Magnetic bearing system and control method, device, storage medium and program product thereof

Abstract

The present invention discloses a magnetic bearing system and its control method, device, storage medium, and computer program product. The method includes: performing calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value; extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal; performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value; and utilizing the asynchronous signal compensation current calculation value in any one direction to compensate the real-time signal current calculation value in another direction of the remaining directions to control the electromagnetic coil in that other direction. This scheme extracts and calculates the asynchronous component in one direction at one radial end of the magnetic bearing rotor, then feeds it back to the control loop in the other direction at the other end, thereby offsetting the gyroscopic coupling effect and achieving stable suspension and high-speed operation.

Description

Technical Field

[0001] The present invention belongs to the field of magnetic levitation technology, and specifically relates to a control method, device, magnetic bearing system, storage medium and computer program product of a magnetic bearing system, and more particularly to an improved cross-feedback control method, device, magnetic bearing system, storage medium and computer program product of a magnetic bearing system. Background Art

[0002] In the field of rotating machinery, magnetic bearing systems (i.e., magnetic levitation bearing-rotor systems) have attracted much attention due to their many advantages over traditional bearing-rotor systems, such as zero friction and low energy consumption.

[0003] One of the key characteristics that distinguishes rotating machinery from other vibrating systems is the rotor's gyroscopic coupling effect. For a magnetic bearing-rotor system consisting of a magnetic bearing rotor and a magnetic bearing stator, when the ratio between the magnetic bearing rotor's polar moment of inertia and its equatorial moment of inertia is large, the magnetic bearing rotor exhibits a strong gyroscopic coupling effect during high-speed rotation. This gyroscopic coupling strengthens the coupling between the various degrees of freedom of the magnetic bearing-rotor system. Under strong gyroscopic coupling, the various modes of the magnetic bearing rotor may become unstable, making stable suspension and high-speed operation of the magnetic bearing-rotor system extremely difficult.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The object of the present invention is to provide a control method, device, magnetic bearing system, storage medium and computer program product for a magnetic bearing system to solve the problem that, for a magnetic bearing system, a strong gyroscopic coupling effect is exhibited when the magnetic bearing rotor rotates at high speed, making it difficult for the magnetic bearing rotor to be stably suspended and run at high speed. The method achieves the effect of offsetting the gyroscopic coupling effect of the magnetic bearing rotor by extracting the asynchronous component (such as an asynchronous displacement signal) in each direction of each radial end of the magnetic bearing rotor, calculating the asynchronous component and then feeding it back to the control loop in the other direction of the other end, so as to ensure that the magnetic bearing rotor is stably suspended and runs at high speed.

[0006] The present invention provides a control method for a magnetic bearing system, wherein the magnetic bearing system has a front radial bearing and a rear radial bearing; the method for each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system comprises: when the magnetic bearing rotor in the magnetic bearing system is running at a speed above a set speed threshold, for each direction of the radial front X direction, the radial front Y direction, the radial rear X direction and the radial rear Y direction of the magnetic bearing rotor, obtaining a real-time displacement signal of the magnetic bearing rotor in each direction; and obtaining a real-time speed of the magnetic bearing rotor; performing calculations based on the real-time displacement signals of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction; and performing calculations based on the real-time displacement signals of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction. Asynchronous components are extracted from the real-time displacement signal to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction; calculations are performed based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction; and the asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction is used to compensate the real-time signal current calculation value in another direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction.

[0007] In some embodiments, performing operations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current operation value in each direction includes: performing AD conversion on the real-time displacement signal of the magnetic bearing rotor in each direction, and then performing PID operation to obtain a PID operation value in each direction as the real-time signal current operation value in each direction; and / or extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction, including: separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a synchronous component displacement signal of the magnetic bearing rotor in each direction; and using the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction as the asynchronous displacement signal of the magnetic bearing rotor in each direction.

