A method and apparatus for detecting radial displacement of a magnetic levitation rotor

Abstract

The embodiment of the application provides a kind of magnetic suspension rotor radial displacement detection method and device, the method is applied to controller, the controller is connected with attitude sensor, the attitude sensor is located in the end surface of magnetic suspension rotor, comprising: obtaining the angular velocity data and acceleration data collected by the attitude sensor;Complementary filtering is carried out to the angular velocity data, to generate initial attitude angle data;According to the acceleration data and the initial attitude angle data, determine attitude error value;Combine the initial attitude angle data and the attitude error value, generate radial displacement data.Integrate attitude sensor in the end surface of magnetic suspension rotor, directly based on the acceleration and angular velocity of attitude sensor to carry out radial displacement detection, can improve the reliability and response speed of magnetic suspension control, save structural space.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation rotor control technology, and in particular to a method for detecting radial displacement of a magnetic levitation rotor, a device for detecting radial displacement of a magnetic levitation rotor, an electronic device, and a storage medium. Background Technology

[0002] A magnetic levitation rotor achieves contactless and wear-free support for the rotor based on magnetic levitation bearings. The rotor is directly connected to the impeller, resulting in zero transmission loss. This allows for the successful transport of media such as gases while maintaining low internal wear, low noise, and no need for lubrication. To ensure stable high-speed rotor rotation, real-time displacement signals are detected and analyzed. By adjusting the current in the bearing coils, stable rotor rotation is achieved.

[0003] Currently, the commonly used displacement sensors for magnetic levitation rotors are eddy current sensors. These sensors do not directly contact the rotor but maintain a certain distance. The displacement signal acquired by the eddy current sensor is processed by a differential processing circuit, resulting in a relatively low signal acquisition speed. Furthermore, when the rotor is in a non-rigid state such as flexible bending, the displacement signal detected by the eddy current sensor deviates from the actual displacement, leading to lower signal accuracy. Additionally, commonly used hybrid displacement sensors have a large inner diameter, occupying a significant amount of internal space within the magnetic levitation rotor. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a method for detecting radial displacement of a magnetic levitation rotor, a device for detecting radial displacement of a magnetic levitation rotor, an electronic device, and a storage medium to overcome or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present invention discloses a method for detecting the radial displacement of a magnetically levitated rotor, applied to a controller, the controller being connected to an attitude sensor located at the end face of the magnetically levitated rotor, the method comprising:

[0006] Acquire the angular velocity and acceleration data collected by the attitude sensor;

[0007] Complementary filtering is applied to the angular velocity data to generate initial attitude angle data;

[0008] Based on the acceleration data and the initial attitude angle data, the attitude error value is determined;

[0009] Radial displacement data is generated by combining the initial attitude angle data and the attitude error value.

[0010] Furthermore, the step of performing complementary filtering on the angular velocity data to generate initial attitude angle data includes:

[0011] Calculate the quaternion based on the angular velocity data;

[0012] The quaternion is determined as the initial attitude angle data.

[0013] Furthermore, the acceleration data includes actual acceleration values, and the step of determining the attitude error value based on the acceleration data and the initial attitude angle data includes:

[0014] Based on a preset rotation matrix, the quaternion is converted into theoretical acceleration;

[0015] The actual acceleration value is converted into a first vector, and the theoretical acceleration value is converted into a second vector;

[0016] Calculate the cross product of the first vector and the second vector;

[0017] The attitude error value is determined based on the cross product of the vectors.

[0018] Further, the step of generating radial displacement data by combining the initial attitude angle data and the attitude error value includes:

[0019] Based on the preset control strategy, the correction value is determined according to the attitude error value;

[0020] The correction value is superimposed on the initial attitude angle data to generate the radial displacement data.

[0021] Further, the preset control strategy is a proportional-integral (PI) strategy, which includes proportional weights and integral weights; the step of determining the correction value based on the attitude error value according to the preset control strategy includes:

[0022] Determine the first product value of the attitude error value and the proportional weight;

[0023] Determine the second product value of the attitude error value and the integration weight;

[0024] The sum of the first product value and the second product value is determined as the correction value.

