Method and device for controlling current of magnetic suspension bearing, magnetic suspension bearing and storage medium

Abstract

The embodiment of the application provides a kind of magnetic suspension bearing current control method, device, magnetic suspension bearing and storage medium, including obtaining the target current and actual current of current loop;According to the target current and the actual current, it is judged whether the current loop is in strong hysteresis state;In response to the current loop being in the strong hysteresis state, the current loop is controlled based on the preset current loop reference model;In response to the current loop not being in the strong hysteresis state, the current loop is proportionally integrated control.By judging whether the current loop is in strong hysteresis state, timely switching current loop is carried out current loop reference model control or proportional integral control, adjusts current loop control parameter, makes current loop output no distortion tracking given target current, current response speed is fast, and the adaptability to various complex working conditions is strong.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation bearing control technology, and in particular to a magnetic levitation bearing current control method, a magnetic levitation bearing current control device, a magnetic levitation bearing, and a storage medium. Background Technology

[0002] An active magnetic levitation bearing is a type of bearing that levitates a rotor using controllable electromagnetic force, featuring frictionless operation, high speed, and electronic controllability. The magnetic levitation bearing control system employs a dual-loop control system (displacement loop and current loop), generating control current through a power amplifier. The relationship between the power amplifier bus voltage and the coil current is as follows: Therefore, the rate of change of the coil current is In actual bearing controllers, the bus voltage u dc The current does not remain constant but fluctuates within a certain range. Simultaneously, as the bearing coil temperature increases, the coil resistance R and inductance l change, leading to variations in the rate of change of the coil current. This causes the magnetic levitation control system parameters to become time-varying, making it impossible for fixed current loop control parameters to track the given target current in a timely manner. For conventional current loops such as PI (Proportional-Integral) control, fixed system parameters make it difficult to maintain optimal dynamic performance under complex operating conditions. Furthermore, the complexity of the magnetic levitation control system makes tuning the displacement loop parameters quite challenging. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a magnetic levitation bearing current control method, a magnetic levitation bearing current control device, a magnetic levitation bearing, and a storage medium to overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, in a first aspect of this invention, an embodiment discloses a magnetic levitation bearing current control method applied to a magnetic levitation bearing control system. The magnetic levitation bearing control system includes a current loop for controlling the current of the magnetic levitation bearing. The method comprises:

[0005] Obtain the target current and actual current of the current loop;

[0006] Based on the target current and the actual current, determine whether the current loop is in a strong hysteresis state;

[0007] In response to the current loop being in the strong hysteresis state, the current loop is controlled based on a preset current loop reference model;

[0008] In response to the current loop not being in the strong hysteresis state, proportional-integral control is performed on the current loop.

[0009] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the target current and the actual current includes:

[0010] Calculate the absolute value of the deviation between the target current and the actual current;

[0011] The absolute value of the deviation is used to determine whether the current loop is in a strong hysteresis state.

[0012] Optionally, the step of calculating the absolute value of the deviation between the target current and the actual current includes:

[0013] Within a preset detection cycle, for the target current and the actual current of the same control cycle, the absolute value of the deviation is determined to obtain multiple absolute values ​​of deviation.

[0014] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the absolute value of the deviation includes:

[0015] The number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold is determined;

[0016] In response to the number of times exceeding the preset number threshold, it is determined that the current loop is in the strong hysteresis state;

[0017] In response to the number of occurrences not exceeding the preset number threshold, it is determined that the current loop is not in the strong hysteresis state.

[0018] Optionally, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the step of controlling the current loop based on the preset current loop reference model in response to the current loop being in the strong hysteresis state includes:

[0019] In response to the current loop being in the strong hysteresis state, the target reference model and the controlled model are equivalent to control the current loop.

[0020] Optionally, the step of responding to the current loop being in the strong hysteresis state by equivalently modifying the target reference model and the controlled model includes:

[0021] In response to the current loop being in the strong hysteresis state, the transfer function of the equivalent target reference model and the transfer function of the controlled model are used.

[0022] Optionally, the target reference model is equipped with an adaptive control law, and the step of converting the transfer function of the target reference model to the transfer function of the controlled model in response to the current loop being in the strong hysteresis state includes:

[0023] In response to the current loop being in the strong hysteresis state, the adaptive control law is set and the transfer function of the target reference model is updated;

[0024] Calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model;

[0025] The adaptive control law is updated based on the model deviation, and the steps of setting the adaptive control law and updating the transfer function of the target reference model are executed with the updated adaptive control law until the model deviation is zero.

