Method and device for controlling a magnetic levitation apparatus, electronic device and storage medium

Abstract

The application relates to a control method and device of a magnetic suspension device, electronic equipment and a storage medium, the control method of the magnetic suspension device comprising the following steps: acquiring a carrier frequency and a current operating frequency of a frequency converter in the magnetic suspension device during operation of the magnetic suspension device; determining a current rotor temperature of a rotor in the magnetic suspension device based on the carrier frequency and the current operating frequency; if the current rotor temperature is greater than a preset threshold, determining an actual second first-order bending mode frequency based on a first first-order bending mode frequency originally used by the magnetic suspension device; and feeding back the second first-order bending mode frequency to a wave trap, so that the wave trap performs suspension control of the rotor based on the second first-order bending mode frequency. The embodiment of the application can achieve the effects of suppressing resonance and improving the control precision and reliability of the magnetic suspension air compressor.

Description

Technical Field

[0001] This application relates to the field of magnetic levitation control, and more particularly to a control method, device, electronic equipment and storage medium for a magnetic levitation device. Background Technology

[0002] Magnetic levitation air compressors use electromagnetic bearings to replace the mechanical bearings in traditional air compressors. Magnetic force levitates the rotor. Due to the characteristics of magnetic bearings—non-contact, frictionless, lubricated, and with adjustable and controllable support force—magnetic levitation air compressors offer high cooling efficiency, high speed, wide adjustment range, small size, low noise, and long lifespan. The magnetic levitation rotor system consists of a rotor, sensors, a signal conditioning unit, a regulating control unit, and an execution unit (electromagnets and power amplifiers). The displacement sensor detects the actual position of the rotor and compares it with a given displacement signal to obtain an error signal. The regulator generates a correction signal based on the error signal according to a specific control algorithm. This correction signal, after being amplified by the power amplifier, drives the electromagnets to generate a corresponding electromagnetic force, returning the rotor to its equilibrium position and achieving stable, non-contact levitation.

[0003] Because the rotor of a magnetic levitation air compressor rotates at high speed, it will generate strong vibrations when its speed approaches a certain critical value. The rotor's operating speed cannot coincide with or approach its critical speed; otherwise, resonance will occur, easily leading to rotor system instability and damage. Therefore, effective active vibration control of the high-speed rotor is crucial for the smooth operation of the rotor system.

[0004] Compared to magnetic levitation water-cooled compressors, magnetic levitation air compressors operate in harsher environments. Magnetic levitation air compressor systems have poor heat dissipation, with the rotor operating at temperatures of 170℃-200℃ or even higher for extended periods. This causes rotor deformation. Since the first-order bending mode frequency is an inherent property of the rotor, it changes accordingly with rotor deformation. Using the original first-order bending mode frequency as a control system parameter will affect the actual control performance. This can lead to decreased control accuracy or even instability and shaft wear during operation, rotor resonance during shutdown, and even failure to restart smoothly and immediately after shutdown (hot start). This impacts system stability and reliability, and also affects the customer experience. Summary of the Invention

[0005] To address the technical problems of deteriorating control performance, instability and shaft wear, rotor resonance after shutdown, and inability to start up smoothly in magnetic levitation air compressors during long-term operation, this application provides a control method, device, electronic equipment, and storage medium for magnetic levitation equipment.

[0006] Firstly, this application provides a control method for a magnetic levitation device, including:

[0007] During the operation of the magnetic levitation equipment, the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment are acquired;

[0008] The current rotor temperature in the magnetic levitation device is determined based on the carrier frequency and the current operating frequency.

[0009] If the current rotor temperature is greater than a preset threshold, the actual second-order bending mode frequency is determined based on the first-order bending mode frequency originally used by the magnetic levitation device.

[0010] The second first-order bending mode frequency is fed back to the notch filter so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

[0011] Optionally, determining the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device includes:

[0012] Acquire the rotor displacement signal detected by the displacement sensor in the magnetic levitation device;

[0013] The second first-order bending mode frequency is determined based on the rotor displacement signal and the first first-order bending mode frequency.

[0014] Optionally, determining the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency includes:

[0015] The frequency range is determined based on the first-order bending mode frequency;

[0016] The rotor displacement signal is subjected to FFT transformation based on the frequency range to obtain the rotor displacement spectrum.

[0017] In the rotor displacement spectrum, a frequency that meets a preset condition is determined as the second first-order bending mode frequency.