[0008] In some embodiments, separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction includes: calculating the synchronous component displacement signal of the magnetic bearing rotor in each direction according to the following formula based on the real-time displacement signal of the magnetic bearing rotor in each direction:

[0009] X a (k) = (1-α)X a (k-1)+x a (k);

[0010] Among them, α is a constant; k represents the current moment in the set detection cycle, k-1 represents the previous moment, and X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1.

[0011] In some embodiments, an operation is performed based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current operation value in each direction, including: performing a PD operation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal PD operation value in each direction; and using the product value of a preset gyro coupling effect feedback gain coefficient, the real-time rotational speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction as the asynchronous signal compensation current operation value in each direction.

[0012] In some embodiments, the control circuit of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: a current differential control circuit of the electromagnetic coil in the radial front X direction, recorded as a first control circuit; a current differential control circuit of the electromagnetic coil in the radial front Y direction, recorded as a second control circuit; a current differential control circuit of the electromagnetic coil in the radial rear X direction, recorded as a third control circuit; and a current differential control circuit of the electromagnetic coil in the radial rear Y direction, recorded as a fourth control circuit; using the asynchronous signal compensation current calculation value in any one direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, the current differential control circuit of the electromagnetic coil in the radial rear X direction, and the radial rear Y direction, except for the any one direction, The real-time signal current operation value in one direction is compensated to control the working current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction, including: for any current control loop among the first control loop, the second control loop, the third control loop and the fourth control loop, using the asynchronous signal compensation current operation value in the direction of any current control loop to compensate the real-time signal current operation value in the direction of a target control loop among the other three control loops to obtain a final current reference value in the direction of the target control loop; and according to the final current reference value in the direction of the target control loop, controlling the working current of the electromagnetic coil in the direction of the target control loop.

[0013] In some embodiments, the asynchronous signal compensation current operation value in the direction of any current control loop is used to compensate the real-time signal current operation value in the direction of a target control loop in the remaining three control loops to obtain a final current reference value in the direction of the target control loop, including: when any current control loop is the first control loop, the fourth control loop is used as the target control loop, that is, the asynchronous signal compensation current operation value in the direction of the first control loop is used to compensate the real-time signal current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the fourth control loop; when any current control loop is the second control loop, the third control loop is used as the target control loop, that is, the asynchronous signal compensation current operation value in the direction of the second control loop is used. , the real-time signal current operation value in the direction of the third control loop is compensated to obtain the final current reference value in the direction of the third control loop; when any current control loop is the third control loop, the second control loop is used as the one target control loop, that is: the asynchronous signal compensation current operation value in the direction of the third control loop is used to compensate the real-time signal current operation value in the direction of the second control loop, and the final current reference value in the direction of the second control loop is obtained; when any current control loop is the fourth control loop, the first control loop is used as the one target control loop, that is: the asynchronous signal compensation current operation value in the direction of the fourth control loop is used to compensate the real-time signal current operation value in the direction of the first control loop, and the final current reference value in the direction of the first control loop is obtained.

[0014] Matching the above method, the present invention provides a control device for a magnetic bearing system on the other hand, wherein the magnetic bearing system has a front radial bearing and a rear radial bearing; the device of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system comprises: an acquisition unit configured to acquire a real-time displacement signal of the magnetic bearing rotor in each direction of the radial front X direction, the radial front Y direction, the radial rear X direction and the radial rear Y direction of the magnetic bearing rotor when the magnetic bearing rotor in the magnetic bearing system is running at a speed above a set speed threshold; and acquire the real-time speed of the magnetic bearing rotor; a control unit configured to perform calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction; the control unit is also configured to calculate the real-time signal current calculation value in each direction based on the magnetic axis The asynchronous component is extracted from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal of the magnetic bearing rotor in each direction; the control unit is further configured to perform calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction; the control unit is further configured to use the asynchronous signal compensation current calculation value in any one direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to compensate the real-time signal current calculation value in another direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction, so as to control the working current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction.

