A permanent magnet magnetic suspension control method and system

Abstract

The present application provides a permanent magnet magnetic suspension control method and system, wherein the method is applied to a permanent magnet magnetic suspension control system, the system includes a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance controller, an electromagnet controller and a processor, and the method includes: the processor determines the air gap deviation value between the electromagnet and the permanent magnet according to the actual air gap value and the preset standard air gap value; the anti-disturbance controller determines the target working voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value according to the air gap deviation value; the electromagnet controller adjusts the working current of the electromagnet according to the target working current to change the electromagnetic force generated by the electromagnet. The above method is used to ensure that the suspended object maintains a stable balanced suspension.

Description

Technical Field

[0001] The present invention relates to the field of magnetic suspension technology, and in particular to a permanent magnet magnetic suspension control method and system. Background Art

[0002] At present, magnetic levitation as a new technology has received widespread attention and has been applied in many fields, such as magnetic levitation trains, magnetic levitation bearings, high-speed magnetic levitation motors, etc. Compared with conventional technologies, magnetic levitation technology has significant advantages. For example, in the application of mechanical motion, it has the characteristics of low power consumption, low noise, and less pollution. It can not only extend the service life of mechanical equipment, but also can be used in special environments such as vacuum and high temperature.

[0003] The inventors discovered during their research that when a magnetic levitation system is subjected to external disturbances, such as load changes, driving acceleration and deceleration forces, aerodynamic forces, and disturbance forces caused by the elastic curvature and unevenness of the track, the upward repulsive force (or suction force) exerted on the suspended object in the magnetic levitation system and its own gravity cannot offset each other, thereby making it impossible to ensure that the suspended object maintains a stable balanced suspension. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a permanent magnet magnetic suspension control method and system to ensure that the suspended object maintains stable balanced suspension.

[0005] In a first aspect, an embodiment of the present application provides a permanent magnet magnetic suspension control method, which is applied to a permanent magnet magnetic suspension control system, wherein the system includes a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance control controller, an electromagnet controller, and a processor, wherein the processor is electrically connected to the laser sensor and the anti-disturbance control controller, respectively, and the anti-disturbance control controller is electrically connected to the electromagnet controller, and the electromagnet controller is capable of adjusting the working current of the electromagnet, and the projection of the permanent magnet on the ground at least partially overlaps with the projection of the electromagnet on the ground, and the method includes:

[0006] The processor determines an air gap deviation value between the electromagnet and the permanent magnet according to an actual air gap value and a preset standard air gap value, wherein the actual air gap value is an air gap value between the electromagnet and the permanent magnet collected by the laser sensor;

[0007] The active disturbance rejection controller determines, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value;

[0008] The electromagnet controller adjusts the working current of the electromagnet according to a target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

[0009] Optionally, the active disturbance rejection controller includes a linear extended state observer, and the active disturbance rejection controller determines, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value, including:

[0010] Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value;

[0011] Determine a difference between the first control output value and the first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple;

[0012] The difference between the second control output value and the second gain value is determined as the target operating voltage, wherein the second gain value is a value obtained by increasing the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by increasing the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

[0013] Optionally, the expression of the linear error feedback control law is:

[0014] u 0 =k p (y r -z 1 )-k d z 2 ;

[0015] Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observed value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

[0016] Optionally, the target operating voltage is determined according to the following formula:

[0017]

[0018] Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3 is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

[0019] Optionally, the expression of the linear extended state observer is:

[0020]

[0021]

[0022]

[0023] Among them, z 1 is the first observation value, z 2 is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

[0024] In a second aspect, an embodiment of the present application provides a permanent magnet magnetic suspension control system, the system comprising a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance control controller, an electromagnet controller and a processor, the processor being electrically connected to the laser sensor and the anti-disturbance control controller respectively, the anti-disturbance control controller being electrically connected to the electromagnet controller, the electromagnet controller being capable of adjusting the working current of the electromagnet, and the projection of the permanent magnet on the ground at least partially overlaps with the projection of the electromagnet on the ground;