[0018] Optionally, determining frequencies in the rotor displacement spectrum that satisfy preset conditions includes:

[0019] The frequency with the largest peak value in the rotor displacement spectrum is determined as the frequency that meets the preset conditions.

[0020] Optionally, determining the current rotor temperature in the magnetic levitation device based on the carrier frequency and the current operating frequency includes:

[0021] Determine the correspondence between the preset temperature, carrier frequency, and operating frequency;

[0022] Determine the temperature corresponding to the carrier frequency and the current operating frequency in the correspondence relationship;

[0023] The temperature is determined as the current rotor temperature.

[0024] Optionally, the method further includes:

[0025] Determine whether the first-order bending mode frequency and the second-order bending mode frequency are different;

[0026] When the first bending mode frequency and the second bending mode frequency are different, the step of feeding the second bending mode frequency back to the notch filter is performed.

[0027] Optionally, the method further includes:

[0028] If the current rotor temperature is less than or equal to the preset threshold, the rotor suspension control continues based on the first-order bending mode frequency originally used by the magnetic levitation device.

[0029] Secondly, this application provides a control device for a magnetic levitation device, comprising:

[0030] The acquisition module is used to acquire the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment during operation.

[0031] The first determining module is used to determine the current rotor temperature of the rotor in the magnetic levitation device based on the carrier frequency and the current operating frequency.

[0032] The second determining module is used to determine the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device if the current rotor temperature is greater than a preset threshold.

[0033] The feedback module is used to feed back the second first-order bending mode frequency to the notch filter, so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

[0034] Optionally, the second determining module includes:

[0035] The acquisition unit is used to acquire the rotor displacement signal detected by the displacement sensor in the magnetic levitation device;

[0036] The first determining unit is used to determine the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency.

[0037] Optionally, the first determining unit includes:

[0038] The first determining subunit is used to determine the frequency range based on the first first-order bending mode frequency;

[0039] The transformation subunit is used to perform an FFT transformation on the rotor displacement signal based on the frequency range to obtain the rotor displacement spectrum.

[0040] The second determining subunit is used to determine the frequency that satisfies the preset condition in the rotor displacement spectrum, so as to serve as the second first-order bending mode frequency.

[0041] Optionally, the second determining subunit is further configured to:

[0042] The frequency with the largest peak value in the rotor displacement spectrum is determined as the frequency that meets the preset conditions.

[0043] Optionally, the first determining module includes:

[0044] The second determining unit is used to determine the preset correspondence between temperature, carrier frequency and operating frequency;

[0045] The third determining unit is used to determine the temperature corresponding to the carrier frequency and the current operating frequency in the correspondence relationship;

[0046] The fourth determining unit is used to determine the temperature as the current rotor temperature.

[0047] Optionally, the device further includes:

[0048] The third determining module is used to determine whether the first first-order bending mode frequency and the second first-order bending mode frequency are different;

[0049] The execution module is used to perform the step of feeding back the second first-order bending mode frequency to the notch filter when the first first-order bending mode frequency and the second first-order bending mode frequency are different.

[0050] Optionally, the device further includes:

[0051] The suspension control module is used to continue levitation control of the rotor based on the first-order bending mode frequency originally used by the magnetic levitation device if the current rotor temperature is less than or equal to the preset threshold.

[0052] Thirdly, this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0053] Memory, used to store computer programs;

[0054] The processor, when executing a program stored in memory, implements the control method of the magnetic levitation device described in any of the first aspects.

[0055] Fourthly, this application provides a computer-readable storage medium storing a program for a control method of a magnetic levitation device, wherein when the program for the control method of the magnetic levitation device is executed by a processor, it implements the steps of the control method of the magnetic levitation device described in any of the first aspects.

[0056] Compared with the prior art, the above-mentioned technical solution provided in this application has the following advantages: When the current rotor temperature is determined to be greater than a preset threshold, the actual second-order bending mode frequency is determined based on the first-order bending mode frequency originally used by the magnetic levitation equipment. This allows the notch filter to perform levitation control of the rotor based on the current accurate second-order bending mode frequency, thereby achieving the effect of suppressing resonance and improving the control accuracy and reliability of the magnetic levitation air compressor. Attached Figure Description

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A schematic diagram of a magnetic levitation bearing suspension control provided for an embodiment of this application;

[0060] Figure 2 A flowchart illustrating a control method for a magnetic levitation device provided in this application embodiment;