[0026] In a second aspect, embodiments of the present invention disclose a magnetic levitation bearing current control device applied to a magnetic levitation bearing control system. The magnetic levitation bearing control system includes a current loop for controlling the current of the magnetic levitation bearing. The device comprises:

[0027] The acquisition module is used to acquire the target current and the actual current of the current loop;

[0028] The judgment module is used to determine whether the current loop is in a strong hysteresis state based on the target current and the actual current.

[0029] The first control module is used to control the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state.

[0030] The second control module is used to perform proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state.

[0031] Optionally, the determination module includes:

[0032] The calculation submodule is used to calculate the absolute value of the deviation between the target current and the actual current;

[0033] The judgment submodule is used to determine whether the current loop is in a strong hysteresis state based on the absolute value of the deviation.

[0034] Optionally, the computing submodule includes:

[0035] The calculation unit is used to determine the absolute value of the deviation for the target current and the actual current in the same control cycle within a preset detection cycle, so as to obtain multiple absolute values ​​of deviation.

[0036] Optionally, the determination submodule includes:

[0037] The judgment unit is used to determine the number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold;

[0038] A strong hysteresis determination unit is used to determine that the current loop is in the strong hysteresis state in response to the number of times exceeding the preset number threshold.

[0039] A non-strong hysteresis determination unit is used to determine that the current loop is not in the strong hysteresis state in response to the number of times not being greater than the preset number threshold.

[0040] Optionally, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; the first control module includes:

[0041] The first response submodule is used to respond to the current loop being in the strong hysteresis state, equivalent to the target reference model and the controlled model, in order to control the current loop.

[0042] Optionally, the first response submodule includes:

[0043] The first response unit is configured to respond to the current loop being in the strong hysteresis state by using the transfer function of the target reference model and the transfer function of the controlled model.

[0044] Optionally, the target reference model is equipped with an adaptive control law, and the first response unit includes:

[0045] The first response subunit is used to set the adaptive control law and update the transfer function of the target reference model in response to the current loop being in the strong hysteresis state.

[0046] The deviation calculation subunit is used to calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model.

[0047] The update loop subunit is used to update the adaptive control law based on the model deviation, and with the updated adaptive control law, execute the steps of setting the adaptive control law and updating the transfer function of the target reference model until the model deviation is zero.

[0048] In a third aspect, an embodiment of the present invention discloses a magnetic levitation bearing, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the steps of the magnetic levitation bearing current control method as described above.

[0049] In a fourth aspect, embodiments of the present invention disclose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the magnetic levitation bearing current control method described above.

[0050] The embodiments of the present invention have the following advantages:

[0051] This invention provides an embodiment of the method that acquires the target current and the actual current of the current loop; determines whether the current loop is in a strong hysteresis state based on the target current and the actual current; controls the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state; and performs proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. By determining whether the current loop is in a strong hysteresis state, the method promptly switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion. This results in a fast current response and strong adaptability to various complex operating conditions. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the steps of an embodiment of the magnetic levitation bearing current control method of the present invention;

[0053] Figure 2 This is a flowchart illustrating the steps of another embodiment of the magnetic levitation bearing current control method of the present invention;

[0054] Figure 3 This is a schematic diagram of the current loop control in another embodiment of the magnetic levitation bearing current control method of the present invention;

[0055] Figure 4 This is a schematic diagram of the current change rate of another embodiment of the magnetic levitation bearing current control method of the present invention;

[0056] Figure 5 This is a schematic diagram of the current hysteresis state in another embodiment of the magnetic levitation bearing current control method of the present invention;

[0057] Figure 6 This is a schematic diagram of a preset current loop reference model of another embodiment of the magnetic levitation bearing current control method of the present invention;

[0058] Figure 7 This is a flowchart illustrating the steps of an example of a magnetic levitation bearing current control method according to the present invention;

[0059] Figure 8 This is a control schematic diagram illustrating an example of a magnetic levitation bearing current control method according to the present invention;

[0060] Figure 9 This is a structural block diagram of an embodiment of a magnetic levitation bearing current control device according to the present invention. Detailed Implementation

[0061] 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.

