Method for diagnosing failure of electromagnetic bearing and device therefor

Abstract

The application provides a fault diagnosis method and device of an electromagnetic bearing, relates to the fields of nuclear power plants and industrial automation control, and is characterized in that: for each preset degree of freedom of a rotor on a motor bearing, the position signal of the rotor is converted into a voltage signal based on a plurality of displacement sensors corresponding to the preset degree of freedom; the voltage signal is processed to obtain displacement data corresponding to each displacement sensor; for any preset degree of freedom, the displacement data of the plurality of displacement sensors corresponding to the preset degree of freedom at the same time are compared to obtain the working states of the plurality of displacement sensors corresponding to the preset degree of freedom; and the working state of the electromagnetic bearing is determined according to the working states of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to represent whether the electromagnetic bearing has a fault. The application can effectively diagnose the rotor position fault of the electromagnetic bearing and improve the reliability of the electromagnetic bearing system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of nuclear power plants, the field of industrial automation control, and in particular to a fault diagnosis method and device for an electromagnetic bearing. BACKGROUND

[0002] An electromagnetic bearing is a new type of high-end bearing that relies on electromagnetic force for support, has the characteristics of no contact with the rotor, no need for lubrication, and can achieve active control, making the electromagnetic bearing have broad application prospects. In related technologies, in a high-temperature gas cooled reactor nuclear power plant, a main helium fan that drives a helium circulation loop uses an electromagnetic bearing as a support device, avoiding the use of lubricating oil and ensuring the purity of the circulating medium helium. However, during operation, the rotor of the electromagnetic bearing must be limited in its 5 degrees of freedom in addition to rotation around the shaft, so measuring the 5 degrees of freedom of the rotor to determine the working state of the electromagnetic bearing is an urgent problem to be solved. SUMMARY

[0003] The present application aims to at least partially solve one of the technical problems in the related art.

[0004] To this end, one object of the present application is to provide a fault diagnosis method for an electromagnetic bearing, which converts a position signal of a rotor on a motor bearing into a voltage signal for each predetermined degree of freedom of the rotor based on a plurality of displacement sensors corresponding to the predetermined degree of freedom, wherein the predetermined degrees of freedom include movement degrees of freedom in X, Y, and Z coordinate axis directions, and rotation degrees of freedom in two other coordinate axes excluding the coordinate axis on which the rotor is currently located; processes the voltage signal to obtain displacement data corresponding to each displacement sensor; for any predetermined degree of freedom, compares and processes displacement data of a plurality of displacement sensors corresponding to the predetermined degree of freedom at the same time to obtain respective working states of the plurality of displacement sensors corresponding to the predetermined degree of freedom; and determines a working state of the electromagnetic bearing according to the working states of the plurality of displacement sensors corresponding to each predetermined degree of freedom, wherein the working state of the electromagnetic bearing is used to represent whether a fault has occurred in the electromagnetic bearing.

[0005] A second object of the present application is to provide a fault diagnosis device for an electromagnetic bearing.

[0006] A third object of the present application is to provide an electronic device.

[0007] A fourth object of the present application is to provide a non-transitory computer-readable storage medium.

[0008] A fifth object of the present application is to provide a computer program product.

[0009] To achieve the above object, the first aspect of the present application provides a fault diagnosis method of an electromagnetic bearing, comprising: for each preset degree of freedom of a rotor on a motor bearing, converting a position signal of the rotor into a voltage signal based on a plurality of displacement sensors corresponding to the preset degree of freedom, wherein the preset degree of freedom includes movement degrees of freedom in X, Y and Z coordinate axis directions, and rotation degrees of freedom of two other coordinate axes except for a coordinate axis currently located by the rotor; processing the voltage signal to obtain displacement data corresponding to each displacement sensor; for any preset degree of freedom, comparing and processing displacement data of a plurality of displacement sensors corresponding to the preset degree of freedom at the same time to obtain working states of the plurality of displacement sensors corresponding to the preset degree of freedom respectively; and determining a working state of the electromagnetic bearing according to the working states of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to represent whether the electromagnetic bearing has a fault.

[0010] According to an embodiment of the present application, for any preset degree of freedom, comparing and processing displacement data of a plurality of displacement sensors corresponding to the preset degree of freedom at the same time to obtain working states of the plurality of displacement sensors corresponding to the preset degree of freedom respectively, comprises: for any preset degree of freedom, comparing displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time with displacement data of other displacement sensors corresponding to the preset degree of freedom; and obtaining working states of each displacement sensor corresponding to the preset degree of freedom according to the comparison result, wherein the working states include a normal working state, a degraded working state and a fault working state.

