proportional coefficient is gradually changed, so that the bearing stiffness gradually increases;

[0083] If the rotor running speed is less than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0084] If the rotor offset at the current moment is less than the preset minimum rotor offset value, it is determined whether the rotor running speed is greater than 0;

[0085] If the rotor running speed is greater than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0086] If the rotor running speed is less than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

[0087] Further, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient, comprising:

[0088] If the proportional coefficient is greater than the minimum set value of the proportional coefficient, the proportional coefficient is gradually changed to gradually reduce the bearing stiffness.

[0089] If the proportional coefficient is less than the minimum set value of the proportional coefficient, the proportional coefficient is set to the minimum set value of the proportional coefficient to adjust the bearing stiffness.

[0090] Through the above adjustment, the offset of the rotor is ensured to be within the set threshold range, and the bearing stiffness is ensured to be within a controllable range, the suspension accuracy of the rotor is controllable, the influence of factors such as impact on the magnetic suspension centrifuge is eliminated, and the stable and efficient operation of the magnetic suspension centrifuge is ensured.

[0091] The application also provides a device for regulating and controlling the operation of a magnetic suspension centrifuge. Figure 5 The device for regulating and controlling the operation of a magnetic suspension centrifuge provided by the embodiment of the application has the structure as shown in the figure.

[0092] The hardware detection module 100 is used for collecting the rotor offset at the current moment, obtaining the preset rotor offset range, and comparing the rotor offset at the current moment with the preset rotor offset range.

[0093] The parameter control module 200 is used for switching to a first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time if the rotor offset at the current moment exceeds the preset rotor offset range; the operation parameters include the stiffness parameter of the bearing and the damping parameter of the bearing.

[0094] The parameter control module 200 is also used for executing a second control algorithm to control the operation of the magnetic suspension centrifuge if the rotor offset at the current moment is within the preset rotor offset range.

[0095] Optionally, the parameter control module 200 is further configured to:

[0096] The operating parameters of the magnetic levitation centrifuge are adjusted according to the relationship between the current rotor offset and the preset rotor offset range, as well as the rotor running speed.

[0097] In practice, the hardware detection module 100 reads the rotor offset x at the current moment every control cycle t. out Obtain the preset rotor offset threshold thres, and then determine x. out Is it within the set threshold range? The preset rotor offset threshold is determined by the performance of the magnetic levitation bearing control system. In practice, this value does not exceed 1 / 2 of the centrifuge's assembly clearance.

[0098] If the rotor offset x at the current moment out If the value is outside the threshold range, it indicates that the rotor's levitation accuracy is poor, and the operating parameters urgently need to be adjusted to improve it. Specifically, adjust the bidirectional controllable switch 300 to make S... 02 Disconnect, S 01 Upon closing, the system switches to the first control algorithm of the parameter control module 200, which adjusts the stiffness and damping parameters of the magnetic levitation bearing in real time to change the levitation position of the rotor until the rotor offset x at the current moment is detected by the hardware detection module 100. out The adjustment stops when the rotor offset threshold (thres) is returned to the preset value.

[0099] If the hardware detection module 100 detects the rotor offset x at the current moment out If the value is within the threshold range, it indicates that the rotor suspension accuracy is good at this time, and there is no need to adjust the operating parameters. Therefore, the bidirectional controllable switch S should be kept running. 01 Disconnect, S 02 When closed, the parameter control module 200 executes the second control algorithm to control the levitation position of the rotor.

[0100] The above steps can select different control algorithms to adjust the rotor's suspension position based on the rotor's real-time position, which can not only improve the centrifuge's working efficiency, but also improve the centrifuge's shock resistance and reliability.

[0101] Optionally, the parameter control module 200 is further configured to:

[0102] If the rotor offset at the current moment is greater than the preset maximum rotor offset, determine whether the rotor running speed is greater than 0;

[0103] If the rotor speed is greater than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

[0104] If the rotor running speed is less than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0105] If the rotor offset at the current time is less than the preset minimum rotor offset value, it is determined whether the rotor running speed is greater than 0.

[0106] If the rotor running speed is greater than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient.

[0107] If the rotor running speed is less than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

[0108] Optionally, the device for regulating the operation of the magnetic suspension centrifuge keeps the damping ratio unchanged when adjusting the operation parameters of the magnetic suspension centrifuge.

[0109] Optionally, the parameter control module 200 is further used for:

[0110] After switching to the first control algorithm to adjust the operation parameters of the magnetic suspension centrifuge in real time, the adjustment is stopped when the detected rotor offset returns to the preset rotor offset threshold, and the second control algorithm is switched to control the operation of the magnetic suspension centrifuge.

[0111] The application provides a device for regulating the operation of a magnetic suspension centrifuge and a method.