[0062] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of a magnetic levitation bearing current control method according to the present invention. The magnetic levitation bearing current control method is applied to a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop, which is used to control the current of the magnetic levitation bearing.

[0063] In this embodiment of the invention, the magnetic levitation bearing current control method can be applied to a magnetic levitation bearing control system, which can control the magnetic levitation bearing based on a current loop and a displacement loop. The current loop is used to control the current of the magnetic levitation bearing.

[0064] The magnetic levitation bearing current control method may specifically include the following steps:

[0065] Step 101: Obtain the target current and actual current of the current loop;

[0066] During the operation of the magnetic levitation bearing, the target current and the actual current can be obtained from the current loop. The target current is the current given by the input current loop. The actual current can be the actual current output from the current loop to the bearing coil.

[0067] Step 102: Based on the target current and the actual current, determine whether the current loop is in a strong hysteresis state;

[0068] The current control state of the current loop can be determined based on the target current and the actual current, and it can be judged whether the current loop is in a strong lag state. The strong lag state refers to a state in which the difference between the output actual current and the given target current is large, and the step response time of the current loop produces a significant lag.

[0069] Step 103: In response to the current loop being in the strong hysteresis state, control the current loop based on a preset current loop reference model;

[0070] When the current loop is in a strong hysteresis state, it is necessary to quickly adjust the output state of the current loop. In response to the current loop being in a strong hysteresis state, the current loop can be controlled based on a preset current loop reference model to make the actual output current approach the ideal output current.

[0071] Step 104: In response to the current loop not being in the strong hysteresis state, perform proportional-integral control on the current loop.

[0072] When the current loop is not in a strong hysteresis state, that is, the current hysteresis state is low and the response time meets the requirements, proportional-integral control can be performed on the current loop to keep the magnetic levitation control system in a relatively stable state throughout the entire time period.

[0073] This invention provides an embodiment of the method that acquires the target current and the actual current of the current loop; determines whether the current loop is in a strong hysteresis state based on the target current and the actual current; controls the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state; and performs proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. By determining whether the current loop is in a strong hysteresis state, the method promptly switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion. This results in a fast current response and strong adaptability to various complex operating conditions.

[0074] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the magnetic levitation bearing current control method of the present invention. The magnetic levitation bearing current control method is applied to a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop, which is used to control the current of the magnetic levitation bearing.

[0075] In this embodiment of the invention, the magnetic levitation bearing current control method is applied to a magnetic levitation bearing control system. The magnetic levitation bearing is controlled through the magnetic levitation bearing control system. A current loop is deployed in the magnetic levitation bearing control system. The control model of the current loop can be referred to... Figure 3 The current loop is a loop control system where the input is the target current, the output is the actual current, and it includes negative feedback. The current in a magnetic levitation bearing is controlled through this current loop. For example... Figure 4 During the control process of the current loop, a step signal is given to the current loop, and the target current is I. ref Curve 1 represents the optimal dynamic response curve achievable by the current loop under a certain fixed current loop parameter. Curve 2 indicates that when the entire control system changes, the step response time of the current loop exhibits a significant lag, and the peak current increases significantly, failing to achieve the optimal current control effect. Therefore, it is necessary to detect its lag state.

[0076] The magnetic levitation bearing current control method may specifically include the following steps:

[0077] Step 201: Obtain the target current and actual current of the current loop;

[0078] In this embodiment of the invention, the target current and actual current of the current loop can be obtained only when the magnetic levitation bearing is running.

[0079] Step 202: Calculate the absolute value of the deviation between the target current and the actual current;

[0080] After obtaining the target current and the actual current, the absolute value of the deviation between the target current and the actual current can be calculated. That is, the absolute value corresponding to the difference between the target current and the actual current is calculated, and the difference between the target current and the actual current is characterized by the absolute value of the deviation.

[0081] The difference between the target current and the actual current can be calculated by subtracting the actual current from the target current value, or by subtracting the target current from the actual current value. This embodiment of the invention does not limit this method.

[0082] Specifically, the step of calculating the absolute value of the deviation between the target current and the actual current includes: within a preset detection period, determining the absolute value of the deviation for the target current and the actual current in the same control period to obtain multiple absolute values ​​of deviation.