[0025] Furthermore, the controller includes two ring controllers located at different end faces of the magnetic levitation rotor.

[0026] Furthermore, the attitude sensor is disposed inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

[0027] In a second aspect, embodiments of the present invention disclose a radial displacement detection device for a magnetically levitated rotor, applied to a controller. The controller is connected to an attitude sensor, which is located at the end face of the magnetically levitated rotor. The device includes:

[0028] The acquisition module is used to acquire the angular velocity data and acceleration data collected by the attitude sensor;

[0029] The complementary filtering module is used to perform complementary filtering on the angular velocity data to generate initial attitude angle data;

[0030] An error determination module is used to determine the attitude error value based on the acceleration data and the initial attitude angle data;

[0031] The correction module is used to combine the initial attitude angle data and the attitude error value to generate radial displacement data.

[0032] In a third aspect, embodiments of the present invention also disclose an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the radial displacement detection method for a magnetically levitated rotor as described above.

[0033] In a fourth aspect, embodiments of the present invention also disclose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the radial displacement detection method for a magnetically levitated rotor as described above.

[0034] The embodiments of the present invention have the following advantages:

[0035] This invention employs an attitude sensor located on the end face of a magnetically levitated rotor to acquire angular velocity and acceleration data. Complementary filtering is applied to the angular velocity data to generate initial attitude angle data. Based on the acceleration data and the initial attitude angle data, an attitude error value is determined. Finally, radial displacement data is generated by combining the initial attitude angle data and the attitude error value. By integrating the attitude sensor on the end face of the magnetically levitated rotor, the sensor directly contacts the rotor, resulting in more accurate acquisition of acceleration and angular velocity. Consequently, the radial displacement data calculated based on acceleration and angular velocity is more accurate, improving the reliability of the magnetically levitated rotor control. Furthermore, because the attitude sensor is in direct contact with the rotor, the acquired acceleration and angular velocity are closer to the rotor's current actual acceleration and angular velocity, resulting in shorter speed acquisition delays and improved response speed of the magnetically levitated rotor control. Moreover, the attitude sensor's location on the end face of the rotor reduces the space occupied by the sensor. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the steps of an embodiment of the radial displacement detection method for a magnetically levitated rotor according to the present invention.

[0037] Figure 2 This is a flowchart illustrating the steps of another embodiment of the radial displacement detection method for a magnetically levitated rotor according to the present invention;

[0038] Figure 3 This is a schematic diagram of the controller position in an embodiment of the radial displacement detection method for a magnetically levitated rotor according to the present invention;

[0039] Figure 4 This is a schematic diagram of the internal circuit of the controller in an embodiment of the radial displacement detection method for a magnetically levitated rotor according to the present invention;

[0040] Figure 5 This is a schematic diagram of the attitude angles according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of attitude angle changes according to an embodiment of the present invention;

[0042] Figure 7 This is a control logic diagram of an example of a radial displacement detection method for a magnetically levitated rotor according to the present invention;

[0043] Figure 8 This is a flowchart illustrating the steps of an example of a radial displacement detection method for a magnetically levitated rotor according to the present invention;

[0044] Figure 9 This is a structural block diagram of an embodiment of a magnetic levitation rotor radial displacement detection device according to the present invention;

[0045] Figure 10 This is a structural block diagram of an electronic device provided in an embodiment of the present invention;

[0046] Figure 11 This is a structural block diagram of a storage medium provided in an embodiment of the present invention. Detailed Implementation

[0047] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Reference Figure 1This diagram illustrates a flowchart of an embodiment of a radial displacement detection method for a magnetically levitated rotor according to the present invention. The method is applied to a controller connected to an attitude sensor located on the end face of the magnetically levitated rotor. The controller controls the rotation of the magnetically levitated rotor based on signals acquired by the attitude sensor, and its signal input terminal is connected to the attitude sensor. The attitude sensor is connected to the end face of the magnetically levitated rotor, i.e., connected to one end of the rotor and in direct contact with it.