[0025] The processor is used to determine an air gap deviation value between the electromagnet and the permanent magnet according to an actual air gap value and a preset standard air gap value, wherein the actual air gap value is an air gap value between the electromagnet and the permanent magnet collected by the laser sensor;

[0026] The active disturbance rejection controller is used to determine, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value;

[0027] The electromagnet controller is used to adjust the working current of the electromagnet according to a target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

[0028] Optionally, the active disturbance rejection controller includes a linear extended state observer, and when the active disturbance rejection controller is used to determine, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value, the active disturbance rejection controller is specifically used to:

[0029] Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value;

[0030] Determine a difference between the first control output value and the first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple;

[0031] The difference between the second control output value and the second gain value is determined as the target operating voltage, wherein the second gain value is a value obtained by increasing the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by increasing the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

[0032] Optionally, the expression of the linear error feedback control law is:

[0033] u 0 =k p (y r -z 1 )-k d z 2 ;

[0034] Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observed value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

[0035] Optionally, the target operating voltage is determined according to the following formula:

[0036]

[0037] Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3 is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

[0038] Optionally, the expression of the linear extended state observer is:

[0039]

[0040]

[0041]

[0042] Among them, z 1 is the first observation value, z 2 is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

[0043] The technical solution provided by this application includes but is not limited to the following beneficial effects:

[0044] The processor determines the air gap deviation value between the electromagnet and the permanent magnet according to the actual air gap value and the preset standard air gap value, wherein the actual air gap value is the air gap value between the electromagnet and the permanent magnet collected by the laser sensor. Through the above steps, the deviation between the actual suspension position of the suspended object and the standard suspension position can be determined; the anti-disturbance controller determines the target working voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value according to the air gap deviation value. Through the above steps, the working voltage for the electromagnet to keep the permanent magnet stably suspended can be determined according to different conditions of the suspension position of the suspended object; the electromagnet controller adjusts the working current of the electromagnet according to the target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated according to the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem. Through the above steps, the electromagnetic force generated by the electromagnet can be changed, thereby changing the repulsive force of the electromagnet on the permanent magnet (suspended object).

[0045] By adopting the above method, the target working voltage and target working current of the electromagnet used to keep the suspended object stably suspended are determined according to the air gap deviation value between the actual suspension position of the suspended object and the standard suspension position, so as to adjust the actual working current of the electromagnet, and thus adjust the electromagnetic force generated by the electromagnet, thereby adjusting the magnitude of the repulsive force of the electromagnet on the suspended object, so that the repulsive force of the electromagnet on the suspended object can offset each other with its own gravity, so as to ensure that the suspended object maintains stable balanced suspension.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A flow chart of a permanent magnet magnetic suspension control method provided in the first embodiment of the present invention is shown;

[0049] Figure 2 A flow chart of a method for determining a target operating voltage provided by the first embodiment of the present invention is shown;

[0050] Figure 3 A schematic diagram of the structure of a longitudinal error linear active disturbance rejection controller provided by the first embodiment of the present invention is shown;

[0051] Figure 4 A structural schematic diagram of a permanent magnet magnetic suspension control system provided in Embodiment 2 of the present invention is shown. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0053] Embodiment 1

[0054] To facilitate understanding of this application, Figure 1 The flowchart of a permanent magnet magnetic suspension control method provided in the first embodiment of the present invention is shown to describe the contents of the first embodiment of the present application in detail.

[0055] See also Figure 1 As shown, Figure 1 A flow chart of a permanent magnet magnetic suspension control method provided in Embodiment 1 of the present invention is shown, wherein the method is applied to a permanent magnet magnetic suspension control system, the system comprises a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance control controller, an electromagnet controller and a processor, the processor is electrically connected to the laser sensor and the anti-disturbance control controller respectively, the anti-disturbance control controller is electrically connected to the electromagnet controller, the electromagnet controller can adjust the working current of the electromagnet, the projection of the permanent magnet on the ground at least partially overlaps with the projection of the electromagnet on the ground, and the method comprises steps S101 to S103:

[0056] S101: The processor determines an air gap deviation value between the electromagnet and the permanent magnet based on an actual air gap value and a preset standard air gap value, wherein the actual air gap value is the air gap value between the electromagnet and the permanent magnet collected by the laser sensor.