[0083] In practical applications, multiple target currents and actual currents can be acquired within a preset detection cycle. These target currents and actual currents correspond to each other based on a control cycle. For example, the target current input in the first control cycle corresponds to the actual current output in the first control cycle. When calculating the absolute value of the deviation, the target current and actual current for the same control cycle can be processed within the preset detection cycle. The current value corresponding to the target current in the same control cycle is subtracted from the current value of the actual current, and the absolute value is taken to calculate the absolute value of the deviation for a single control cycle. Then, the deviation is calculated for each control cycle within the entire preset detection cycle to obtain the absolute value of the deviation for each control cycle, thus obtaining multiple absolute values ​​of the deviation.

[0084] The preset detection cycle can be determined based on the operational control accuracy of the magnetic levitation bearing. In this embodiment of the invention, the specific length of the preset detection cycle is not specifically limited.

[0085] Step 203: Determine whether the current loop is in a strong hysteresis state based on the absolute value of the deviation;

[0086] The difference between the current loop output and input can be determined by the magnitude of the absolute value of the deviation, thus indicating whether the current loop is in a state of strong hysteresis.

[0087] Specifically, the step of determining whether the current loop is in a strong hysteresis state based on the absolute value of the deviation includes: determining the number of times the absolute values ​​of the plurality of deviations are greater than a preset deviation threshold; determining that the current loop is in the strong hysteresis state in response to the number being greater than the preset number threshold; and determining that the current loop is not in the strong hysteresis state in response to the number not being greater than the preset number threshold.

[0088] In practical applications, the number of times a single deviation absolute value exceeds a preset deviation threshold can be determined. This involves comparing each deviation absolute value with the preset deviation threshold to identify the number of times the absolute value exceeds the threshold. This number is then compared to a preset threshold. When the number exceeds the preset threshold, it indicates that within a detection cycle, the bearing experiences a significant deviation between the target current and the actual current due to momentary disturbances. Figure 5 As shown, this indicates that the coil current has entered a strong hysteresis state, and the current loop's current control parameters are unable to make the actual current quickly follow the target current. The current loop being in a strong hysteresis state can be determined by the number of occurrences exceeding a preset threshold.

[0089] Conversely, when the number of occurrences does not exceed the preset threshold, meaning that the impact of instantaneous disturbances on the target current and the actual current is relatively small within a detection cycle, the hysteresis state can meet the requirements. It can be determined that the current loop is not in a strong hysteresis state based on the number of occurrences not exceeding the preset threshold.

[0090] In addition, the number of times can be counted, such as once, twice, three times, etc., or it can be expressed as a percentage of the number of times, such as one-half, one-third, one-quarter; or 10%, 30%, 50%, etc. Correspondingly, the preset number threshold adopts the same mathematical expression as the number of times.

[0091] Step 204: In response to the current loop being in the strong hysteresis state, control the current loop based on a preset current loop reference model;

[0092] If the current loop is determined to be in a strong hysteresis state, the current loop can be controlled by using the current loop reference model to make the actual output current approximate the target current of the ideal output.

[0093] In an optional embodiment of the present invention, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the step of controlling the current loop based on the preset current loop reference model in response to the current loop being in the strong hysteresis state includes:

[0094] Sub-step S2041: In response to the current loop being in the strong hysteresis state, the target reference model and the controlled model are equivalent to control the current loop.

[0095] In embodiments of the present invention, reference can be made to Figure 6 The preset current loop reference model includes the target reference model. The controlled model is The reference current is r(t), and the ideal output standard current is Y. rThe actual output current is Y p The model bias is e(t).

[0096] When the current loop is determined to be in a strong hysteresis state, in response to the current loop being in a strong hysteresis state, the reference model and the controlled model are made equivalent to each other in order to control the current loop.

[0097] Specifically, the step of equipping the target reference model and the controlled model in response to the current loop being in the strong hysteresis state includes: equipping the transfer function of the target reference model and the transfer function of the controlled model in response to the current loop being in the strong hysteresis state.

[0098] When the current loop is in a strong hysteresis state, the transfer function of the equivalent target reference model and the transfer function of the controlled model can be used in response to the strong hysteresis state of the current loop, i.e., the target reference model With the controlled model Equivalent, i.e., Y p ≈Y r This makes the actual output current approximate the ideal output current.