[0015] In some embodiments, the control unit performs operations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current operation value in each direction, including: performing AD conversion on the real-time displacement signal of the magnetic bearing rotor in each direction, and then performing PID operation to obtain a PID operation value in each direction as the real-time signal current operation value in each direction; and / or the control unit performs asynchronous component extraction based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction, including: separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a synchronous component displacement signal of the magnetic bearing rotor in each direction; and using the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction as the asynchronous displacement signal of the magnetic bearing rotor in each direction.

[0016] In some embodiments, the control unit separates the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction, including: calculating the synchronous component displacement signal of the magnetic bearing rotor in each direction according to the following formula based on the real-time displacement signal of the magnetic bearing rotor in each direction:

[0017] X a (k) = (1-α)X a (k-1)+x a (k);

[0018] Among them, α is a constant; k represents the current moment in the set detection cycle, k-1 represents the previous moment, and X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1.

[0019] In some embodiments, the control unit performs calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current operation value in each direction, including: performing PD calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal PD operation value in each direction; and using the product value of a preset gyro coupling effect feedback gain coefficient, the real-time rotational speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction as the asynchronous signal compensation current operation value in each direction.

[0020] In some embodiments, the control circuit of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: a current differential control circuit of the electromagnetic coil in the radial front X direction, recorded as a first control circuit; a current differential control circuit of the electromagnetic coil in the radial front Y direction, recorded as a second control circuit; a current differential control circuit of the electromagnetic coil in the radial rear X direction, recorded as a third control circuit; and a current differential control circuit of the electromagnetic coil in the radial rear Y direction, recorded as a fourth control circuit; the control unit uses the asynchronous signal compensation current calculation value in any one direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to control the other three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction. The method comprises the following steps: compensating the real-time signal current operation value in another direction of the magnetic bearing stator in the magnetic bearing system to control the working current of the electromagnetic coil in the other direction of the magnetic bearing stator in the magnetic bearing system, comprising: for any current control loop among the first control loop, the second control loop, the third control loop and the fourth control loop, using the asynchronous signal compensation current operation value in the direction of any current control loop to compensate the real-time signal current operation value in the direction of a target control loop among the remaining three control loops to obtain a final current reference value in the direction of the target control loop; and controlling the working current of the electromagnetic coil in the direction of the target control loop according to the final current reference value in the direction of the target control loop.

[0021] In some embodiments, the control unit uses the asynchronous signal compensation current operation value in the direction of any current control loop to compensate the real-time signal current operation value in the direction of a target control loop in the remaining three control loops to obtain a final current reference value in the direction of the target control loop, including: when any current control loop is the first control loop, the fourth control loop is used as the target control loop, that is, the asynchronous signal compensation current operation value in the direction of the first control loop is used to compensate the real-time signal current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the fourth control loop; when any current control loop is the second control loop, the third control loop is used as the target control loop, that is, the asynchronous signal compensation current operation value in the direction of the second control loop is used. operation value, compensates the real-time signal current operation value in the direction of the third control loop to obtain the final current reference value in the direction of the third control loop; when any current control loop is the third control loop, takes the second control loop as the one target control loop, that is: utilizes the asynchronous signal compensation current operation value in the direction of the third control loop to compensate the real-time signal current operation value in the direction of the second control loop to obtain the final current reference value in the direction of the second control loop; when any current control loop is the fourth control loop, takes the first control loop as the one target control loop, that is: utilizes the asynchronous signal compensation current operation value in the direction of the fourth control loop to compensate the real-time signal current operation value in the direction of the first control loop to obtain the final current reference value in the direction of the first control loop.

[0022] In accordance with the above-mentioned device, the present invention further provides a magnetic bearing system, comprising: the control device of the magnetic bearing system described above.

[0023] In conjunction with the above-mentioned magnetic bearing system, the present invention further provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned method for controlling the magnetic bearing system when executed by a processor.

[0024] In accordance with the above method, the present invention further provides a storage medium comprising a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the above-mentioned method for controlling the magnetic bearing system.