[0049] The radial displacement detection method for the magnetically levitated rotor may specifically include the following steps:

[0050] Step 101: Obtain the angular velocity data and acceleration data collected by the attitude sensor;

[0051] When controlling the magnetic levitation rotor, the controller can read the angular velocity and acceleration data collected by the attitude sensors at the current moment. Both the angular velocity and acceleration data are collected based on the magnetic levitation rotor. In actual control, a three-dimensional Cartesian coordinate system is often used; the angular velocity data can be the angular velocity along three axes, and the acceleration data can also be the acceleration along three axes.

[0052] Step 102: Perform complementary filtering on the angular velocity data to generate initial attitude angle data;

[0053] After obtaining the angular velocity data, complementary filtering is performed on the angular velocities of the three axes based on the current angular velocity data; the current attitude angle of the magnetic levitation rotor, i.e., the initial attitude angle data, is then calculated.

[0054] Step 103: Determine the attitude error value based on the acceleration data and the initial attitude angle data;

[0055] Since there is a static error in the angular velocity data when stationary, acceleration data can be further introduced. Acceleration data can characterize the current actual acceleration. Based on the acceleration data and the initial attitude angle data, the error value contained in the initial attitude angle data, i.e. the attitude error value, can be determined, thereby correcting and compensating the initial attitude angle data.

[0056] Step 104: Combine the initial attitude angle data and the attitude error value to generate radial displacement data.

[0057] After obtaining the attitude error value, the initial attitude angle data and the attitude error value can be combined. The attitude error value is used to correct the initial attitude angle data, eliminating static errors in the initial attitude angle data and generating more accurate attitude angle data. This attitude angle data is then determined as the radial displacement data. The controller uses this radial displacement data to control the operation of the magnetic levitation rotor.

[0058] This invention employs an attitude sensor located on the end face of a magnetically levitated rotor to acquire angular velocity and acceleration data. Complementary filtering is applied to the angular velocity data to generate initial attitude angle data. An attitude error value is determined based on the acceleration data and the initial attitude angle data. Radial displacement data is generated by combining the initial attitude angle data and the attitude error value. By integrating the attitude sensor on the end face of the magnetically levitated rotor, the sensor is in direct contact with the rotor, resulting in more accurate acquisition of acceleration and angular velocity. Consequently, the radial displacement data calculated based on acceleration and angular velocity is more accurate, improving the reliability of the magnetically levitated rotor control. Furthermore, because the attitude sensor is in direct contact with the rotor, the acquired acceleration and angular velocity are closer to the rotor's current actual acceleration and angular velocity, resulting in shorter speed acquisition delays and improved response speed of the magnetically levitated rotor control. Moreover, the attitude sensor's location on the end face of the rotor reduces the space occupied by the sensor.

[0059] Reference Figure 2 This diagram illustrates a flowchart of another embodiment of the radial displacement detection method for a magnetically levitated rotor according to the present invention. The method is applied to a controller connected to an attitude sensor located on the end face of the magnetically levitated rotor. Specifically, the controller includes two ring controllers located on different end faces of the magnetically levitated rotor. That is, a ring controller is provided on each side of the magnetically levitated rotor. When the magnetically levitated rotor rotates, the ring controllers on both sides maintain mutual balance and do not affect the movement of the rotor. See also... Figure 3 A ring controller is installed on the end face of the magnetic levitation rotor. The ring controller is on the same axis as the magnetic levitation rotor and rotates along with it when the magnetic levitation rotor rotates.

[0060] Furthermore, the attitude sensor is disposed inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

[0061] In practical applications, the attitude sensors can be installed inside the ring controller, meaning attitude sensors are placed on both end faces of the magnetic levitation rotor. This ensures that even with attitude sensors directly contacting the magnetic levitation rotor, the original motion state of the rotor is not disrupted, improving data accuracy. The attitude sensors and the ring controller are connected via an integrated circuit bus. In one example of this invention, the integrated circuit bus can be an I2C (two-wire serial bus), meaning the attitude sensors and the ring controller communicate using I2C. See [reference needed]. Figure 4The attitude sensor can be an MPU6050 chip, and the ring controller can be a DSP (Digital Signal Processing) chip. The SCL (clock line) and SDA (bidirectional data line) pins of the MPU6050 and DSP chips are connected accordingly. To ensure stable communication between the MPU6050 and DSP chips, a pull-up resistor can be added between their SCL and SDA connections. Both the MPU6050 and DSP chips are connected to GND (ground).