[0011] According to an embodiment of the present application, obtaining working states of each displacement sensor corresponding to the preset degree of freedom according to the comparison result comprises: for any displacement sensor corresponding to the preset degree of freedom at the same time, obtaining difference values of displacement data corresponding to the displacement sensor and displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom respectively; in response to the difference values being all less than or equal to a first preset value, determining that the displacement sensor is in a normal working state; in response to the difference values all being greater than the first preset value and the difference values all being less than a second preset value, determining that the displacement sensor is in a degraded working state; and in response to any difference value being greater than or equal to the second preset value, determining that the displacement sensor is in a fault working state.

[0012] According to one embodiment of the present application, the working state of the electromagnetic bearing is determined according to the working state of the plurality of displacement sensors corresponding to each preset degree of freedom, comprising: according to the working state of the displacement sensors at each time, the state sequence corresponding to each displacement sensor is obtained in time sequence, and the priority of the normal working state is defined to be higher than that of the degraded working state, and the priority of the degraded working state is defined to be higher than that of the fault working state; for any preset degree of freedom, the highest priority working state in the working state of the plurality of displacement sensors corresponding to the preset degree of freedom at the same time is obtained according to the state sequence; the lowest priority working state among the highest priority working states corresponding to all preset degrees of freedom is obtained, and the lowest priority working state is taken as the working state of the electromagnetic bearing.

[0013] According to one embodiment of the present application, the fault diagnosis method of the electromagnetic bearing further comprises: updating the working state of the electromagnetic bearing in real time according to the state sequence.

[0014] According to one embodiment of the present application, the voltage signal is processed to obtain the displacement data corresponding to each displacement sensor, comprising: filtering and amplifying the voltage signal to obtain an analog signal after filtering and amplifying; analog-digital converting the analog signal to obtain a digital signal obtained after analog-digital conversion; and obtaining the displacement data corresponding to the digital signal of each displacement sensor according to the functional relationship between the digital signal and the displacement data.

[0015] To achieve the above purpose, the second embodiment of the present application proposes a fault diagnosis device of an electromagnetic bearing, comprising: a collection module, configured to convert the position signal of a rotor on a motor bearing into a voltage signal for each preset degree of freedom of the rotor, based on the plurality of displacement sensors corresponding to the preset degree of freedom, wherein the preset degree of freedom includes the movement degree of freedom of X, Y and Z three coordinate axes, and the rotation degree of freedom of the other two coordinate axes except the coordinate axis currently located by the rotor; a processing module, configured to process the voltage signal to obtain the displacement data corresponding to each displacement sensor; a comparison module, configured to compare the displacement data of the plurality of displacement sensors corresponding to any preset degree of freedom at the same time to obtain the working state of each displacement sensor corresponding to the preset degree of freedom; and a determination module, configured to determine the working state of the electromagnetic bearing according to the working state of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to represent whether the electromagnetic bearing fails.

[0016] According to one embodiment of the present application, the comparison module is further configured to: for any preset degree of freedom, compare the displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time with the displacement data of other displacement sensors corresponding to the preset degree of freedom; and obtain the working state of each displacement sensor corresponding to the preset degree of freedom according to the comparison result, wherein the working state includes a normal working state, a degraded working state and a fault working state.

[0017] According to one embodiment of the present application, the comparison module is further configured to: for any displacement sensor corresponding to the preset degree of freedom at the same time, obtain the difference between the displacement data corresponding to the displacement sensor and the displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom; in response to the differences being less than or equal to a first preset value, determine that the displacement sensor is in a normal working state; in response to the differences being greater than the first preset value and less than a second preset value, determine that the displacement sensor is in a degraded working state; and in response to any difference being greater than or equal to the second preset value, determine that the displacement sensor is in a fault working state.

[0018] According to one embodiment of the present application, the determination module is further configured to: in a time sequence, obtain a state sequence corresponding to each displacement sensor according to the working state of the displacement sensor at each time, and define that the priority of the normal working state is higher than that of the degraded working state, and the priority of the degraded working state is higher than that of the fault working state; for any preset degree of freedom, obtain the highest priority working state among the working states of the plurality of displacement sensors corresponding to the preset degree of freedom at the same time according to the state sequence; obtain the lowest priority working state among the highest priority working states corresponding to all preset degrees of freedom, and take the lowest priority working state as the working state of the electromagnetic bearing.

[0019] According to one embodiment of the present application, the determination module is further configured to: update the working state of the electromagnetic bearing in real time according to the state sequence.

[0020] According to one embodiment of the present application, the processing module is further configured to: filter and amplify the voltage signal to obtain an analog signal after filtering and amplification; perform analog-to-digital conversion on the analog signal to obtain a digital signal obtained after analog-to-digital conversion; and obtain the displacement data corresponding to the digital signal of each displacement sensor according to the functional relationship between the digital signal and the displacement data.