[0025] Therefore, the solution of the present invention detects the displacement signal, i.e., the real-time displacement signal, of the magnetic bearing rotor under high-speed operation for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the magnetic bearing radial control, i.e., the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction), separates the displacement signal synchronized with the rotation speed of the magnetic bearing rotor from the real-time displacement signal of the magnetic bearing rotor to obtain the synchronous displacement signal of the magnetic bearing rotor, subtracts the real-time displacement signal of the magnetic bearing rotor from the synchronous displacement signal of the magnetic bearing rotor to obtain the asynchronous displacement signal of the magnetic bearing rotor, and uses the asynchronous displacement signal of the magnetic bearing rotor as the cross-feedback error of the magnetic bearing rotor; performs proportional differential operation on the cross-feedback error of the magnetic bearing rotor to obtain the magnetic bearing rotor radial error. The operation value of each direction of the magnetic bearing rotor is obtained by calculating the operation value of the asynchronous signal compensation current; further, the operation value of one direction (such as one direction of the X direction and the Y direction) of one end of the magnetic bearing rotor (such as the radial front or radial rear end) is transmitted back to the control loop of the other direction (such as the other direction of the X direction and the Y direction) of the other end of the magnetic bearing radial control (such as the other end of the radial front or radial rear end) in the form of cross feedback; thus, by extracting the asynchronous displacement signal from the real-time displacement signal of each direction of each radial end of the magnetic bearing rotor and calculating the asynchronous signal compensation current operation value, it is fed back to the control loop of the other direction of the other radial end of the magnetic bearing rotor, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor and making the magnetic bearing rotor stably suspended and running at high speed.

[0026] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0027] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 1 is a flow chart of an embodiment of a method for controlling a magnetic bearing system according to the present invention;

[0029] Figure 2 1 is a flow chart of an embodiment of the method of the present invention for extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction;

[0030] Figure 3 1 is a flow chart of an embodiment of the method of the present invention for performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor;

[0031] Figure 41. A flow chart of an embodiment of the method of the present invention for compensating a real-time signal current calculation value in another direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except for the one direction;

[0032] Figure 5 Schematic diagram of the structure of an embodiment of a control device for a magnetic bearing system of the present invention;

[0033] Figure 6 A schematic structural diagram of an embodiment of a radial control system for a magnetic bearing;

[0034] Figure 7 Schematic diagram of the structure of an embodiment of a magnetic bearing distributed control system;

[0035] Figure 8 Schematic diagram of the structure of an embodiment of a magnetic bearing cross-feedback control system.

[0036] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0037] 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Considering that in related solutions, magnetic bearing-rotor systems are often controlled using the PID control principle, as the speed of the magnetic bearing rotor increases, the gyroscopic coupling effect of the magnetic bearing rotor intensifies. The elastic force and damping force provided by the PID controller alone are insufficient to ensure the stability of the magnetic bearing-rotor system, making it difficult to suppress the magnetic levitation vibration caused by the gyroscopic coupling effect when the magnetic bearing rotor runs at high speed. Among them, the gyroscopic coupling effect of the magnetic bearing rotor is one of the main characteristics that distinguish rotating machinery from other mechanical systems. For active magnetic bearing-rotor systems, if the ratio between the polar moment of inertia JZ and the equatorial moment of inertia JX (JY) of the magnetic bearing rotor is large, the magnetic bearing rotor will exhibit a strong gyroscopic coupling effect when rotating at high speed. The existence of the gyroscopic coupling effect of the magnetic bearing rotor strengthens the coupling between the various degrees of freedom of the active magnetic bearing-rotor system, making it more difficult to achieve stable suspension of the magnetic bearing-rotor system.

[0040] Furthermore, magnetic bearings are widely used in magnetic bearing-rotor systems due to their controllable stiffness and damping. Adjusting the control parameters of the magnetic bearing-rotor system allows for adjustment of the stiffness and damping. However, the adjustable stiffness and damping are limited depending on the control method. Some control methods offer a wide range of adjustable stiffness and damping, while others offer a narrower range.