[0062] Furthermore, due to the limited internal space of the magnetic levitation rotor, the controller can include a control unit responsible for data input and output, and a processing unit responsible for data computation. The control unit and processing unit interact via the Internet of Things (IoT). In one example of this invention, the control unit and processing unit interact via a Wi-Fi (Wi-Fi) network.

[0063] The radial displacement detection method for the magnetically levitated rotor may specifically include the following steps:

[0064] Step 201: Obtain the angular velocity data and acceleration data collected by the attitude sensor.

[0065] When controlling the magnetic levitation rotor, the controller can acquire the angular velocity and acceleration data currently collected by the attitude sensor.

[0066] Step 202: Perform complementary filtering on the angular velocity data to generate initial attitude angle data.

[0067] After reading the angular velocity and acceleration data, attitude calculation can be performed based on these data. First, complementary filtering can be performed on the angular velocity data to fuse the three-axis angular velocities and determine an initial attitude angle.

[0068] In an optional embodiment of the present invention, the step of performing complementary filtering on the angular velocity data to generate initial attitude angle data includes:

[0069] Sub-step S2021: Calculate the quaternion based on the angular velocity data.

[0070] Sub-step S2022: Determine the quaternion as the initial attitude angle data.

[0071] In practical applications, the attitude angle is the angle between two three-dimensional coordinate systems: the Earth coordinate system (i.e., the absolute coordinate system) and the solid coordinate system (i.e., the magnetic levitation rotor coordinate system). The Earth coordinate system, defined by N / A (northeast) and the Earth's coordinates (XYZ), is fixed. The solid coordinate system, defined by the magnetic levitation rotor's XYZ, is constantly changing as the rotor rotates. When stationary, the two coordinate systems coincide. This change in the solid coordinate system results in an angle, known as the Euler angle. (See reference...) Figure 5 Previously, the radial rotor end rotated along the Y-axis by an α Euler angle. (Refer to...) Figure 6 After rotating the coordinate system 0-X1Y1Z1 by an angle α, we obtain 0-X2Y2Z2. The projection of the rotor in the 0-X1Y1Z1 coordinate system is [r]. x1 ,r y1 ,r z1 The rotor's projection in the 0-X2Y2Z2 coordinate system is [r] x2 ,r y2 ,r z2 Since the radial Z-coordinate has not changed, r z1 =r z2 The relationship between the two sets of coordinate system values ​​is derived as r. x2 =r x1 cosα+r y1 sinα, r y2 =r y1 cosα-r x1 sinα. Represent the above three equations in matrix form: in The rotation matrix describes this rotation process. Similarly, the three rotation matrices are listed separately, with rotation angle β along X and rotation angle θ along Z, and the direction cosine matrix is ​​obtained by multiplication as follows:

[0072]

[0073] This refers to the rotation angle of the solid coordinate system relative to the Earth coordinate system. Based on the direction cosine matrix, once the coordinates of one coordinate system are obtained, the coordinates of the other coordinate system can be calculated. Furthermore, to ensure that the cosine matrix contains trigonometric functions that can be retrieved, quaternions can be used for substitution. The above matrix is ​​then modified as follows:

[0074]

[0075] Quaternions can fully express a complete pose. Based on quaternions, the complete rotation process is determined, and the complete pose can be obtained simply by updating the quaternions in real time.

[0076] Based on the above process, after obtaining the angular acceleration data, a quaternion is calculated from the angular velocity data. The current attitude can then be determined based on the quaternion. In other words, this quaternion can be used as the initial attitude angle data.

[0077] Step 203: Determine the attitude error value based on the acceleration data and the initial attitude angle data.

[0078] After obtaining the initial attitude angle data, the attitude error value can be determined based on the difference between the acceleration data and the initial attitude angle data.