[0061] Figure 3 A flowchart illustrating another control method for a magnetic levitation device provided in this application embodiment;

[0062] Figure 4 A structural diagram of a control device for a magnetic levitation device provided in an embodiment of this application;

[0063] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] Because magnetic levitation air compressor systems have poor heat dissipation, the rotor operates in a high-temperature environment of 170℃-200℃ or even higher for extended periods, causing rotor deformation. Since the first-order bending mode frequency is an inherent property of the rotor, it changes accordingly after deformation. Using the original first-order bending mode frequency as a control system parameter affects the actual control effect, leading not only to decreased control accuracy or even instability and shaft wear during operation, but also to rotor resonance during shutdown and even the inability to restart smoothly and immediately after shutdown (hot start), impacting system stability and reliability, and also affecting customer experience. Therefore, this application provides a control method, device, electronic equipment, and storage medium for magnetic levitation equipment.

[0066] The control method for magnetic levitation equipment provided in this application embodiment can be applied to the controller of magnetic levitation equipment. For example, the magnetic levitation equipment can be a magnetic levitation air compressor, etc.

[0067] The control of magnetic levitation equipment mainly focuses on the control of the magnetic levitation bearings, such as... Figure 1 As shown, the control principle of the magnetic levitation bearing is as follows:

[0068] The control of magnetic levitation bearings mainly includes two loops, referred to below as the first loop and the second loop. The first loop (e.g.) Figure 1 In the middle loop (shown in Figure 1), the displacement sensor detects the rotor's position in real time. The feedback displacement signal is compared with the given reference position, and the resulting error signal is sent to the notch filter. The notch filter uses the rotor's original first-order bending mode frequency to suppress resonance (since high-speed rotors often operate near the critical speed, rotor imbalance can occur, leading to instability in the magnetic levitation rotor system; a notch filter is often used to suppress resonance). The resulting error signal, after the imbalance is removed by the notch filter, is sent to the position controller. The error signal is used to generate a correction signal according to a certain control algorithm, which is then converted into a current signal. Under the action of the current controller, a control current signal is obtained, which drives the bearing coil to generate a corresponding electromagnetic force, causing the rotor to return to the equilibrium position and achieving contactless and stable levitation of the rotor.

[0069] The second ring road (as shown in the attached) Figure 1The second loop (shown in the middle loop) is an optional loop. If it is turned on by a software switch, the feedback displacement signal can be transformed by FFT to identify the current real first-order bending mode frequency of the rotor, and then sent to the notch filter. The control of the second loop will be described in detail below.

[0070] like Figure 2 As shown, the control method for this magnetic levitation device may include the following steps:

[0071] Step S101: During the operation of the magnetic levitation equipment, obtain the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment;

[0072] In this embodiment of the application, the carrier frequency of the frequency converter is a fixed parameter of the frequency converter, which can be pre-stored in a preset storage space. The frequency converter is obtained from the preset storage space, and the current operating frequency is obtained from the frequency converter.

[0073] Step S102: Determine the current rotor temperature of the rotor in the magnetic levitation device based on the carrier frequency and the current operating frequency;

[0074] In this embodiment, the correspondence between temperature, carrier frequency and operating frequency can be stored in the EEPROM in advance, and the current rotor temperature can be determined based on the correspondence.

[0075] The correspondence between temperature, carrier frequency, and operating frequency can be shown in Table 1 below.

[0076] Table 1: Relationship between inverter carrier frequency, operating frequency and rotor temperature

[0077]

[0078]

[0079] In this step, a preset correspondence between temperature, carrier frequency, and operating frequency can be determined in the EEPROM. The temperature corresponding to the carrier frequency and the current operating frequency can be determined from the correspondence, and the temperature can be determined as the current rotor temperature.

[0080] Step S103: If the current rotor temperature is greater than a preset threshold, determine the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device.

[0081] The current rotor temperature is obtained from the EEPROM and then sent to the position controller for comparison with the set rotor temperature threshold. Based on the determination result, it is selected whether to open the added loop for identifying the real first-order bending mode frequency (i.e., the second loop). If the current rotor temperature is greater than the preset threshold, the second loop is opened, and the actual second-order bending mode frequency is determined based on the first-order bending mode frequency originally used by the magnetic levitation device.

[0082] If the current rotor temperature is less than or equal to the preset threshold, the rotor suspension control continues to be performed based on the first first-order bending mode frequency originally used by the magnetic levitation device, that is, the first loop is still used for rotor suspension control.