[0021] To achieve the above object, a third aspect of embodiments of the present application provides an electronic device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the electromagnetic bearing fault diagnosis method according to the first aspect of embodiments of the present application.

[0022] To achieve the above object, the fourth aspect of the present application provides a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used to implement the fault diagnosis method of the electromagnetic bearing according to the first aspect of the present application.

[0023] To achieve the above object, the fifth aspect of the present application provides a computer program product comprising a computer program, which, when executed by a processor, implements the fault diagnosis method of the electromagnetic bearing according to the first aspect of the present application.

[0024] The present application at least has the following beneficial effects: according to the characteristic that the output voltage of the displacement sensor is proportional to the gap value between the displacement sensor and the rotor, the present application sets multiple sensors which are redundant to each other on each preset degree of freedom to judge the working state of the electromagnetic bearing, and when the rotor position fault of the electromagnetic bearing occurs, the rotor position fault of the electromagnetic bearing can be effectively diagnosed, the reliability of the electromagnetic bearing system operation is improved, and the occurrence of more serious faults is prevented in advance. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0026] Figure 1 is a schematic diagram of an exemplary implementation of a fault diagnosis method of an electromagnetic bearing according to an embodiment of the present application.

[0027] Figure 2 is a schematic diagram of a main helium blower electromagnetic bearing structure according to an embodiment of the present application.

[0028] Figure 3 is a schematic diagram of the relative position between a displacement sensor and a rotor according to an embodiment of the present application.

[0029] Figure 4 is a schematic diagram of an exemplary implementation of a fault diagnosis method of an electromagnetic bearing according to an embodiment of the present application.

[0030] Figure 5 is a flowchart of an exemplary implementation of a fault diagnosis method of an electromagnetic bearing according to an embodiment of the present application.

[0031] Figure 6 is a schematic diagram of a fault diagnosis device of an electromagnetic bearing according to an embodiment of the present application.

[0032] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0034] Figure 1 is a schematic diagram of an exemplary embodiment of a fault diagnosis method of an electromagnetic bearing shown in the present application, as shown in Figure 1 The fault diagnosis method of the electromagnetic bearing includes the following steps:

[0035] S101, for each of the preset degrees of freedom of the rotor on the motor bearing, based on the corresponding plurality of displacement sensors on the preset degree of freedom, the position signal of the rotor is converted into a voltage signal, wherein the preset degrees of freedom include the movement degrees of freedom of the X, Y, Z three coordinate axis directions, and the rotation degrees of freedom of the other two coordinate axes except the coordinate axis where the rotor is currently located.

[0036] The maximum gap between the displacement sensor installed on the electromagnetic bearing and the rotor is generally limited within 1mm, and the displacement sensor works in the linear region, that is, the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor. However, over time, the displacement sensor may have conditions such as time drift, temperature drift, zero drift, and the displacement sensor may also have conditions such as damage and inability to work. The working condition of the electromagnetic bearing is closely related to the fault characteristics of the displacement sensor, and the fault of the displacement sensor will affect the running characteristics of the rotor. For example, when the displacement sensor has parameter drift, the actual position of the rotor can only be approximately detected, and there is a certain error between the detection result and the actual situation, at this time the electromagnetic bearing can basically work normally, the rotor can rotate at a relatively high speed but cannot reach the highest speed in normal time, and the vibration and noise are also increased.

[0037] In the present application, the working state of the electromagnetic bearing rotor is determined based on the measurement of the displacement sensor for 5 preset degrees of freedom of the rotor. In the present application, the 5 preset degrees of freedom are the movement degrees of freedom of the X, Y, Z three coordinate axis directions, and the rotation degrees of freedom of the other two coordinate axes except the coordinate axis where the rotor is currently located among the X, Y, Z three coordinate axes. In the 5 preset degrees of freedom, each preset degree of freedom corresponds to a plurality of displacement sensors (in order to realize differential control and ensure the reliability of the entire electromagnetic bearing system, generally 2 or 3 displacement sensors are provided for each preset degree of freedom, which are redundant to each other), for each of the preset degrees of freedom of the rotor on the motor bearing, since the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor, in the present application, based on the corresponding plurality of displacement sensors on the preset degree of freedom, the position signal of the rotor is converted into a voltage signal.

[0038] Optionally, the displacement sensor can be an eddy current displacement sensor.

[0039] Figure 2 is a schematic diagram of a part of the structure of an electromagnetic bearing of a main helium fan shown in the present application, as Figure 2 shown, the displacement sensor 1 is one of the corresponding displacement sensors in the Z-axis, and the displacement sensor 2 and the displacement sensor 3 are two of the corresponding displacement sensors in the Y-axis. It should be understood that Figure 2 The displacement sensor 1, the displacement sensor 2 and the displacement sensor 3 shown are only part of the displacement sensors, not all of the displacement sensors, and are only for illustration.