[0079] In an optional embodiment of the present invention, the acceleration data includes true acceleration values, and the step of determining the attitude error value based on the acceleration data and the initial attitude angle data includes:

[0080] Sub-step S2032: Based on a preset rotation matrix, the quaternion is converted into theoretical acceleration;

[0081] Based on the differentiation of the quaternion with respect to time t, the following combination of angular velocities and quaternions for each axis can be obtained:

[0082]

[0083] The differential equation was solved through a finite number of iterations as follows:

[0084]

[0085] When one end of the rotor rotates, there will be orthogonal decompositions along the acceleration XYZ axes. The quaternions can be converted into accelerations using a rotation matrix as follows:

[0086]

[0087] Based on the corresponding rotation matrix, the quaternion is substituted into the above formula to convert it into acceleration, which is the theoretical acceleration.

[0088] Sub-step S2032: Convert the actual acceleration value into a first vector and the theoretical acceleration value into a second vector.

[0089] In this embodiment of the invention, the acceleration data includes true acceleration values, i.e., triaxial acceleration. Since acceleration is a vector, when determining the error, the true acceleration values ​​can first be converted into a first vector, and the theoretical acceleration values ​​can be converted into a second vector. That is, the true acceleration values ​​and theoretical acceleration values ​​are converted in vector form under the same coordinate system. The terms "first" and "second" in the first and second vectors are only used to distinguish the vectors corresponding to different acceleration values, and do not limit the vectors corresponding to different acceleration values.

[0090] Sub-step S2033: Calculate the cross product of the first vector and the second vector.

[0091] Then, the cross product of the first and second vectors is calculated using the cross product formula. The cross product is a vector, possessing both direction and magnitude.

[0092] Sub-step S2034: Determine the attitude error value based on the vector cross product.

[0093] In this embodiment of the invention, the vector difference can be determined as the attitude error value, so as to be included in the subsequent correction and compensation process.

[0094] Step 204: Based on the preset control strategy, determine the correction value according to the attitude error value.

[0095] After obtaining the attitude error value, a control strategy for the magnetic levitation rotor, i.e., a preset control strategy, is used to convert the attitude error value into a correction value during the control process. The control strategy can be determined based on the equipment control of the magnetic levitation rotor, such as PID (Proportion Integral Differential) control, PI (Proportion Integral) control, PD (Proportion Differential) control, fuzzy control, MPC (Model Predictive Control), etc., and is not limited in this embodiment of the invention.

[0096] In an optional embodiment of the present invention, the preset control strategy is a proportional-integral (PI) strategy, which includes proportional weights and integral weights; the step of determining the correction value based on the preset control strategy and the attitude error value includes:

[0097] Sub-step S2041: Determine the first product value of the attitude error value and the proportional weight value;

[0098] In this embodiment of the invention, the control strategy can be a proportional-integral (PI) strategy, i.e., a PI control strategy. The PI strategy has two weights: a proportional weight and an integral weight.

[0099] Based on this control strategy, the attitude error value can be used as the input value to calculate the product of the attitude error value and the proportional weight, which is the first product value.

[0100] Sub-step S2042: Determine the second product value of the attitude error value and the integration weight;

[0101] Accordingly, the attitude error value is used as the input value, and the product of the attitude error value and the integration weight is calculated. This product value is the first product value.

[0102] Sub-step S2043: The sum of the first product value and the second product value is determined as the correction value.

[0103] Calculate the sum of the first and second product values, and determine this sum as the correction value.

[0104] In summary, this can be based on the PI control formula error = K p error+K i The error is used to calculate the correction value.

[0105] Where error is the correction value, K p error is the first product value, K i error is the second product value.

[0106] Step 205: The correction value is superimposed on the initial attitude angle data to generate radial displacement data.

[0107] The correction value is then superimposed onto the initial attitude angle data to correct the initial attitude angle data and compensate for the errors in the initial attitude angle data, resulting in new attitude angle data, which is the radial displacement data. The controller can then control the magnetic levitation rotor based on this radial displacement data.