[0041] Therefore, the solution of the present invention proposes a control method for a magnetic bearing system, specifically an improved cross-feedback control method for a magnetic bearing system. Through the PID+cross-feedback control method, the gyroscopic coupling effect of the magnetic bearing rotor at high speed can be suppressed, the control effect can be improved, and high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed can be achieved, so as to meet the stable suspension and high-speed operation of the magnetic bearing system with a strong gyroscopic coupling effect.

[0042] According to an embodiment of the present invention, a control method for a magnetic bearing system is provided, such as Figure 1 The flowchart of one embodiment of the method of the present invention is shown. The magnetic bearing system comprises a front radial bearing and a rear radial bearing; specifically, the magnetic bearing system comprises a magnetic bearing rotor, a front radial magnetic bearing stator, and a rear radial magnetic bearing stator; the radial control method of the front radial magnetic bearing stator is the same as the control method of the rear radial magnetic bearing stator, and both adopt current differential control; either the front radial magnetic bearing stator or the rear radial magnetic bearing stator comprises an electromagnetic coil in the radial front X direction, an electromagnetic coil in the radial front Y direction, an electromagnetic coil in the radial rear X direction, and an electromagnetic coil in the radial rear Y direction. Figure 6 FIG. 1 is a schematic structural diagram of an embodiment of a radial control system of a magnetic bearing. Figure 6 As shown, the magnetic bearing radial control system includes: a magnetic bearing, a current sensor, a displacement sensor, a displacement sensor signal conversion circuit, a controller, and a power amplifier; the magnetic bearing has a magnetic bearing rotor and a magnetic bearing stator. There is an air gap x between the magnetic bearing rotor and the magnetic bearing stator. The displacement sensor is used to detect the displacement signal of the magnetic bearing rotor to obtain the displacement signal x in each direction of the magnetic bearing rotor. a (x b ),y a (y b ), the current sensor is used to detect the coil current of the magnetic bearing stator to obtain the detection current i in each direction of the magnetic bearing stator xa+ (i xb+ ),i ya+ (i yb+ ),i xa- (i xb- ),i xa- (i xb-The displacement sensor signal conversion circuit is used to convert the displacement signal x in each direction of the magnetic bearing rotor detected by the displacement sensor. a (x b ),y a (y b ) after signal conversion processing, and then input to the controller; the controller outputs the control signal to the power amplifier. The power amplifier, based on the control signal, according to the detection current i in each direction of the magnetic bearing stator detected by the current sensor xa+ (i xb+ ),i ya+ (i yb+ ),i xa- (i xb- ),i xa- (i xb- ), outputs control current to the coil of the magnetic bearing stator to control the radial suspension of the magnetic bearing.

[0043] See also Figure 6 In the example shown, the radial control of the magnetic bearing adopts current differential control, with two current differentials in the radial front X direction (FX), two current differentials in the radial front Y direction (FY), two current differentials in the radial rear X direction (RX), and two current differentials in the radial rear Y direction (RY). There are a total of eight current differential closed current control channels, and the displacement control algorithm of each channel is the same, all of which are decentralized control methods. Figure 7 FIG. 1 is a schematic diagram of the structure of an embodiment of a magnetic bearing distributed control system. Figure 7 As shown in the figure, it is a decentralized control method. Among them, end a is the front end and end b is the back end. Figure 7 In the example shown, the control mode of the first channel is: the displacement signal x in the X direction of end a a After AD conversion and PID control, the PID operation value i in the X direction of end a is obtained. xa ;PID calculation value i xa After DA conversion, the final current reference value I in the X direction of end a is obtained. xa The X direction at end a refers to the radial front X direction (FX).

[0044] The control method of the second channel is: the displacement signal y in the Y direction of end a a After AD conversion and PID control, the PID operation value i in the Y direction of end a is obtained. ya ; PID calculation value i in the Y direction of end a ya After DA conversion, the final current reference value I in the Y direction of end a is obtained. ya The Y direction at end a refers to the radial front Y direction (FY).