[0099] Furthermore, the target reference model is equipped with an adaptive control law. The step of determining the transfer function of the equivalent target reference model and the transfer function of the controlled model in response to the current loop being in the strong hysteresis state includes: setting the adaptive control law and updating the transfer function of the target reference model in response to the current loop being in the strong hysteresis state; calculating the model deviation between the updated transfer function of the target reference model and the transfer function of the controlled model; updating the adaptive control law based on the model deviation, and executing the step of setting the adaptive control law and updating the transfer function of the target reference model with the updated adaptive control law until the model deviation is zero.

[0100] In practical applications, an adaptive control law can be set, i.e., u(t) = M(t)*r(t) + N(t)*Y. r That is, there exist adjustment factors M(t) and N(t) such that the ideal reference model With the controlled model To achieve equivalence, update the transfer function of the target reference model, then calculate the model deviation e(t) between the updated target reference model's transfer function and the transfer function of the controlled model. Based on this model deviation e(t), update the adaptive control law, and continue to perform equivalence with the updated adaptive control law until the model deviation e(t) is not greater than zero, at which point control is complete.

[0101] Step 205: In response to the current loop not being in the strong hysteresis state, perform proportional-integral control on the current loop.

[0102] When the current loop is not in a state of strong hysteresis, proportional-integral (PI) control can be applied to the current loop to keep the magnetic levitation control system in a relatively stable state throughout the entire time period. PI control is based on the feedback principle, adjusting the output signal to achieve the desired system response. A PI controller can consist of two parts: proportional control and integral control.

[0103] Proportional control generates a control quantity proportional to the error based on the difference between the current error signal and the setpoint. The function of proportional control is to adjust the amplitude of the output signal according to the magnitude of the error.

[0104] Integral control generates a control variable proportional to the accumulated error signal. Its purpose is to eliminate constant deviation over a long period. Through integral control, the system can continuously adjust the output signal to reduce deviation.

[0105] PI controllers combine proportional and integral control, enabling rapid response and elimination of transient errors in short periods, while also reducing steady-state errors over long periods. By appropriately adjusting the proportional gain and integral time constant, the performance of the control system can be optimized, making it more stable and accurate.

[0106] This invention provides an embodiment of the current loop that acquires the target current and the actual current; calculates the absolute value of the deviation between the target current and the actual current; determines whether the current loop is in a strong lag state based on the absolute value of the deviation; responds to the current loop being in a strong lag state by controlling the current loop based on a preset current loop reference model; and responds to the current loop not being in a strong lag state by performing proportional-integral control on the current loop. By determining whether the current loop is in a strong lag state, the invention timely switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion, resulting in fast current response and strong adaptability to various complex operating conditions.

[0107] To make the implementation process of the dishwasher tableware storage control method described in the embodiments of the present invention clearer to those in the art, an example is given below for illustration:

[0108] Reference Figure 7 The flowchart illustrates an example of a magnetic levitation bearing current control method according to the present invention.

[0109] Reference Figure 8 The diagram shows a control schematic of an example of a magnetic levitation bearing current control method according to the present invention.

[0110] 1. Current loop closed-loop control: Real-time detection of the actual current in the bearing coil, subtraction of the actual current from the target current, and calculation of whether the absolute value of the deviation is greater than ΔE. ΔE is the set maximum deviation threshold. Since a 3dB amplitude-frequency attenuation (i.e., the actual current is less than 0.707 times the target current) is considered current distortion, ΔE is set to 0.293 times the target current.

[0111] 2. If the bearing experiences a momentary disturbance causing a significant deviation between the target current and the actual current, and the system parameters remain unchanged, the current loop PI control algorithm can quickly correct the deviation. If the deviation repeatedly exceeds the set threshold ΔE over a period of time, it indicates that the coil current has entered a strong lag state, and the current loop's current control parameters cannot make the actual current quickly follow the target current. In this case, a model reference algorithm is used to adaptively control the current loop.

[0112] 3. For the model reference algorithm of the current loop, the transfer function of its ideal current loop reference model is: The controlled model is The reference current is r(t), and the ideal output standard current is Y. r The actual output current is Y p The model bias is e(t). The adaptive control law is set as u(t) = M(t)*r(t) + N(t)*Y. r That is, there exist adjustment factors M(t) and N(t) such that the ideal reference model With the controlled model Equivalent to, i.e., Y p ≈Y r This allows the actual output current to approximate the ideal output current. Since the model reference algorithm occupies a significant amount of system memory for extended periods, once the actual output current approaches the ideal output current, the system switches to a conventional current loop control algorithm, ensuring the magnetic levitation control system remains relatively stable throughout the entire timeframe.