[0112] The application collects rotor position information in real time, adjusts relevant operation parameters in time according to the adaptive control algorithm to improve the suspension precision of the rotor, ensures that the rotor is stably suspended within a set range, eliminates the influence of external impact and other factors on the centrifuge, and further ensures the stable and efficient operation of the centrifuge, thereby improving the impact resistance and operation reliability.

[0113] In summary, those skilled in the art can easily understand that the advantageous features in the above-mentioned modes can be freely combined and superimposed without conflict.

[0114] The above merely illustrates the embodiments of the present application but should not be taken as limitations. Various changes and modifications can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of regulating the operation of a magnetic levitation centrifuge, characterized by, The method comprises: collecting rotor deviation at the current time, obtaining a preset rotor deviation range, comparing the rotor deviation at the current time with the preset rotor deviation range; if the rotor deviation at the current time is out of the preset rotor deviation range, switching to a first control algorithm to adjust the operating parameters of the magnetic suspension centrifuge in real time, including: adjusting the operating parameters of the magnetic suspension centrifuge according to the size relationship between the rotor deviation at the current time and the preset rotor deviation range and the size of the rotor operating speed; the operating parameters include the stiffness parameters of the bearing and the damping parameters of the bearing; if the rotor deviation at the current time is within the preset rotor deviation range, executing a second control algorithm to control the operation of the magnetic suspension centrifuge; wherein adjusting the operating parameters of the magnetic suspension centrifuge according to the size relationship between the rotor deviation at the current time and the preset rotor deviation range and the size of the rotor operating speed comprises: if the rotor deviation at the current time is greater than the preset maximum rotor deviation, determining whether the rotor operating speed is greater than 0; if the rotor operating speed is greater than 0, gradually changing the proportional coefficient to gradually increase the bearing stiffness; if the rotor operating speed is less than 0, adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient; if the rotor deviation at the current time is less than the preset minimum rotor deviation, determining whether the rotor operating speed is greater than 0; if the rotor operating speed is greater than 0, adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient; if the rotor operating speed is less than 0, gradually changing the proportional coefficient to gradually increase the bearing stiffness.

2. The method of claim 1, wherein the magnetic levitation centrifuge is a magnetic levitation centrifuge according to claim 1. adjusting the proportional coefficient according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient comprises: if the proportional coefficient is greater than the minimum set value of the proportional coefficient, gradually changing the proportional coefficient to gradually decrease the bearing stiffness; if the proportional coefficient is less than the minimum set value of the proportional coefficient, setting the proportional coefficient to the minimum set value of the proportional coefficient to adjust the bearing stiffness.

3. A method of regulating the operation of a magnetic levitation centrifuge according to claim 1 or 2, characterized in that, When adjusting the operating parameters of the magnetic suspension centrifuge, the damping ratio remains unchanged.

4. The method of claim 1 or 2, wherein the magnetic levitation centrifuge is a magnetic levitation centrifuge according to any one of claims 1 to 3. Further comprising: after switching to the first control algorithm to adjust the operating parameters of the magnetic suspension centrifuge in real time, stopping adjusting when the detected rotor deviation returns to within the preset rotor deviation threshold, and switching to the second control algorithm to control the operation of the magnetic suspension centrifuge.

5. An apparatus for regulating the operation of a magnetic levitation centrifuge, characterized by, The device comprises: a hardware detection module for collecting rotor deviation at the current time, obtaining a preset rotor deviation range, comparing the rotor deviation at the current time with the preset rotor deviation range; The parameter control module is configured to switch to a first control algorithm to adjust the operating parameters of the magnetic suspension centrifuge in real time if the rotor offset at the current time exceeds the preset rotor offset range, including: adjusting the operating parameters of the magnetic suspension centrifuge according to the size relationship between the rotor offset at the current time and the preset rotor offset range and the size of the rotor operating speed; the operating parameters include the stiffness parameter of the bearing and the damping parameter of the bearing; The parameter control module is further configured to execute a second control algorithm to control the operation of the magnetic suspension centrifuge if the rotor offset at the current time is within the preset rotor offset range. The parameter control module adjusts the operating parameters of the magnetic suspension centrifuge according to the size relationship between the rotor offset at the current time and the preset rotor offset range and the size of the rotor operating speed, including: If the rotor offset at the current time is greater than the preset maximum rotor offset, it is determined whether the rotor operating speed is greater than 0; if the rotor operating speed is greater than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness; if the rotor operating speed is less than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient; If the rotor offset at the current time is less than the preset minimum rotor offset, it is determined whether the rotor operating speed is greater than 0; if the rotor operating speed is greater than 0, the proportional coefficient is adjusted according to the size relationship between the proportional coefficient and the minimum set value of the proportional coefficient; if the rotor operating speed is less than 0, the proportional coefficient is gradually changed to gradually increase the bearing stiffness.

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