[0040] Figure 3 is a schematic diagram of the relative position of the displacement sensor and the rotor shown in the present application, as Figure 3 shown, R2+ and R2- represent the X-axis direction, R1+ and R1- represent the Y-axis direction, R2+, R2-, R1+ and R1- each correspond to a displacement sensor, the gray circle in the middle represents the rotor, and the black ring around the rotor represents the allowed working range of the rotor. The distance between the allowed working range and each displacement sensor is the gap distance. It should be understood that Figure 3 The four displacement sensors shown are only part of the displacement sensors, not all of the displacement sensors, and are only for illustration.

[0041] S102, processing the voltage signal to obtain the displacement data corresponding to each displacement sensor.

[0042] Since the voltage signal collected by the displacement sensor includes electromagnetic interference and high-frequency noise, in order to ensure the quality of the sampling data, the voltage signal collected by the displacement sensor needs to be processed by low-pass filtering, and the weak current signal needs to be amplified to obtain the analog signal after filtering and amplification. Then based on A / D conversion, the analog signal after filtering and amplification is converted into a digital signal. Since the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor, in the present application, a function relationship formula between the digital signal and the displacement data can be pre-set, or a mapping relationship table between the digital signal and the displacement data can be pre-set, so that the displacement data corresponding to each displacement sensor can be obtained based on the digital signal corresponding to each displacement sensor.

[0043] S103, for any predetermined degree of freedom, comparing the displacement data of the plurality of displacement sensors corresponding to the predetermined degree of freedom at the same time to obtain the working state of each of the plurality of displacement sensors corresponding to the predetermined degree of freedom.

[0044] Since each preset degree of freedom corresponds to multiple displacement sensors, that is, multiple displacement data under each preset degree of freedom, in the application, first, the controller can perform self-checking on a single displacement sensor. If any displacement sensor is detected to be short-circuited, open-circuited, or out of range, etc., it is considered that the displacement sensor is faulty. If, for multiple displacement sensors corresponding to any preset degree of freedom, only one displacement sensor is detected to be faulty in the self-checking, then the working states of the other displacement sensors not detected to be faulty are determined according to the displacement data of the other displacement sensors not detected to be faulty at the same time under the preset degree of freedom. If, for multiple displacement sensors corresponding to any preset degree of freedom, no displacement sensor is detected to be faulty, then for any preset degree of freedom, the displacement data of multiple displacement sensors corresponding to the preset degree of freedom at the same time are compared and processed, and the working states of the multiple displacement sensors corresponding to the preset degree of freedom are obtained according to the comparison result. The working states include normal working state, degraded working state, and faulty working state

[0045] In S104, the working state of the electromagnetic bearing is determined according to the working states of the multiple displacement sensors corresponding to each preset degree of freedom. The working state of the electromagnetic bearing is used to represent whether the electromagnetic bearing is faulty.

[0046] The priority of the normal working state is higher than that of the degraded working state, and the priority of the degraded working state is higher than that of the faulty working state. For any preset degree of freedom, the highest priority working state in the working states of the multiple displacement sensors corresponding to the preset degree of freedom at the same time is obtained according to the state sequence. The lowest priority working state in the highest priority working states corresponding to all preset degrees of freedom at the same time is obtained, and the lowest priority working state is taken as the working state of the electromagnetic bearing at the time.

[0047] The embodiment of the present application provides a fault diagnosis method of an electromagnetic bearing, the position signal of a rotor on a motor bearing is converted into a voltage signal based on a plurality of displacement sensors corresponding to each preset degree of freedom of the rotor, wherein the preset degree of freedom includes movement degrees of freedom in X, Y and Z three coordinate axis directions and rotation degrees of freedom of two other coordinate axes except for a coordinate axis where the rotor is currently located; the voltage signal is processed to obtain displacement data corresponding to each displacement sensor; for any preset degree of freedom, the displacement data of the plurality of displacement sensors corresponding to the preset degree of freedom at the same time is compared and processed to obtain the working state of each displacement sensor corresponding to the preset degree of freedom; and the working state of the electromagnetic bearing is determined according to the working state of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to represent whether the electromagnetic bearing fails. According to the characteristic that the output voltage of the displacement sensor is proportional to the gap value between the displacement sensor and the rotor, a plurality of sensors that are redundant to each other are arranged on each preset degree of freedom to determine the working state of the electromagnetic bearing. When the rotor position of the electromagnetic bearing fails, the rotor position failure of the electromagnetic bearing can be effectively diagnosed, the reliability of the electromagnetic bearing system is improved, and the occurrence of more serious failure is prevented in advance.