[0113] 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.

[0114] Reference Figure 9 The diagram illustrates a structural block diagram of an embodiment of a magnetic levitation bearing current control device according to the present invention. The magnetic levitation bearing current control device is applied to a magnetic levitation bearing control system, which includes a current loop for controlling the current of the magnetic levitation bearing. Specifically, the magnetic levitation bearing current control device may include the following modules:

[0115] Acquisition module 901 is used to acquire the target current and actual current of the current loop;

[0116] The judgment module 902 is used to determine whether the current loop is in a strong hysteresis state based on the target current and the actual current.

[0117] The first control module 903 is used to control the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state.

[0118] The second control module 904 is used to perform proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state.

[0119] In an optional embodiment of the present invention, the determining module 902 includes:

[0120] The calculation submodule is used to calculate the absolute value of the deviation between the target current and the actual current;

[0121] The judgment submodule is used to determine whether the current loop is in a strong hysteresis state based on the absolute value of the deviation.

[0122] In an optional embodiment of the present invention, the computing submodule includes:

[0123] The calculation unit is used to determine the absolute value of the deviation for the target current and the actual current in the same control cycle within a preset detection cycle, so as to obtain multiple absolute values ​​of deviation.

[0124] In an optional embodiment of the present invention, the determination submodule includes:

[0125] The judgment unit is used to determine the number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold;

[0126] A strong hysteresis determination unit is used to determine that the current loop is in the strong hysteresis state in response to the number of times exceeding the preset number threshold.

[0127] A non-strong hysteresis determination unit is used to determine that the current loop is not in the strong hysteresis state in response to the number of times not being greater than the preset number threshold.

[0128] In an optional embodiment of the present invention, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the first control module 903 includes:

[0129] The first response submodule is used to respond to the current loop being in the strong hysteresis state, equivalent to the target reference model and the controlled model, in order to control the current loop.

[0130] In an optional embodiment of the present invention, the first response submodule includes:

[0131] The first response unit is configured to respond to the current loop being in the strong hysteresis state by using the transfer function of the target reference model and the transfer function of the controlled model.

[0132] In an optional embodiment of the present invention, the target reference model is provided with an adaptive control law, and the first response unit includes:

[0133] The first response subunit is used to set the adaptive control law and update the transfer function of the target reference model in response to the current loop being in the strong hysteresis state.

[0134] The deviation calculation subunit is used to calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model.

[0135] The update loop subunit is used to update the adaptive control law based on the model deviation, and with the updated adaptive control law, execute the steps of setting the adaptive control law and updating the transfer function of the target reference model until the model deviation is zero.

[0136] This invention provides an embodiment of the method that acquires the target current and the actual current of the current loop; determines whether the current loop is in a strong hysteresis state based on the target current and the actual current; controls the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state; and performs proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. By determining whether the current loop is in a strong hysteresis state, the method promptly switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion. This results in a fast current response and strong adaptability to various complex operating conditions.

[0137] 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.

[0138] This invention also provides a magnetic levitation bearing, comprising:

[0139] A processor and a storage medium, the storage medium storing a computer program executable by the processor, wherein when the magnetic levitation bearing is running, the processor executes the computer program to perform the magnetic levitation bearing current control method as described in any one of the embodiments of the present invention.

[0140] The magnetic levitation bearing current control method is applied to a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop, the current loop being used to control the current of the magnetic levitation bearing, and the method includes:

[0141] Obtain the target current and actual current of the current loop;

[0142] Based on the target current and the actual current, determine whether the current loop is in a strong hysteresis state;

[0143] In response to the current loop being in the strong hysteresis state, the current loop is controlled based on a preset current loop reference model;

[0144] In response to the current loop not being in the strong hysteresis state, proportional-integral control is performed on the current loop.

[0145] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the target current and the actual current includes:

[0146] Calculate the absolute value of the deviation between the target current and the actual current;

[0147] The absolute value of the deviation is used to determine whether the current loop is in a strong hysteresis state.

[0148] Optionally, the step of calculating the absolute value of the deviation between the target current and the actual current includes:

[0149] Within a preset detection cycle, for the target current and the actual current of the same control cycle, the absolute value of the deviation is determined to obtain multiple absolute values ​​of deviation.