[0083] Step S104: Feedback the second first-order bending mode frequency to the notch filter so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

[0084] Before feeding the second first-order bending mode frequency back to the notch filter, it can be determined whether the first first-order bending mode frequency and the second first-order bending mode frequency are different. If the first first-order bending mode frequency and the second first-order bending mode frequency are different, then the second first-order bending mode frequency is fed back to the notch filter to avoid continuously transmitting data with the same first-order bending mode frequency, which would waste system resources.

[0085] This application embodiment determines the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device when the current rotor temperature is determined to be greater than a preset threshold. This allows the notch filter to perform levitation control of the rotor based on the current accurate second-order bending mode frequency, thereby achieving the effect of suppressing resonance and improving the control accuracy and reliability of the magnetic levitation air compressor.

[0086] In another embodiment of the present invention, step S103, which determines the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device, includes:

[0087] Step S201: Obtain the rotor displacement signal detected by the displacement sensor in the magnetic levitation device;

[0088] In this embodiment, the displacement sensor can be communicatively connected to the terminal controller of the magnetic levitation equipment. The displacement sensor can detect the displacement of the rotor and obtain the rotor displacement signal.

[0089] Step S202: Determine the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency.

[0090] In this step, the rotor displacement signal can be subjected to FFT transformation. The frequency range of the FFT transformation is determined based on the first-order bending mode frequency, and the second-order bending mode frequency is identified and analyzed within this frequency range. Determining the frequency range of the FFT transformation based on the first-order bending mode frequency can narrow the identification and analysis range and improve the identification and analysis efficiency.

[0091] In one embodiment of this application, step S202, determining the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency, includes:

[0092] Step S301: Determine the frequency range based on the first first-order bending mode frequency;

[0093] In this embodiment of the application, the frequency range can be defined as the range of 50 Hz above and below the first-order bending mode frequency.

[0094] Step S302: Perform FFT transformation on the rotor displacement signal based on the frequency range to obtain the rotor displacement spectrum;

[0095] In this step, the frequency range can be used as the range for FFT transformation to perform FFT transformation on the rotor displacement signal and obtain the rotor displacement spectrum.

[0096] Step S303: Determine the frequency that meets the preset condition in the rotor displacement spectrum as the second first-order bending mode frequency.

[0097] In this step, the frequency with the largest peak value in the rotor displacement spectrum can be determined as the frequency that meets the preset conditions.

[0098] This application embodiment determines the frequency range based on the first first-order bending mode frequency, performs FFT transformation based on this frequency range, and then analyzes and identifies frequencies that meet the conditions within this frequency range to obtain the second first-order bending mode frequency. By setting the frequency range, the analysis and identification range is narrowed, thus improving the analysis and identification efficiency.

[0099] For ease of understanding, this application also provides an embodiment in practical application, which will be described below in conjunction with... Figure 3 Please provide an explanation.

[0100] The inverter carrier frequency and the current operating frequency of the system are obtained, and then the rotor temperature at this time is obtained from the EEPROM. This information is then sent to the position controller and compared with the set rotor temperature threshold T. 阈值 The comparison is performed, and based on the judgment result, it is selected whether to enable the added loop for identifying the true first-order bending mode frequency.

[0101] ① If the detected rotor temperature exceeds the set rotor temperature threshold T阈值 If the determination result is yes, then the newly added loop for identifying the true first-order bending mode frequency is activated, and an FFT transformation is performed on the rotor displacement signal detected by the displacement sensor. Specifically, theoretically, the original first-order bending mode frequency f 理论一理 Perform an FFT transform within a 50Hz range above and below the f-wave. Based on the result of the FFT transform, at f... 理论一理 -50 to f 理论一理 Within the +50 range, the current first-order bending mode frequency is analyzed and identified. The actual first-order bending mode frequency of the rotor is then obtained and sent to a notch filter. The actual first-order bending mode frequency of the rotor is used to suppress resonance, thereby controlling the levitation of the rotor. This achieves the effect of suppressing resonance and improving the control accuracy and reliability of the magnetic levitation air compressor.

[0102] If the detected rotor temperature does not exceed the set rotor temperature threshold T 阈值 If the determination result is negative, the second loop for identifying the added true first-order bending mode frequency will not be activated, and the original first-order bending mode frequency of the rotor will be used in the notch filter for resonance suppression.