[0045] The control method of the third channel is: the displacement signal x in the X direction of the b end bAfter AD conversion and PID control, the PID calculation value i in the X direction of end b is obtained. xb ; PID calculation value i in the X direction of end b xb After DA conversion, the final current reference value I in the X direction of end b is obtained. xb The X direction at the b end refers to the radial rear X direction (RX).

[0046] The fourth control mode is: the displacement signal y in the Y direction of the b end b After AD conversion and PID control, the PID operation value i in the Y direction of end b is obtained. yb ; PID calculation value i in the Y direction of end b yb After DA conversion, the final current reference value I in the Y direction of end b is obtained. yb The Y direction at the b end refers to the radial rear Y direction (RY).

[0047] In the solution of the present invention, Figure 1 As shown, the method for each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: steps S110 to S150.

[0048] At step S110, when the magnetic bearing system is running, that is, when the magnetic bearing rotor in the magnetic bearing system is running at a speed greater than a set speed threshold, according to a set detection period, for each of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction of the magnetic bearing rotor, a real-time displacement signal of the magnetic bearing rotor in each direction is obtained; and the real-time speed of the magnetic bearing rotor is obtained; wherein, the magnetic bearing rotor is running at a speed greater than the set speed threshold, that is, the magnetic bearing rotor is running at a high speed.

[0049] In step S120, a real-time signal current operation value (such as a PID operation value) in each direction is obtained by performing an operation based on the real-time displacement signal of the magnetic bearing rotor in each direction.

[0050] In some embodiments, step S120 performs calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction, including: performing AD conversion on the real-time displacement signal of the magnetic bearing rotor in each direction, and then performing PID calculations to obtain a PID calculation value in each direction as the real-time signal current calculation value in each direction.

[0051] In the solution of the present invention, by performing AD operation and PID operation in sequence on the real-time displacement signal of the magnetic bearing rotor in each direction, the PID operation value in each direction, that is, the real-time signal current reference value, can be obtained more accurately. The PID operation value in each direction is used to control the working current of the electromagnetic coil in each direction, which is beneficial to reducing the control error of the working current of the electromagnetic coil in each direction.

[0052] In step S130 , asynchronous components are extracted based on the real-time displacement signals of the magnetic bearing rotor in each direction to obtain asynchronous displacement signals of the magnetic bearing rotor in each direction.

[0053] In some embodiments, in step S130, asynchronous component extraction is performed based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the specific process of the asynchronous displacement signal of the magnetic bearing rotor in each direction. Please refer to the following exemplary description.

[0054] The following combination Figure 2 The figure shows a flow chart of an embodiment of extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction in the method of the present invention, further illustrating the specific process of extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction in step S130, including: steps S210 to S220.

[0055] Step S210 , separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction, to obtain a synchronous component displacement signal of the magnetic bearing rotor in each direction.

[0056] In some embodiments, in step S210, separating the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction includes: calculating the synchronous component displacement signal of the magnetic bearing rotor in each direction according to the following formula based on the real-time displacement signal of the magnetic bearing rotor in each direction:

[0057] X a (k) = (1-α)X a (k-1)+x a (k);

[0058] Among them, α is a constant; k represents the current moment in the set detection cycle, k-1 represents the previous moment, and X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1.

[0059] Specifically, Figure 8 FIG. 1 is a schematic diagram of the structure of an embodiment of a magnetic bearing cross-feedback control system. Figure 8 As shown, compared to Figure 7 , a new cross-feedback loop has been added. Figure 8 For the example shown, Figure 7 In the example shown, one of the feedback displacement signals is separated into asynchronous signals, and the same is true for the other displacement signals. a (k) is used as an example to illustrate the process of separating asynchronous signals. Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) performing a process of separating asynchronous signals, comprising:

[0060] Step 11: For the real-time displacement signal x in the X direction of end a a (k), first the real-time displacement signal x in the X direction from end a a (k) Separate the synchronous component displacement signal X a (k), the separated synchronous component displacement signal X a (k) is:

[0061] X a (k) = (1-α)X a (k-1)+x a (k) (1).