[0150] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the absolute value of the deviation includes:

[0151] The number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold is determined;

[0152] In response to the number of times exceeding the preset number threshold, it is determined that the current loop is in the strong hysteresis state;

[0153] In response to the number of occurrences not exceeding the preset number threshold, it is determined that the current loop is not in the strong hysteresis state.

[0154] Optionally, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the step of controlling the current loop based on the preset current loop reference model in response to the current loop being in the strong hysteresis state includes:

[0155] In response to the current loop being in the strong hysteresis state, the target reference model and the controlled model are equivalent to control the current loop.

[0156] Optionally, the step of responding to the current loop being in the strong hysteresis state by equivalently modifying the target reference model and the controlled model includes:

[0157] In response to the current loop being in the strong hysteresis state, the transfer function of the equivalent target reference model and the transfer function of the controlled model are used.

[0158] Optionally, the target reference model is equipped with an adaptive control law, and the step of converting the transfer function of the target reference model to the transfer function of the controlled model in response to the current loop being in the strong hysteresis state includes:

[0159] In response to the current loop being in the strong hysteresis state, the adaptive control law is set and the transfer function of the target reference model is updated;

[0160] Calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model;

[0161] The adaptive control law is updated based on the model deviation, and the steps of setting the adaptive control law and updating the transfer function of the target reference model are executed with the updated adaptive control law until the model deviation is zero.

[0162] This invention provides an embodiment of the method that acquires the target current and the actual current of the current loop; determines whether the current loop is in a strong hysteresis state based on the target current and the actual current; controls the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state; and performs proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. By determining whether the current loop is in a strong hysteresis state, the method promptly switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion. This results in a fast current response and strong adaptability to various complex operating conditions.

[0163] 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.

[0164] 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.

[0165] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the magnetic levitation bearing current control method as described in any one of the embodiments of this invention.

[0166] The magnetic levitation bearing current control method is applied to a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop, the current loop being used to control the current of the magnetic levitation bearing, and the method includes:

[0167] Obtain the target current and actual current of the current loop;

[0168] Based on the target current and the actual current, determine whether the current loop is in a strong hysteresis state;

[0169] In response to the current loop being in the strong hysteresis state, the current loop is controlled based on a preset current loop reference model;

[0170] In response to the current loop not being in the strong hysteresis state, proportional-integral control is performed on the current loop.

[0171] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the target current and the actual current includes:

[0172] Calculate the absolute value of the deviation between the target current and the actual current;

[0173] The absolute value of the deviation is used to determine whether the current loop is in a strong hysteresis state.

[0174] Optionally, the step of calculating the absolute value of the deviation between the target current and the actual current includes:

[0175] Within a preset detection cycle, for the target current and the actual current of the same control cycle, the absolute value of the deviation is determined to obtain multiple absolute values ​​of deviation.

[0176] Optionally, the step of determining whether the current loop is in a strong hysteresis state based on the absolute value of the deviation includes:

[0177] The number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold is determined;

[0178] In response to the number of times exceeding the preset number threshold, it is determined that the current loop is in the strong hysteresis state;

[0179] In response to the number of occurrences not exceeding the preset number threshold, it is determined that the current loop is not in the strong hysteresis state.

[0180] Optionally, the preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the step of controlling the current loop based on the preset current loop reference model in response to the current loop being in the strong hysteresis state includes:

[0181] In response to the current loop being in the strong hysteresis state, the target reference model and the controlled model are equivalent to control the current loop.

[0182] Optionally, the step of responding to the current loop being in the strong hysteresis state by equivalently modifying the target reference model and the controlled model includes:

[0183] In response to the current loop being in the strong hysteresis state, the transfer function of the equivalent target reference model and the transfer function of the controlled model are used.

[0184] Optionally, the target reference model is equipped with an adaptive control law, and the step of converting the transfer function of the target reference model to the transfer function of the controlled model in response to the current loop being in the strong hysteresis state includes:

[0185] In response to the current loop being in the strong hysteresis state, the adaptive control law is set and the transfer function of the target reference model is updated;

[0186] Calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model;

[0187] The adaptive control law is updated based on the model deviation, and the steps of setting the adaptive control law and updating the transfer function of the target reference model are executed with the updated adaptive control law until the model deviation is zero.