[0103] In another embodiment of the present invention, a control device for a magnetic levitation device is also provided, such as... Figure 4 As shown, it includes:

[0104] The acquisition module 11 is used to acquire the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment during the operation of the magnetic levitation equipment;

[0105] The first determining module 12 is used to determine the current rotor temperature of the rotor in the magnetic levitation device based on the carrier frequency and the current operating frequency;

[0106] The second determining module 13 is used to determine the actual second first-order bending mode frequency based on the first first-order bending mode frequency originally used by the magnetic levitation device if the current rotor temperature is greater than a preset threshold.

[0107] Feedback module 14 is used to feed back the second first-order bending mode frequency to the notch filter, so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

[0108] Optionally, the second determining module includes:

[0109] The acquisition unit is used to acquire the rotor displacement signal detected by the displacement sensor in the magnetic levitation device;

[0110] The first determining unit is used to determine the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency.

[0111] Optionally, the first determining unit includes:

[0112] The first determining subunit is used to determine the frequency range based on the first first-order bending mode frequency;

[0113] The transformation subunit is used to perform an FFT transformation on the rotor displacement signal based on the frequency range to obtain the rotor displacement spectrum.

[0114] The second determining subunit is used to determine the frequency that satisfies the preset condition in the rotor displacement spectrum, so as to serve as the second first-order bending mode frequency.

[0115] Optionally, the second determining subunit is further configured to:

[0116] The frequency with the largest peak value in the rotor displacement spectrum is determined as the frequency that meets the preset conditions.

[0117] Optionally, the first determining module includes:

[0118] The second determining unit is used to determine the preset correspondence between temperature, carrier frequency and operating frequency;

[0119] The third determining unit is used to determine the temperature corresponding to the carrier frequency and the current operating frequency in the correspondence relationship;

[0120] The fourth determining unit is used to determine the temperature as the current rotor temperature.

[0121] Optionally, the device further includes:

[0122] The third determining module is used to determine whether the first first-order bending mode frequency and the second first-order bending mode frequency are different;

[0123] The execution module is used to perform the step of feeding back the second first-order bending mode frequency to the notch filter when the first first-order bending mode frequency and the second first-order bending mode frequency are different.

[0124] Optionally, the device further includes:

[0125] The suspension control module is used to continue levitation control of the rotor based on the first-order bending mode frequency originally used by the magnetic levitation device if the current rotor temperature is less than or equal to the preset threshold.

[0126] In another embodiment of the present invention, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0127] Memory, used to store computer programs;

[0128] The processor, when executing a program stored in memory, implements the control method for the magnetic levitation device described in any of the foregoing method embodiments.

[0129] The electronic device provided in this embodiment of the invention allows the processor to execute a program stored in the memory. When the current rotor temperature is determined to be greater than a preset threshold, the processor determines the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device. This enables the notch filter to perform levitation control of the rotor based on the current accurate second-order bending mode frequency, thereby achieving the effect of suppressing resonance and improving the control accuracy and reliability of the magnetic levitation air compressor.

[0130] The communication bus 1140 mentioned in the above-mentioned electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0131] The communication interface 1120 is used for communication between the above-mentioned electronic device and other devices.

[0132] The memory 1130 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0133] The processor 1110 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0134] In another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a program for a control method of a magnetic levitation device is stored on the computer-readable storage medium, and when the program for the control method of the magnetic levitation device is executed by a processor, the steps of the control method of the magnetic levitation device described in any of the foregoing method embodiments are implemented.

[0135] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A control method for a magnetic levitation device, characterized in that, include: During the operation of the magnetic levitation equipment, the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment are acquired. The magnetic levitation equipment includes a first loop and a second loop. In the first loop, the displacement sensor detects the position of the rotor in real time. The feedback displacement signal is compared with the given reference position to obtain an error signal, which is sent to a notch filter. The notch filter uses the first-order bending mode frequency for resonance suppression to obtain an error signal after the unbalance is removed by the notch filter. This error signal is then sent to the position controller. The error signal is used to generate a correction signal according to the control algorithm, and then converted into a current signal. Under the action of the current controller, a control current signal is obtained, which drives the bearing coil to generate a corresponding electromagnetic force, so that the rotor returns to the equilibrium position. When the current rotor temperature exceeds a preset threshold, the second loop is activated via a software switch. The fed-back displacement signal is then subjected to FFT transformation to identify the second first-order bending mode frequency, which is then sent to the notch filter. The current rotor temperature in the magnetic levitation device is determined based on the carrier frequency and the current operating frequency. If the current rotor temperature is greater than a preset threshold, the actual second-order bending mode frequency is determined based on the first-order bending mode frequency originally used by the magnetic levitation device. Determining the actual second-order bending mode frequency based on the original first-order bending mode frequency used by the magnetic levitation device includes: Acquire the rotor displacement signal detected by the displacement sensor in the magnetic levitation device; The second first-order bending mode frequency is determined based on the rotor displacement signal and the first first-order bending mode frequency; Determining the second first-order bending mode frequency based on the rotor displacement signal and the first first-order bending mode frequency includes: The frequency range is determined based on the first first-order bending mode frequency, and the frequency range is the frequency range of the FFT transform. The rotor displacement signal is subjected to FFT transformation based on the frequency range to obtain the rotor displacement spectrum. In the rotor displacement spectrum, a frequency that meets a preset condition is determined as the second first-order bending mode frequency; The second first-order bending mode frequency is fed back to the notch filter so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