[0057] Specifically, the laser sensor can measure the distance. Since the electromagnet will generate electromagnetic force after being energized, relying on the mutual repulsion between the electromagnetic force generated by the electromagnet and the magnetic force of the permanent magnet, the permanent magnet can overcome its own gravity and float above the electromagnet.

[0058] The change of the air gap distance is caused by external interference, such as fluctuations caused by placing objects on the permanent magnet, wind force, and collision. At this time, the electromagnetic force needs to be changed instantaneously to keep the system suspended and stable, so it is necessary to use a laser sensor to collect the air gap value (actual air gap value) between the electromagnet and the permanent magnet in real time, and then determine the air gap deviation value between the electromagnet and the permanent magnet based on the actual air gap value and the standard air gap value, that is, calculate the difference between the actual air gap value and the standard air gap value, and determine the difference as the air gap deviation value.

[0059] S102: The active disturbance rejection controller determines, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value.

[0060] Specifically, the auto-disturbance rejection controller has evolved from a PID (Proportion Integration Differentiation) controller and adopts the core concept of PID error feedback control. It can determine the relevant control quantity according to the error value of the controlled quantity. Therefore, after determining the air gap deviation value, the air gap deviation value can be input into the auto-disturbance rejection controller, and the target operating voltage of the electromagnet can be calculated according to a preset auto-disturbance rejection control algorithm when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value.

[0061] S103: The electromagnet controller adjusts the working current of the electromagnet according to the target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

[0062] Specifically, after calculating the target working voltage, the self-disturbance rejection controller sends the target working voltage to the electromagnet controller, so that the electromagnet controller can determine the target working current according to the target working voltage and the coil resistance of the electromagnet, and adjust the working current of the electromagnet according to the target working current to change the electromagnetic force generated by the electromagnet, thereby changing the magnitude of the electromagnetic force (repulsive force) exerted on the permanent magnet, so that the repulsive force between the electromagnetic force and the permanent magnet can be the same as the magnitude of the permanent magnet's own gravity and opposite in direction, thereby enabling the permanent magnet to achieve stable suspension.

[0063] When the permanent magnet is in a state of equilibrium, the acceleration is zero, that is, the resultant force on the permanent magnet is zero, and the gravity of the suspended body (permanent magnet) is equal to the upward electromagnetic repulsion it receives. The nonlinear mathematical model of the permanent magnet magnetic suspension control system can be completely determined by the following set of equations:

[0064]

[0065] Wherein, m is the mass of the permanent magnet, x is the actual air gap value, t is the time, i is the target working current, F is the electromagnetic force generated by the electromagnet, g is the gravity constant, μ 0 is the vacuum magnetic permeability, s is the area of ​​the electromagnet, N is the number of turns of the electromagnet coil, H c is the coercive force of the permanent magnet, h np is the length of the permanent magnet, μ is the magnetic permeability, u is the voltage across the electromagnet coil (the target operating voltage), R is the coil resistance of the electromagnet, μ r is the relative magnetic permeability, x 0 is the suspension height of the permanent magnet when it is in equilibrium (standard air gap value), i 0 is the working current of the electromagnet when the permanent magnet is at the equilibrium point, and d is the differential sign.

