A method of controlling a magnetic bearing

Abstract

The application provides a kind of magnetic suspension bearing control method, comprising the following steps: S1, buffer position data: read the installation position data of multiple coil groups and multiple magnetic sensors, corresponding calculation coil group control conversion matrix and magnetic sensor deflection conversion matrix, and buffer;S2, obtain sensing data: current reading value is obtained in parallel from multiple magnetic sensors;S3, calculate deflection vector;S4, calculate control vector;S5, calculate control deflection matrix;S6, superimpose control data;S7, output control.The application can adjust and control magnetic suspension bearing at extremely fast speed based on the mode of vector and matrix conversion, thereby effectively improving the control precision of magnetic suspension bearing, effectively improving the accuracy and control fineness, facilitating more widely application of magnetic suspension bearing technology, effectively responding to high-speed rotation and high load, and ensuring the stability and reliability of long-term operation.

Description

Technical Field

[0001] This invention relates to a magnetic levitation bearing control method, belonging to the field of bearing control technology. Background Technology

[0002] In existing technologies, magnetic levitation bearings generally employ a relatively simple number of sensors and improve algorithms to achieve stable rotor control. A typical example is the magnetic levitation bearing controller, power supply control method, device, and storage medium disclosed in Chinese Patent Application No. CN202310985811.0, which uses sound and temperature sensors to determine the bearing's operating status. Another example is the magnetic levitation bearing control device, method, and system disclosed in Chinese Patent Application No. CN202110680513.1, which uses pairs of displacement sensors positioned at 180° to determine the rotor's operating status.

[0003] These solutions all require complex calculations to determine the rotor's operating state. This is not a problem at low speeds, but at high and ultra-high speeds, the calculations require many machine cycles, which severely limits the accuracy of the control system. The precision and control fineness are both limited, ultimately restricting the application of magnetic levitation bearings. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a magnetic levitation bearing control method. This method, based on vector and matrix transformation, enables extremely rapid adjustment and control of the magnetic levitation bearing, thereby effectively improving the control accuracy and precision of the bearing.

[0005] The present invention is achieved through the following technical solutions.

[0006] The present invention provides a magnetic levitation bearing control method, comprising the following steps:

[0007] S1. Cache position data: Read the installation position data of multiple coil groups and multiple magnetic sensors, calculate the corresponding control conversion matrix of the coil groups and the deflection conversion matrix of the magnetic sensors, and cache them;

[0008] S2. Acquire sensor data: Acquire current readings from multiple magnetic sensors in parallel;

[0009] S3. Calculate the deflection amount: Based on multiple current readings, calculate the deflection amount of the bearing center axis relative to the bearing centerline according to the deflection conversion matrix.

[0010] S4. Calculate the control vector: Calculate the control vector based on the deflection amount. This control vector is the control vector that controls the current of the control coil group to make the bearing center axis return to the bearing center line.

[0011] S5. Calculate the control deflection matrix: Based on the control vector, calculate the control deflection matrix of multiple coil groups according to the control conversion matrix;

[0012] S6. Superimposed control data: The control deflection matrix is ​​superimposed on the control current values ​​of multiple coil groups to obtain the current control quantities of multiple coil groups.

[0013] S7, Output Control: Sends the current control quantity to the control mechanism of the coil group for corresponding control.

[0014] The number of coil groups and magnetic sensors are both eight.

[0015] The installation position data of the multiple coil groups and multiple magnetic sensors are all expressed in terms of angle and distance relative to the bearing centerline.

[0016] In step S4, the control vector is calculated based on the deflection amount, and the deflection amount is then inverted.

[0017] In step S3, multiple current readings are first combined into a vector in sequence.

[0018] The deflection amount is obtained by combining the deflection angle and the deflection displacement.

[0019] The control vector is obtained by combining the correction angle and the correction displacement.

[0020] After step S7, return to step S2.

[0021] The running cycle of steps S2 to S7 is 100 ns.

[0022] The beneficial effects of this invention are as follows: based on vector and matrix transformation, the magnetic levitation bearing can be adjusted and controlled at an extremely fast speed, thereby effectively improving the control accuracy of the magnetic levitation bearing, effectively improving the precision and control fineness, facilitating the wider application of magnetic levitation bearing technology, effectively coping with high-speed rotation and high load, and ensuring the stability and reliability of long-term operation. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating at least one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram illustrating the operating principle of the magnetic sensor group and coil group in this invention. Detailed Implementation

[0025] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.