[0108] This invention employs an attitude sensor located on the end face of a magnetically levitated rotor to acquire angular velocity and acceleration data. The angular velocity data undergoes complementary filtering to generate initial attitude angle data. An attitude error value is determined based on the acceleration and initial attitude angle data. A correction value is determined based on the attitude error value according to a preset control strategy. The correction value is then superimposed on the initial attitude angle data to generate the radial displacement data. By integrating the attitude sensor on the end face of the magnetically levitated rotor, the sensor directly contacts the rotor, resulting in more accurate acceleration and angular velocity acquisition. Consequently, the radial displacement data calculated based on acceleration and angular velocity is more accurate, improving the reliability of the magnetically levitated rotor control. Furthermore, because the attitude sensor is in direct contact with the rotor, the acquired acceleration and angular velocity are closer to the rotor's actual current acceleration and angular velocity, resulting in shorter speed acquisition delays and improved response speed. Additionally, the attitude sensor's location on the end face reduces the space occupied by the internal components. Separating the control unit from the data transmission and reception control unit and data processing unit reduces controller costs.

[0109] To enable those skilled in the art to better understand the embodiments of the present invention, an example is provided below to illustrate the embodiments of the present invention:

[0110] You can refer to Figure 7 This illustrates the detection principle of this example. The angular velocity data from the three-axis gyroscope in the attitude sensor is converted into a quaternion, and the theoretical acceleration is derived based on the quaternion. Then, based on the actual acceleration measured by the three-axis accelerometer, the vector angle between the actual and theoretical acceleration is determined as the error to be compensated. This error value can be calculated using the vector cross product formula. This error is then used to correct the gyroscope angular velocity, yielding the attitude angle, and thus the radial displacement detection data.

[0111] For specific testing procedures, please refer to Figure 8 Two ring controllers send commands to their corresponding MPU6050 chips. The MPU6050 chips respond by feeding back angular velocity and acceleration data to the host (ring controller). After acquiring the angular velocity and acceleration data, the ring controller transmits them to an external controller (the controller's processing unit) via Wi-Fi. Upon receiving the data, the external controller performs attitude calculations based on the above process and outputs radial displacement data.

[0112] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0113] Reference Figure 9 This diagram illustrates a structural block diagram of an embodiment of a radial displacement detection device for a magnetic levitation rotor according to the present invention. The device is applied to a controller, which is connected to an attitude sensor located at the end face of the magnetic levitation rotor. Specifically, the device may include the following modules:

[0114] The acquisition module 901 is used to acquire the angular velocity data and acceleration data collected by the attitude sensor;

[0115] The complementary filtering module 902 is used to perform complementary filtering on the angular velocity data to generate initial attitude angle data.

[0116] The error determination module 903 is used to determine the attitude error value based on the acceleration data and the initial attitude angle data;

[0117] The correction module 904 is used to combine the initial attitude angle data and the attitude error value to generate radial displacement data.

[0118] In an optional embodiment of the present invention, the complementary filtering module 902 includes:

[0119] The quaternion calculation submodule is used to calculate quaternions based on the angular velocity data;

[0120] The initial attitude angle data determination submodule is used to determine the quaternion as the initial attitude angle data.

[0121] In an optional embodiment of the present invention, the acceleration data includes true acceleration values, and the error determination module 903 includes:

[0122] The first conversion submodule is used to convert the quaternion into a theoretical acceleration value based on a preset rotation matrix;

[0123] The second conversion module is used to convert the actual acceleration value into a first vector and the theoretical acceleration value into a second vector.

[0124] The vector cross product submodule is used to calculate the vector cross product of the first vector and the second vector;

[0125] The attitude error determination submodule is used to determine the attitude error value based on the vector cross product.

[0126] In an optional embodiment of the present invention, the correction module 904 includes:

[0127] The correction determination submodule is used to determine the correction value based on the attitude error value according to the preset control strategy.

[0128] The overlay submodule is used to overlay the correction value onto the initial attitude angle data to generate the radial displacement data.

[0129] In an optional embodiment of the present invention, the preset control strategy is a proportional-integral strategy, which includes proportional weights and integral weights; the correction determination submodule includes:

[0130] The first product value determination unit is used to determine the first product value of the attitude error value and the proportional weight value;

[0131] The second product value determination unit is used to determine the second product value of the attitude error value and the integration weight;

[0132] The correction determination unit is used to determine the sum of the first product value and the second product value as the correction value.