[0066] From the above formula, it can be seen that when the number of turns N of the electromagnet coil remains unchanged, the electromagnetic force F generated by the electromagnet is related to the working current i and the actual air gap value x. The electromagnetic force F generated by the electromagnet is at the equilibrium point (x 0 ,i 0 ) and discarding the higher-order terms, the electromagnetic force F(x,i) generated by the electromagnet can be expressed as:

[0067] F(x,i)=F(x 0 ,i 0 )+k i (ii 0 )+k x (xx 0 );

[0068]

[0069]

[0070] The equation of motion for the suspended object is:

[0071]

[0072] Select U in To control the input quantity, the linearized equation of the motion model of the magnetic suspension system at equilibrium is:

[0073]

[0074] After Laplace transform on both sides, we get:

[0075] ms 2 X (s) =k s X(s)+k i U in(s) ;

[0076] Select X(s) as the output signal of the system, U in (s) as the input signal, the obtained system transfer function is:

[0077]

[0078] Substituting the preset parameter values ​​into the above formula, the system transfer function can be obtained as follows:

[0079]

[0080] Wherein, F(x,i) is the electromagnetic force generated by the electromagnet when the air gap value of the permanent magnet is x and the working current is i, F(x 0 ,i 0 ) is the permanent magnet at an air gap value of x 0 (balance point), the working current is i 0 The electromagnetic force generated by the electromagnet is k i is the current stiffness coefficient, i is the working current of the electromagnet, i 0 is the working current of the electromagnet when the permanent magnet is at the equilibrium point, k x is the displacement stiffness coefficient, x is the actual air gap value, x 0 is the suspension height of the permanent magnet when it is in equilibrium (standard air gap value), F is the electromagnetic force generated by the electromagnet, μ 0 is the vacuum magnetic permeability, s is the area of ​​the electromagnet, N is the number of turns of the electromagnet coil, H c is the coercive force of the permanent magnet, h np is the length of the permanent magnet, μ r is the relative magnetic permeability, m is the mass of the permanent magnet, is the second-order derivative of x, f d is the interference force, U in is the control input, X (s) is the output signal of the system, U in(s) is the input signal, G(s) is the system transfer function, is the symbol of partial derivative.

[0081] The target working current is calculated according to the coil resistance R of the electromagnet and the coercive force H of the permanent magnet using the electromagnetic induction law and Kirchhoff's theorem. The specific determination method is to calculate the coil resistance R of the electromagnet and the coercive force H of the permanent magnet. c Substitute the following formula to determine the target operating current i:

[0082]

[0083] Wherein, u is the target working voltage, R is the coil resistance of the electromagnet, i is the target working current, μ 0 is the vacuum magnetic permeability, s is the area of ​​the electromagnet, N is the number of turns of the electromagnet coil, x is the actual air gap value, H c is the coercive force of the permanent magnet, h np is the length of the permanent magnet, μ is the magnetic permeability, t is the time, μ r is the relative magnetic permeability, and d is the differential sign.

[0084] In one possible implementation, the active disturbance rejection controller comprises a linear extended state observer, see Figure 2 As shown, Figure 2 A flow chart of a method for determining a target operating voltage provided by a first embodiment of the present invention is shown, wherein the active disturbance rejection controller determines the target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value according to the air gap deviation value, including steps S201 to S203:

[0085] S201: Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value.

[0086] S202: Determine a difference between the first control output value and a first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple.

[0087] S203: Determine the difference between the second control output value and the second gain value as the target operating voltage, wherein the second gain value is a value obtained by gaining the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by gaining the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

[0088] For details, see Figure 3As shown, Figure 3 FIG. 1 shows a schematic diagram of a longitudinal error linear auto-disturbance rejection controller according to an embodiment of the present invention, wherein y r is the air gap deviation value, is the input of the linear error feedback control law, and z 1 is the first observation value of the linear extended state observer, z 2 is the second observation value of the linear extended state observer, z 3 is the third observation value of the linear extended state observer, A is the value of the first preset multiple, b 0 is the value of the second preset multiple, 1 / b 0 is the reciprocal of the value of the second preset multiple, u is the target operating voltage, is the input value of the electromagnet controller (controlled object), fd is the interference force, and y is the actual air gap value.

[0089] In a feasible implementation scheme, the linear error feedback control law is expressed as:

[0090] u 0 =k p (y r -z 1 )-k d z 2 ;

[0091] Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observation value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

[0092] Specifically, k p =ω c 2 ,k d =2ω c ,ω c Control bandwidth for the system.