[0048] Figure 4 is a schematic diagram of an exemplary embodiment of a fault diagnosis method of an electromagnetic bearing shown in the present application, as shown in the figure, the fault diagnosis method of the electromagnetic bearing comprises the following steps: Figure 4

[0049] S401, for each preset degree of freedom of a rotor on a motor bearing, the position signal of the rotor is converted into a voltage signal based on a plurality of displacement sensors corresponding to the preset degree of freedom, wherein the preset degree of freedom includes movement degrees of freedom in X, Y and Z three coordinate axis directions and rotation degrees of freedom of two other coordinate axes except for a coordinate axis where the rotor is currently located.

[0050] For the specific implementation of step S401, refer to the specific introduction of the related part in the above embodiment, which will not be repeated here.

[0051] S402, the voltage signal is processed to obtain displacement data corresponding to each displacement sensor.

[0052] ​Since the voltage signal collected by the displacement sensor includes electromagnetic interference and high-frequency noise, in order to ensure the quality of the sampling data, the voltage signal collected by the displacement sensor needs to be low-pass filtered, and the weak current signal needs to be amplified to obtain the analog signal after filtering and amplification. Then based on A / D conversion, the analog signal after filtering and amplification is converted into a digital signal. Since the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor, in the present application, a function relationship formula of the digital signal and the displacement data can be pre-set, or a mapping relationship table of the digital signal and the displacement data can be pre-set, so that the displacement data corresponding to each displacement sensor can be obtained based on the digital signal corresponding to each displacement sensor.

[0053] S403, for any preset degree of freedom, the displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time is compared with the displacement data of other displacement sensors corresponding to the preset degree of freedom.

[0054] For any preset degree of freedom, the displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time is compared with the displacement data of other displacement sensors corresponding to the preset degree of freedom.

[0055] For example, if the degree of freedom A corresponds to three displacement sensors, namely displacement sensor A1, displacement sensor A2 and displacement sensor A3, when comparing the displacement data of displacement sensor A1, displacement sensor A2 and displacement sensor A3 corresponding to the preset degree of freedom at the same time, the difference between the displacement data corresponding to any displacement sensor corresponding to the preset degree of freedom at the same time and the displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom can be obtained.

[0056] S404, according to the comparison result, the working state of each displacement sensor corresponding to the preset degree of freedom is obtained, including normal working state, degraded working state and fault working state.

[0057] According to the difference, the working state of each displacement sensor corresponding to the preset degree of freedom is obtained, if the difference is less than or equal to the first preset value ε1, it is determined that the displacement sensor is in normal working state; if the difference is greater than the first preset value ε1 and the difference is less than the second preset value ε2, it is determined that the displacement sensor is in degraded working state; if any difference is greater than or equal to the second preset value ε2, it is determined that the displacement sensor is in fault working state. For example, displacement sensor A1, displacement sensor A2 and displacement sensor A3 may all be in normal working state, or displacement sensor A1 and displacement sensor A2 may be in normal working state and displacement sensor A3 may be in degraded working state.

[0058] S405, in time sequence, according to the working state of each displacement sensor at each time, obtain the state sequence corresponding to each displacement sensor, and define that the priority of the normal working state is higher than that of the degraded working state, and the priority of the degraded working state is higher than that of the fault working state.

[0059] In time sequence, according to the working state of each displacement sensor at each time, obtain the state sequence corresponding to each displacement sensor, and define that the priority of the normal working state is higher than that of the degraded working state, and the priority of the degraded working state is higher than that of the fault working state. In order to facilitate description, the normal working state of the displacement sensor is represented by the first letter G of Good, the degraded working state is represented by the first letter D of Degraded, and the fault working state is represented by the first letter B of Bad. Correspondingly, the working state of the electromagnetic bearing is also divided into three categories.

[0060] Each displacement sensor corresponds to a state sequence, and the state sequence includes the working state of the displacement sensor at each time. For example, the state sequence of displacement sensor 1 can be represented as [G, G, G, G, D, D……].

[0061] S406, for any preset degree of freedom, according to the state sequence, obtain the highest priority working state among the working states of the plurality of displacement sensors corresponding to the preset degree of freedom at the same time.

[0062] For example, if the five preset degrees of freedom are respectively represented as preset degree of freedom A, preset degree of freedom B, preset degree of freedom C, preset degree of freedom D and preset degree of freedom E, each preset degree of freedom corresponds to three displacement sensors, wherein the working states of the three displacement sensors corresponding to the preset degree of freedom A at the same time are represented as A1, A2 and A3, the working states of the three displacement sensors corresponding to the preset degree of freedom B at the same time are represented as B1, B2 and B3, the working states of the three displacement sensors corresponding to the preset degree of freedom C at the same time are represented as C1, C2 and C3, the working states of the three displacement sensors corresponding to the preset degree of freedom D at the same time are represented as D1, D2 and D3, and the working states of the three displacement sensors corresponding to the preset degree of freedom E at the same time are represented as E1, E2 and E3.