[0133] In an optional embodiment of the present invention, the controller includes two ring controllers located at different end faces of the magnetic levitation rotor.

[0134] In an optional embodiment of the present invention, the attitude sensor is disposed inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

[0135] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0136] Reference Figure 10 The present invention also provides an electronic device, comprising:

[0137] A processor 1001 and a storage medium 1002 are provided. The storage medium 1002 stores a computer program executable by the processor 1001. When the electronic device is running, the processor 1001 executes the computer program to perform the radial displacement detection method for a magnetically levitated rotor as described in any embodiment of the present invention. The radial displacement detection method for a magnetically levitated rotor is applied to a controller, which is connected to an attitude sensor located at the end face of the magnetically levitated rotor. The radial displacement detection method for a magnetically levitated rotor includes...

[0138] Acquire the angular velocity and acceleration data collected by the attitude sensor;

[0139] Complementary filtering is applied to the angular velocity data to generate initial attitude angle data;

[0140] Based on the acceleration data and the initial attitude angle data, the attitude error value is determined;

[0141] Radial displacement data is generated by combining the initial attitude angle data and the attitude error value.

[0142] Furthermore, the step of performing complementary filtering on the angular velocity data to generate initial attitude angle data includes:

[0143] Calculate the quaternion based on the angular velocity data;

[0144] The quaternion is transformed to determine the initial attitude angle data.

[0145] Furthermore, the acceleration data includes actual acceleration values, and the step of determining the attitude error value based on the acceleration data and the initial attitude angle data includes:

[0146] Based on a preset rotation matrix, the quaternion is converted into a theoretical acceleration value;

[0147] The actual acceleration value is converted into a first vector, and the theoretical acceleration value is converted into a second vector;

[0148] Calculate the cross product of the first vector and the second vector;

[0149] The attitude error value is determined based on the cross product of the vectors.

[0150] Further, the step of generating radial displacement data by combining the initial attitude angle data and the attitude error value includes:

[0151] Based on the preset control strategy, the correction value is determined according to the attitude error value;

[0152] The correction value is superimposed on the initial attitude angle data to generate the radial displacement data.

[0153] Further, the preset control strategy is a proportional-integral (PI) strategy, which includes proportional weights and integral weights; the step of determining the correction value based on the attitude error value according to the preset control strategy includes:

[0154] Determine the first product value of the attitude error value and the proportional weight;

[0155] Determine the second product value of the attitude error value and the integration weight;

[0156] The sum of the first product value and the second product value is determined as the correction value.

[0157] Furthermore, the controller includes two ring controllers located at different end faces of the magnetic levitation rotor.

[0158] Furthermore, the attitude sensor is disposed inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

[0159] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0160] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0161] Reference Figure 11 This invention also provides a computer-readable storage medium 1101, on which a computer program is stored. When executed by a processor, the computer program performs the radial displacement detection method for a magnetically levitated rotor as described in any one of the embodiments of this invention. The radial displacement detection method is applied to a controller connected to an attitude sensor located at the end face of the magnetically levitated rotor. The radial displacement detection method includes...

[0162] Acquire the angular velocity and acceleration data collected by the attitude sensor;

[0163] Complementary filtering is applied to the angular velocity data to generate initial attitude angle data;

[0164] Based on the acceleration data and the initial attitude angle data, the attitude error value is determined;

[0165] Radial displacement data is generated by combining the initial attitude angle data and the attitude error value.

[0166] Furthermore, the step of performing complementary filtering on the angular velocity data to generate initial attitude angle data includes:

[0167] Calculate the quaternion based on the angular velocity data;

[0168] The quaternion is transformed to determine the initial attitude angle data.

[0169] Furthermore, the acceleration data includes actual acceleration values, and the step of determining the attitude error value based on the acceleration data and the initial attitude angle data includes:

[0170] Based on a preset rotation matrix, the quaternion is converted into a theoretical acceleration value;

[0171] The actual acceleration value is converted into a first vector, and the theoretical acceleration value is converted into a second vector;

[0172] Calculate the cross product of the first vector and the second vector;

[0173] The attitude error value is determined based on the cross product of the vectors.