[0093] In a feasible implementation scheme, the target operating voltage is determined according to the following formula:

[0094]

[0095] Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

[0096] Specifically, A and B 0 The value can be set based on historical control experience.

[0097] In a feasible implementation scheme, the expression of the linear extended state observer is:

[0098]

[0099]

[0100]

[0101] Among them, z 1 is the first observation value, z 2 is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

[0102] Specifically, β 1 =3ω c ,β 2 =3ω 0 2 ,β 3 =ω 0 3 ,ω c is the system control bandwidth, ω 0 Observe the bandwidth for the system.

[0103] Embodiment 2

[0104] See also Figure 4 As shown, Figure 4 FIG. 4 shows a schematic diagram of a permanent magnet magnetic suspension control system provided by Embodiment 2 of the present invention, wherein: Figure 4As shown, the system includes a laser sensor 401, an electromagnet 402, a permanent magnet 403, an auto-disturbance rejection controller 404, an electromagnet controller 405 and a processor 406, wherein the processor 406 is electrically connected to the laser sensor 401 and the auto-disturbance rejection controller 404, respectively, the auto-disturbance rejection controller 404 is electrically connected to the electromagnet controller 405, the electromagnet controller 405 is capable of adjusting the working current of the electromagnet 402, and the projection of the permanent magnet 403 on the ground at least partially overlaps with the projection of the electromagnet 402 on the ground;

[0105] The processor is used to determine an air gap deviation value between the electromagnet and the permanent magnet according to an actual air gap value and a preset standard air gap value, wherein the actual air gap value is an air gap value between the electromagnet and the permanent magnet collected by the laser sensor;

[0106] The active disturbance rejection controller is used to determine, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value;

[0107] The electromagnet controller is used to adjust the working current of the electromagnet according to a target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

[0108] In a feasible implementation manner, the active disturbance rejection controller includes a linear extended state observer, and when the active disturbance rejection controller is used to determine the target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value according to the air gap deviation value, it is specifically used to:

[0109] Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value;

[0110] Determine a difference between the first control output value and the first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple;

[0111] The difference between the second control output value and the second gain value is determined as the target operating voltage, wherein the second gain value is a value obtained by increasing the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by increasing the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

[0112] In a feasible implementation scheme, the linear error feedback control law is expressed as:

[0113] u 0 =k p (y r -z 1 )-k d z 2 ;

[0114] Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observation value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

[0115] In a feasible implementation scheme, the target operating voltage is determined according to the following formula:

[0116]

[0117] Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3 is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

[0118] In a feasible implementation scheme, the expression of the linear extended state observer is:

[0119]

[0120]

[0121]

[0122] Among them, z 1 is the first observation value, z 2is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

[0123] A permanent magnet magnetic suspension control system provided in an embodiment of the present invention can be specific hardware on a device or software or firmware installed on a device. The system provided in an embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the system embodiment, reference can be made to the corresponding contents in the aforementioned method embodiment. Technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0124] In the embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0126] In addition, each functional unit in the embodiment provided by the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0127] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0128] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0129] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or perform equivalent replacements on some of the technical features thereof; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. They should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A permanent magnet magnetic suspension control method, It is characterized in that The method is applied to a permanent magnet magnetic suspension control system, the system comprising a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance control controller, an electromagnet controller and a processor, the processor being electrically connected to the laser sensor and the anti-disturbance control controller respectively, the anti-disturbance control controller being electrically connected to the electromagnet controller, the electromagnet controller being capable of adjusting the working current of the electromagnet, the projection of the permanent magnet on the ground being at least partially overlapped with the projection of the electromagnet on the ground, the method comprising: The processor determines an air gap deviation value between the electromagnet and the permanent magnet according to an actual air gap value and a preset standard air gap value, wherein the actual air gap value is an air gap value between the electromagnet and the permanent magnet collected by the laser sensor; The active disturbance rejection controller determines, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value; The electromagnet controller adjusts the working current of the electromagnet according to a target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