[0063] The logical variable operation relationship M+N=max{M, N} is defined, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom A is the final result of A1+A2+A3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom B is the final result of B1+B2+B3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom C is the final result of C1+C2+C3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom D is the final result of D1+D2+D3, and the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom E is the final result of E1+E2+E3.

[0064] That is, five preset degrees of freedom can obtain the respective highest priority state corresponding thereto at the same time.

[0065] S407, the lowest priority state among the highest priority states corresponding to all preset degrees of freedom is obtained, and the lowest priority state is taken as the working state of the electromagnetic bearing.

[0066] The logical variable operation relationship M*N=min{M, N} is defined, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom A is the final result of A1+A2+A3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom B is the final result of B1+B2+B3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom C is the final result of C1+C2+C3, the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom D is the final result of D1+D2+D3, and the highest priority state in the working states of the plurality of displacement sensors corresponding to the preset degree of freedom E is the final result of E1+E2+E3.

[0067] For example, if the highest priority states corresponding to the five preset degrees of freedom at a certain time are G, G, G, G and D respectively, the lowest priority state D among G, G, G, G and D is taken as the working state of the electromagnetic bearing at the time, that is, the working state of the electromagnetic bearing at the time is a degraded working state.

[0068] Further, since the state sequence is constantly updated over time, the working state of the electromagnetic bearing is updated in real time according to the state sequence.

[0069] The embodiment of the present application sets multiple sensors that are redundant to each other on each preset degree of freedom according to the characteristic that the output voltage of the displacement sensor is proportional to the gap value between the displacement sensor and the rotor, to determine the working state of the electromagnetic bearing. In the event of rotor position failure of the electromagnetic bearing, the electromagnetic bearing rotor position failure can be effectively diagnosed, the reliability of the electromagnetic bearing system operation is improved, and the occurrence of more serious failure is prevented in advance.

[0070] Figure 5 is a flow chart of an exemplary embodiment of a fault diagnosis method of an electromagnetic bearing shown in the present application, as shown in Figure 5 The fault diagnosis method of the electromagnetic bearing comprises the following steps:

[0071] S501, for each preset degree of freedom of the rotor on the motor bearing, based on the corresponding multiple displacement sensors on the preset degree of freedom, the position signal of the rotor is converted into a voltage signal, wherein the preset degree of freedom includes the movement degree of freedom of X, Y and Z three coordinate axes, and the rotation degree of freedom of the other two coordinate axes except the coordinate axis where the rotor is currently located.

[0072] For the specific implementation of step S501, please refer to the specific introduction of the related part in the above embodiment, which will not be repeated here.

[0073] S502, filtering and amplifying the voltage signal to obtain an analog signal after filtering and amplification.

[0074] S503, analog-to-digital conversion is performed on the analog signal to obtain a digital signal obtained after analog-to-digital conversion.

[0075] S504, according to the functional relationship between the digital signal and the displacement data, the displacement data corresponding to the digital signal of each displacement sensor is obtained.

[0076] For the specific implementation of steps S502-S504, please refer to the specific introduction of the related part in the above embodiment, which will not be repeated here.

[0077] S505, for any preset degree of freedom, the displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time is compared with the displacement data of other displacement sensors corresponding to the preset degree of freedom.

[0078] S506, for any displacement sensor corresponding to the preset degree of freedom at the same time, the difference between the displacement data corresponding to the displacement sensor and the displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom is obtained.

[0079] S507, in response to the difference being less than or equal to a first preset value, it is determined that the displacement sensor is in a normal working state.

[0080] S508, in response to the fact that the differences are all greater than the first preset value and the differences are all less than the second preset value, it is determined that the displacement sensor is in a degraded working state.

[0081] S509, in response to the existence of any difference greater than or equal to the second preset value, determine that the displacement sensor is in a faulty working state.

[0082] For details on the specific implementation of steps S505 to S509, please refer to the relevant parts of the above embodiments; they will not be repeated here.

[0083] S510, according to the time sequence, obtains the state sequence corresponding to each displacement sensor based on the working state of the displacement sensor at each moment, and defines the priority of the normal working state as higher than the deteriorated working state, and defines the priority of the deteriorated working state as higher than the faulty working state.

[0084] S511: For any preset degree of freedom, obtain the highest priority working state among the working states of multiple displacement sensors corresponding to the preset degree of freedom at the same time according to the state sequence.