[0174] Further, the step of generating radial displacement data by combining the initial attitude angle data and the attitude error value includes:

[0175] Based on the preset control strategy, the correction value is determined according to the attitude error value;

[0176] The correction value is superimposed on the initial attitude angle data to generate the radial displacement data.

[0177] Further, the preset control strategy is a proportional-integral (PI) strategy, which includes proportional weights and integral weights; the step of determining the correction value based on the attitude error value according to the preset control strategy includes:

[0178] Determine the first product value of the attitude error value and the proportional weight;

[0179] Determine the second product value of the attitude error value and the integration weight;

[0180] The sum of the first product value and the second product value is determined as the correction value.

[0181] Furthermore, the controller includes two ring controllers located at different end faces of the magnetic levitation rotor.

[0182] Furthermore, the attitude sensor is disposed inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

[0183] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0184] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0185] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0186] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0187] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0188] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0189] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0190] The present invention provides a detailed description of a radial displacement detection method and apparatus for a magnetic levitation rotor. Specific examples have been used to illustrate the principle and implementation of the invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the invention. At the same time, those skilled in the art will know that there will be changes in the specific implementation and application scope based on the idea of ​​the invention. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A method for detecting the radial displacement of a magnetically levitated rotor, characterized in that, Applied to a controller connected to an attitude sensor located at the end face of a magnetically levitated rotor, the method includes: The angular velocity data and acceleration data collected by the attitude sensor are acquired, wherein the acceleration data includes the actual acceleration value; Calculate the quaternion based on the angular velocity data; The quaternion is used as the initial attitude angle data; Based on a preset rotation matrix, the quaternion is converted into a theoretical acceleration value; The actual acceleration value is converted into a first vector, and the theoretical acceleration value is converted into a second vector; Calculate the cross product of the first vector and the second vector; The attitude error value is determined based on the cross product of the vectors. Radial displacement data is generated by combining the initial attitude angle data and the attitude error value.

2. The method according to claim 1, characterized in that, The step of generating radial displacement data by combining the initial attitude angle data and the attitude error value includes: Based on the preset control strategy, the correction value is determined according to the attitude error value; The correction value is superimposed on the initial attitude angle data to generate the radial displacement data.

3. The method according to claim 2, characterized in that, The preset control strategy is a proportional-integral (PI) strategy, which includes proportional weights and integral weights; the step of determining the correction value based on the preset control strategy and the attitude error value includes: Determine the first product value of the attitude error value and the proportional weight; Determine the second product value of the attitude error value and the integration weight; The sum of the first product value and the second product value is determined as the correction value.

4. The method according to claim 1, characterized in that, The controller includes two ring controllers located at different end faces of the magnetic levitation rotor.

5. The method according to claim 4, characterized in that, The attitude sensor is located inside the ring controller, and the attitude sensor is connected to the ring controller via an integrated circuit bus.

6. A radial displacement detection device for a magnetically levitated rotor, characterized in that, An application to a controller connected to an attitude sensor located at the end face of a magnetically levitated rotor, the device comprising: The acquisition module is used to acquire angular velocity data and acceleration data collected by the attitude sensor, wherein the acceleration data includes the actual acceleration value; The quaternion calculation submodule is used to calculate quaternions based on the angular velocity data; The initial attitude angle data determination submodule is used to determine the quaternion as the initial attitude angle data; The first conversion submodule is used to convert the quaternion into a theoretical acceleration value based on a preset rotation matrix; The second conversion module is used to convert the actual acceleration value into a first vector and the theoretical acceleration value into a second vector. The vector cross product submodule is used to calculate the vector cross product of the first vector and the second vector; The attitude error determination submodule is used to determine the attitude error value based on the cross product of the vectors. The correction module is used to combine the initial attitude angle data and the attitude error value to generate radial displacement data.

7. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the radial displacement detection method for a magnetically levitated rotor as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the radial displacement detection method for a magnetically levitated rotor as described in any one of claims 1 to 5.

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