[0188] This invention provides an embodiment of the method that acquires the target current and the actual current of the current loop; determines whether the current loop is in a strong hysteresis state based on the target current and the actual current; controls the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state; and performs proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. By determining whether the current loop is in a strong hysteresis state, the method promptly switches between current loop reference model control and proportional-integral control, adjusting the current loop control parameters to ensure that the current loop output tracks the given target current without distortion. This results in a fast current response and strong adaptability to various complex operating conditions.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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 present invention.

[0195] 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.

[0196] The present invention has provided a detailed description of a magnetic levitation bearing current control method, a magnetic levitation bearing current control device, a magnetic levitation bearing, and a storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the current of a magnetic levitation bearing, characterized in that, An application to a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop for controlling the current of the magnetic levitation bearing, the method comprising: Obtain the target current and actual current of the current loop; Based on the target current and the actual current, determine whether the current loop is in a strong hysteresis state; In response to the current loop being in the strong hysteresis state, the current loop is controlled based on a preset current loop reference model; In response to the current loop not being in the strong hysteresis state, proportional-integral control is performed on the current loop; The preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; and the step of controlling the current loop based on the preset current loop reference model in response to the current loop being in the strong hysteresis state includes: In response to the current loop being in the strong hysteresis state, the target reference model and the controlled model are equivalent to control the current loop.

2. The method according to claim 1, characterized in that, The step of determining whether the current loop is in a strong hysteresis state based on the target current and the actual current includes: Calculate the absolute value of the deviation between the target current and the actual current; The absolute value of the deviation is used to determine whether the current loop is in a strong hysteresis state.

3. The method according to claim 2, characterized in that, The step of calculating the absolute value of the deviation between the target current and the actual current includes: Within a preset detection cycle, for the target current and the actual current of the same control cycle, the absolute value of the deviation is determined to obtain multiple absolute values ​​of deviation.

4. The method according to claim 3, characterized in that, The step of determining whether the current loop is in a strong hysteresis state based on the absolute value of the deviation includes: The number of times the absolute value of the plurality of deviations is greater than a preset deviation threshold is determined; In response to the number of times exceeding a preset threshold, it is determined that the current loop is in the strong hysteresis state; In response to the number of occurrences not exceeding the preset number threshold, it is determined that the current loop is not in the strong hysteresis state.

5. The method according to claim 1, characterized in that, The step of responding to the current loop being in the strong hysteresis state and equivalently combining the target reference model and the controlled model includes: In response to the current loop being in the strong hysteresis state, the transfer function of the equivalent target reference model and the transfer function of the controlled model are used.

6. The method according to claim 5, characterized in that, The target reference model is equipped with an adaptive control law. The step of converting the transfer function of the target reference model to the transfer function of the controlled model in response to the current loop being in the strong hysteresis state includes: In response to the current loop being in the strong hysteresis state, the adaptive control law is set and the transfer function of the target reference model is updated; Calculate the model deviation between the transfer function of the updated target reference model and the transfer function of the controlled model; The adaptive control law is updated based on the model deviation, and the steps of setting the adaptive control law and updating the transfer function of the target reference model are executed with the updated adaptive control law until the model deviation is zero.

7. A magnetic levitation bearing current control device, characterized in that, An application in a magnetic levitation bearing control system, wherein the magnetic levitation bearing control system is equipped with a current loop for controlling the current of the magnetic levitation bearing, the device comprising: The acquisition module is used to acquire the target current and the actual current of the current loop; The judgment module is used to determine whether the current loop is in a strong hysteresis state based on the target current and the actual current. The first control module is used to control the current loop based on a preset current loop reference model in response to the current loop being in the strong hysteresis state. The second control module is used to perform proportional-integral control on the current loop in response to the current loop not being in the strong hysteresis state. The preset current loop reference model includes a target reference model and a controlled model, wherein the target reference model corresponds to the output current of the current loop; the target reference model corresponds to the target output current; the first control module includes: The first response submodule is used to respond to the current loop being in the strong hysteresis state, equivalent to the target reference model and the controlled model, in order to control the current loop.

8. A magnetic levitation bearing, 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 magnetic levitation bearing current control method as described in any one of claims 1 to 6.

9. 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 magnetic levitation bearing current control method as described in any one of claims 1 to 6.

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