2. The control method according to claim 1, characterized in that, Determining frequencies in the rotor displacement spectrum that satisfy preset conditions includes: The frequency with the largest peak value in the rotor displacement spectrum is determined as the frequency that meets the preset conditions.

3. The control method according to claim 1, characterized in that, Determining the current rotor temperature of the rotor in the magnetic levitation device based on the carrier frequency and the current operating frequency includes: Determine the correspondence between the preset temperature, carrier frequency, and operating frequency; Determine the temperature corresponding to the carrier frequency and the current operating frequency in the correspondence relationship; The temperature is determined as the current rotor temperature.

4. The control method according to claim 1, characterized in that, The method further includes: Determine whether the first-order bending mode frequency and the second-order bending mode frequency are different; When the first bending mode frequency and the second bending mode frequency are different, the step of feeding the second bending mode frequency back to the notch filter is performed.

5. The control method according to claim 1, characterized in that, The method further includes: If the current rotor temperature is less than or equal to the preset threshold, the rotor suspension control continues based on the first-order bending mode frequency originally used by the magnetic levitation device.

6. A control device for a magnetic levitation device, characterized in that, include: The acquisition module is used to acquire the carrier frequency and current operating frequency of the frequency converter in the magnetic levitation equipment during operation. The magnetic levitation equipment includes a first loop and a second loop. In the first loop, the displacement sensor detects the position of the rotor in real time. The feedback displacement signal is compared with a given reference position to obtain an error signal, which is sent to a notch filter. The notch filter uses the first-order bending mode frequency for resonance suppression to obtain an error signal after the unbalance is removed by the notch filter. This error signal is then sent to the position controller. The error signal is used to generate a correction signal according to the control algorithm, and then converted into a current signal. Under the action of the current controller, a control current signal is obtained, which drives the bearing coil to generate a corresponding electromagnetic force, so that the rotor returns to the equilibrium position. When the current rotor temperature exceeds a preset threshold, the second loop is activated via a software switch. The fed-back displacement signal is then subjected to FFT transformation to identify the second first-order bending mode frequency, which is then sent to the notch filter. The first determining module is used to determine the current rotor temperature of the rotor in the magnetic levitation device based on the carrier frequency and the current operating frequency. The second determining module is used to determine the actual second-order bending mode frequency based on the first-order bending mode frequency originally used by the magnetic levitation device if the current rotor temperature is greater than a preset threshold. Determining the actual second-order bending mode frequency based on the original first-order bending mode frequency used by the magnetic levitation device includes: acquiring the rotor displacement signal detected by the displacement sensor in the magnetic levitation device; determining the second-order bending mode frequency based on the rotor displacement signal and the first-order bending mode frequency; determining the second-order bending mode frequency based on the rotor displacement signal and the first-order bending mode frequency includes: determining a frequency range based on the first-order bending mode frequency, wherein the frequency range is the frequency range of FFT transformation; performing FFT transformation on the rotor displacement signal based on the frequency range to obtain the rotor displacement spectrum; and determining the frequency that meets the preset condition in the rotor displacement spectrum as the second-order bending mode frequency. The feedback module is used to feed back the second first-order bending mode frequency to the notch filter, so that the notch filter can perform levitation control of the rotor based on the second first-order bending mode frequency.

7. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in the memory, implements the control method of the magnetic levitation device according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for a control method of a magnetic levitation device, which, when executed by a processor, implements the steps of the control method of the magnetic levitation device according to any one of claims 1-5.

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