2. The method according to claim 1, It is characterized in that The active disturbance rejection controller includes a linear extended state observer, and the active disturbance rejection controller determines, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value, including: Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value; Determine a difference between the first control output value and the first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple; The difference between the second control output value and the second gain value is determined as the target operating voltage, wherein the second gain value is a value obtained by increasing the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by increasing the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

3. The method according to claim 2, It is characterized in that The expression of the linear error feedback control law is: u 0 =k p (y r -z 1 )-k d z 2 ; Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observed value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

4. The method according to claim 2, It is characterized in that The target operating voltage is determined according to the following formula: Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3 is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

5. The method according to claim 2, It is characterized in that The expression of the linear extended state observer is: Among them, z 1 is the first observation value, z 2 is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

6. A permanent magnet magnetic suspension control system, It is characterized in that The system includes a laser sensor, an electromagnet, a permanent magnet, an anti-disturbance control, an electromagnet controller and a processor, wherein the processor is electrically connected to the laser sensor and the anti-disturbance control, respectively, the anti-disturbance control is electrically connected to the electromagnet controller, the electromagnet controller is capable of adjusting the working current of the electromagnet, and the projection of the permanent magnet on the ground at least partially overlaps with the projection of the electromagnet on the ground; The processor is used to determine an air gap deviation value between the electromagnet and the permanent magnet according to an actual air gap value and a preset standard air gap value, wherein the actual air gap value is an air gap value between the electromagnet and the permanent magnet collected by the laser sensor; The active disturbance rejection controller is used to determine, according to the air gap deviation value, a target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value; The electromagnet controller is used to adjust the working current of the electromagnet according to a target working current to change the electromagnetic force generated by the electromagnet, wherein the target working current is calculated based on the coil resistance of the electromagnet and the coercive force of the permanent magnet using the law of electromagnetic induction and Kirchhoff's theorem.

7. The system according to claim 6, It is characterized in that The active disturbance rejection controller includes a linear extended state observer. When the active disturbance rejection controller is used to determine the target operating voltage of the electromagnet when the air gap value between the electromagnet and the permanent magnet meets the standard air gap value according to the air gap deviation value, it is specifically used to: Inputting the air gap deviation value, the first observation value of the linear extended state observer and the second observation value of the linear extended state observer into a preset linear error feedback control law to obtain a first control output value; Determine a difference between the first control output value and the first gain value as a second control output value, wherein the first gain value is a value obtained by increasing the third observation value of the linear extended state observer by a first preset multiple; The difference between the second control output value and the second gain value is determined as the target operating voltage, wherein the second gain value is a value obtained by increasing the second observation value of the linear expanded state observer by a second preset multiple, the first input value of the linear expanded state observer is a value obtained by increasing the target operating voltage by a third preset multiple, the second preset multiple and the third preset multiple are reciprocals of each other, and the second input value of the linear expanded state observer is the actual air gap value.

8. The system according to claim 7, It is characterized in that The expression of the linear error feedback control law is: u 0 =k p (y r -z 1 )-k d z 2 ; Among them, u 0 is the first control output value, k p is the preset first adjustment compensation factor, y r is the preset control reference value, z 1 is the first observed value, k d is the preset second adjustment compensation factor, z 2 is the second observed value.

9. The system according to claim 7, It is characterized in that The target operating voltage is determined according to the following formula: Wherein, u is the target operating voltage, u 0 is the first control output value, z 2 is the second observation value, z 3 is the third observed value, A is the value of the first preset multiple, b 0 is the value of the second preset multiple.

10. The system according to claim 7, It is characterized in that The expression of the linear extended state observer is: Among them, z 1 is the first observation value, z 2 is the second observation value, z 3 is the third observation value, For z 1 The first derivative of For z 2 The first derivative of For z 3 The first derivative of 0 is the value of the second preset multiple, β 1 is the first coefficient of the preset linear extended state observer, β 2 is the second coefficient of the preset linear extended state observer, β 3 is the preset third coefficient of the linear extended state observer, y is the actual air gap value, and u is the target operating voltage.

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