[0026] The first embodiment of the present invention relates to, for example Figure 1 The magnetic levitation bearing control method shown includes the following steps:

[0027] S1. Cache position data: Read the installation position data of multiple coil groups and multiple magnetic sensors, calculate the corresponding control conversion matrix of the coil groups and the deflection conversion matrix of the magnetic sensors, and cache them;

[0028] S2. Acquire sensor data: Acquire current readings from multiple magnetic sensors in parallel;

[0029] S3. Calculate the deflection amount: Based on multiple current readings, calculate the deflection amount of the bearing center axis relative to the bearing centerline according to the deflection conversion matrix.

[0030] S4. Calculate the control vector: Calculate the control vector based on the deflection amount. This control vector is the control vector that controls the current of the control coil group to make the bearing center axis return to the bearing center line.

[0031] S5. Calculate the control deflection matrix: Based on the control vector, calculate the control deflection matrix of multiple coil groups according to the control conversion matrix;

[0032] S6. Superimposed control data: The control deflection matrix is ​​superimposed on the control current values ​​of multiple coil groups to obtain the current control quantities of multiple coil groups.

[0033] S7, Output Control: Sends the current control quantity to the control mechanism of the coil group for corresponding control.

[0034] Furthermore, after step S7, return to step S2.

[0035] Furthermore, the execution cycle for steps S2 to S7 is 100ns. Generally, the above steps can be implemented using a TMS320 series DSP chip, as long as the maximum computing speed is greater than 200MHz. Each execution of these steps, based on the DSP's ability to directly process matrix operations, requires a minimum of less than 20 computation cycles.

[0036] The aforementioned deflection transformation matrix and control transformation matrix are mainly used for data transformation. Based on the simple, fast and direct characteristics of matrix operations, this invention can significantly improve the control speed compared to existing technologies.

[0037] The second embodiment of the present invention is largely the same as the first embodiment, mainly in the preferred settings of the technical details, with eight coil groups and eight magnetic sensors.

[0038] Furthermore, the installation position data of multiple coil groups and multiple magnetic sensors are expressed as angles and distances relative to the bearing centerline.

[0039] Preferably, in step S4, the control vector is calculated based on the deflection amount, and the deflection amount is inverted.

[0040] Furthermore, in step S3, multiple current readings are first combined into a vector in sequence. Further, the deflection amount is obtained by combining the deflection angle and the deflection displacement.

[0041] Furthermore, the control vector is obtained by combining the correction angle and the correction displacement.

Claims

1. A method for controlling a magnetic levitation bearing, characterized in that, Includes the following steps: S1. Cache position data: Read the installation position data of multiple coil groups and multiple magnetic sensors, calculate the corresponding control conversion matrix of the coil groups and the deflection conversion matrix of the magnetic sensors, and cache them; S2. Acquire sensor data: Acquire current readings from multiple magnetic sensors in parallel; S3. Calculate the deflection amount: Based on multiple current readings, calculate the deflection amount of the bearing center axis relative to the bearing centerline according to the deflection conversion matrix. S4. Calculate the control vector: Calculate the control vector based on the deflection amount. This control vector is the control vector that controls the current of the control coil group to make the bearing center axis return to the bearing center line. S5. Calculate the control deflection matrix: Based on the control vector, calculate the control deflection matrix of multiple coil groups according to the control conversion matrix; S6. Superimposed control data: The control deflection matrix is ​​superimposed on the control current values ​​of multiple coil groups to obtain the current control quantities of multiple coil groups. S7, Output Control: Sends the current control quantity to the control mechanism of the coil group for corresponding control.

2. The magnetic levitation bearing control method as described in claim 1, characterized in that, The number of coil groups and magnetic sensors are both eight.

3. The magnetic levitation bearing control method as described in claim 1, characterized in that, The installation position data of the multiple coil groups and multiple magnetic sensors are all expressed in terms of angle and distance relative to the bearing centerline.

4. The magnetic levitation bearing control method as described in claim 1, characterized in that, In step S4, the control vector is calculated based on the deflection amount, and the deflection amount is then inverted.

5. The magnetic levitation bearing control method as described in claim 1, characterized in that, In step S3, multiple current readings are first combined into a vector in sequence.

6. The magnetic levitation bearing control method as described in claim 1, characterized in that, The deflection amount is obtained by combining the deflection angle and the deflection displacement.

7. The magnetic levitation bearing control method as described in claim 1, characterized in that, The control vector is obtained by combining the correction angle and the correction displacement.

8. The magnetic levitation bearing control method as described in claim 1, characterized in that, After step S7, return to step S2.

9. The magnetic levitation bearing control method as described in claim 1, characterized in that, The running cycle of steps S2 to S7 is 100 ns.

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