[0085] S512, obtain the lowest priority working state among the highest priority working states corresponding to all preset degrees of freedom, and use the lowest priority working state as the working state of the electromagnetic bearing.

[0086] For details on the specific implementation of steps S510 to S512, please refer to the relevant parts of the above embodiments, which will not be repeated here.

[0087] Based on the characteristic that the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor, this application sets up multiple redundant sensors on each preset degree of freedom to determine the working state of the electromagnetic bearing. When the rotor position of the electromagnetic bearing is faulty, it can effectively diagnose the rotor position fault, improve the reliability of the electromagnetic bearing system, and prevent more serious faults from occurring in advance.

[0088] Figure 6 This is a schematic diagram of a fault diagnosis device for an electromagnetic bearing shown in this application, as follows: Figure 6 As shown, the fault diagnosis device 600 for the electromagnetic bearing includes a data acquisition module 601, a processing module 602, a comparison module 603, and a determination module 604, wherein:

[0089] The acquisition module 601 is used to convert the rotor position signal into a voltage signal based on multiple displacement sensors corresponding to each preset degree of freedom of the rotor on the motor bearing. The preset degree of freedom includes the translational degree of freedom in the X, Y and Z coordinate axes, and the rotational degree of freedom in the other two coordinate axes besides the current coordinate axis of the rotor.

[0090] The processing module 602 is used to process the voltage signal and obtain the displacement data corresponding to each displacement sensor.

[0091] The comparison module 603 is used to compare the displacement data of multiple displacement sensors corresponding to any preset degree of freedom at the same time to obtain the working status of each of the multiple displacement sensors corresponding to the preset degree of freedom.

[0092] The determination module 604 is used to determine the working state of the electromagnetic bearing based on the working states of multiple displacement sensors corresponding to each preset degree of freedom. The working state of the electromagnetic bearing is used to characterize whether the electromagnetic bearing has failed.

[0093] Based on the characteristic that the output voltage of the displacement sensor is proportional to the gap between the displacement sensor and the rotor, this device sets up multiple redundant sensors in each preset degree of freedom to determine the working status of the electromagnetic bearing. When the rotor position of the electromagnetic bearing is faulty, it can effectively diagnose the rotor position fault, improve the reliability of the electromagnetic bearing system, and prevent more serious faults from occurring in advance.

[0094] According to one embodiment of this application, the comparison module 603 is further configured to: for any preset degree of freedom, compare the displacement data of each displacement sensor corresponding to the preset degree of freedom with the displacement data of other displacement sensors corresponding to the preset degree of freedom at the same time; and obtain the working state of each displacement sensor corresponding to the preset degree of freedom based on the comparison result, the working state including normal working state, deteriorated working state and fault working state.

[0095] According to one embodiment of this application, the comparison module 603 is further configured to: for any displacement sensor corresponding to the preset degree of freedom at the same time, obtain the difference between the displacement data corresponding to the displacement sensor and the displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom; in response to the difference being less than or equal to a first preset value, determine that the displacement sensor is in a normal working state; in response to the difference being greater than the first preset value and less than a second preset value, determine that the displacement sensor is in a degraded working state; in response to any difference being greater than or equal to the second preset value, determine that the displacement sensor is in a faulty working state.

[0096] According to one embodiment of this application, the determining module 604 is further configured to: obtain a state sequence corresponding to each displacement sensor according to the working state of the displacement sensor at each moment in chronological order, and define the priority of the normal working state as higher than the deteriorated working state, and define the priority of the deteriorated working state as higher than the faulty working state; for any preset degree of freedom, obtain the highest priority working state among the working states of multiple displacement sensors corresponding to the preset degree of freedom at the same moment according to the state sequence; obtain the lowest priority working state among the highest priority working states corresponding to each of the preset degrees of freedom, and take the lowest priority working state as the working state of the electromagnetic bearing.

[0097] According to one embodiment of this application, the determining module 604 is further configured to: update the working state of the electromagnetic bearing in real time according to the state sequence.

[0098] According to one embodiment of this application, the processing module 602 is further configured to: filter and amplify the voltage signal to obtain the filtered and amplified analog signal; perform analog-to-digital conversion on the analog signal to obtain the digital signal obtained after analog-to-digital conversion; and obtain the displacement data corresponding to the digital signal of each displacement sensor according to the functional relationship between the digital signal and the displacement data.

[0099] To implement the above embodiments, this application also proposes an electronic device 700, such as... Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702 communicatively connected to the processor. The memory 702 stores instructions that can be executed by at least one processor. The instructions are executed by at least one processor 701 to implement the fault diagnosis method for the electromagnetic bearing as shown in the above embodiment.

[0100] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to implement the fault diagnosis method for electromagnetic bearings as shown in the above embodiments.

[0101] To implement the above embodiments, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements the fault diagnosis method for electromagnetic bearings as shown in the above embodiments.

[0102] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0103] In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A fault diagnosis method for an electromagnetic bearing, characterized in that, include: For each preset degree of freedom of the rotor on the motor bearing, the position signal of the rotor is converted into a voltage signal based on multiple displacement sensors corresponding to the preset degree of freedom. The preset degree of freedom includes the translational degree of freedom in the X, Y, and Z coordinate axes, and the rotational degree of freedom in the other two coordinate axes besides the coordinate axis where the rotor is currently located. The voltage signal is processed to obtain displacement data corresponding to each displacement sensor; For any of the preset degrees of freedom, the displacement data of multiple displacement sensors corresponding to the preset degree of freedom at the same time are compared and processed to obtain the working state of each of the multiple displacement sensors corresponding to the preset degree of freedom. The working state of the electromagnetic bearing is determined based on the working state of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to characterize whether the electromagnetic bearing has malfunctioned. The step of comparing the displacement data of multiple displacement sensors corresponding to any preset degree of freedom at the same time to obtain the working state of each of the multiple displacement sensors corresponding to the preset degree of freedom includes: For any of the preset degrees of freedom, the displacement data of each displacement sensor corresponding to the preset degree of freedom at the same time is compared with the displacement data of other displacement sensors corresponding to the preset degree of freedom; Based on the comparison results, the working state of each displacement sensor corresponding to the preset degree of freedom is obtained. The working state includes normal working state, deteriorated working state and fault working state. The step of obtaining the working state of each displacement sensor corresponding to the preset degree of freedom based on the comparison results includes: For any displacement sensor corresponding to the preset degree of freedom at the same time, obtain the difference between the displacement data corresponding to the displacement sensor and the displacement data corresponding to other displacement sensors corresponding to the preset degree of freedom. When the difference is less than or equal to a first preset value, it is determined that the displacement sensor is in normal working condition. In response to the fact that all the differences are greater than the first preset value and all the differences are less than the second preset value, it is determined that the displacement sensor is in a degraded working state; In response to the existence of any of the aforementioned differences being greater than or equal to the second preset value, it is determined that the displacement sensor is in a faulty operating state; Determining the operating state of the electromagnetic bearing based on the operating states of the plurality of displacement sensors corresponding to each preset degree of freedom includes: According to the time sequence, based on the working state of the displacement sensor at each moment, the state sequence corresponding to each displacement sensor is obtained, and the priority of the normal working state is defined to be higher than that of the deteriorated working state, and the priority of the deteriorated working state is defined to be higher than that of the faulty working state. For any of the preset degrees of freedom, the highest priority working state among the working states of multiple displacement sensors corresponding to the preset degree of freedom at the same time is obtained according to the state sequence; Obtain the lowest priority working state among the highest priority working states corresponding to all preset degrees of freedom at that moment, and take the lowest priority working state as the working state of the electromagnetic bearing at that moment; The method further includes: The operating status of the electromagnetic bearing is updated in real time according to the state sequence; The step of processing the voltage signal to obtain displacement data corresponding to each displacement sensor includes: The voltage signal is filtered and amplified to obtain a filtered and amplified analog signal; The analog signal is converted to digital signal to obtain the digital signal obtained after the analog-to-digital conversion; Based on the functional relationship between the digital signal and the displacement data, the displacement data corresponding to the digital signal of each displacement sensor is obtained.

2. A fault diagnosis device for an electromagnetic bearing, characterized in that, The apparatus implements the method as described in claim 1, the apparatus comprising: The acquisition module is used to convert the position signal of the rotor into a voltage signal based on multiple displacement sensors corresponding to each preset degree of freedom of the rotor on the motor bearing. The preset degree of freedom includes the translational degree of freedom in the X, Y, and Z coordinate axes, and the rotational degree of freedom in the other two coordinate axes besides the current coordinate axis of the rotor. The processing module is used to process the voltage signal and obtain displacement data corresponding to each displacement sensor; The comparison module is used to compare the displacement data of multiple displacement sensors corresponding to any preset degree of freedom at the same time to obtain the working state of each of the multiple displacement sensors corresponding to the preset degree of freedom. The determination module is used to determine the working state of the electromagnetic bearing based on the working state of the plurality of displacement sensors corresponding to each preset degree of freedom, wherein the working state of the electromagnetic bearing is used to characterize whether the electromagnetic bearing has failed.

3. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of claim 1.

4. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to claim 1.

5. A computer program product comprising a computer program that, when executed by a processor, implements the method according to claim 1.

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