[0062] Where: α is a constant, preferably α = 0.125; k represents the current moment, k-1 represents the previous moment, X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1. If the previous moment k-1 is the starting moment, then the synchronous component displacement signal X at the previous moment k-1 is a (k-1) is 0.

[0063] The solution of the present invention can quickly and accurately obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction by summing the proportional value of the synchronous component displacement signal of the magnetic bearing rotor in each direction at the previous moment and the real-time displacement signal of the magnetic bearing rotor in each direction at the current moment in a time sequence. After the asynchronous displacement signal of the magnetic bearing rotor in each direction is obtained based on the synchronous component displacement signal of the magnetic bearing rotor in each direction, it is calculated and fed back to the control loop in other directions. This can suppress the gyroscopic coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0064] Step S220: taking the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction as the asynchronous displacement signal of the magnetic bearing rotor in each direction. Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal further includes: step 12, based on the synchronous component displacement signal X separated in step 11 a (k), real-time displacement signal x in the X direction from end a a (k) Extract the asynchronous displacement signal x ua (k), the extracted asynchronous displacement signal x ua (k) is:

[0065] x ua (k) = x a (k)-X a (k) (2).

[0066] In the solution of the present invention, after separating the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction, the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction is used as the asynchronous displacement signal of the magnetic bearing rotor in each direction. The asynchronous component can be extracted from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal of the magnetic bearing rotor in each direction quickly and accurately. After calculation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction, the signal is fed back to the control loop in other directions. This can suppress the gyroscopic coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0067] At step S140, an asynchronous signal compensation current operation value (such as an asynchronous signal compensation current operation value) in each direction is obtained by performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor.

[0068] In some embodiments, in step S140, the specific process of performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain the asynchronous signal compensation current calculation value in each direction is described in the following exemplary embodiment.

[0069] The following combination Figure 3The flowchart of an embodiment of the method of the present invention for performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor is shown, further illustrating the specific process of performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor in step S140, including: steps S310 to S320.

[0070] Step S310: Perform PD calculation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain the PD calculation value of the asynchronous displacement signal in each direction. Specifically, Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal also includes: step 13, then the asynchronous displacement signal x extracted in step 12 is ua (k) Perform PD operation to obtain the asynchronous displacement signal PD operation value i in the X direction of end a uxa _PD(k):

[0071] i uxa _PD(k)=K p ·x ua (k)+K d (·x ua (k)-x ua (k-1)) (3).

[0072] Where: K p is the proportional control coefficient, K d is the differential control coefficient, x ua (k) is the asynchronous displacement signal at the current time k, x ua (k-1) The asynchronous displacement signal at the previous moment k-1.

[0073] Step S320: The product of the preset gyro coupling effect feedback gain coefficient, the real-time speed of the magnetic bearing rotor, and the asynchronous displacement signal PD calculation value in each direction is used as the asynchronous signal compensation current calculation value in each direction. Specifically, Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal also includes: step 14, performing the following operation on the asynchronous displacement signal PD calculated value obtained in step 13 to obtain the asynchronous signal compensation current calculated value i in the X direction of the a terminal uxa (k):

[0074] i uxa (k) = K c ·ω·i uxa _PD(k) (4).

[0075] Where K c is the gyro coupling effect feedback gain coefficient, and ω is the real-time rotational speed. In the calculation formula for the first path, the units of the data on both sides of the equal sign are consistent.

[0076] Similarly, the above operations are performed on the other three asynchronous displacement signals to obtain the asynchronous signal compensation current calculation values ​​i in the Y direction of end a. uya (k), the calculated value of the asynchronous signal compensation current in the X direction at the b end i uxb (k), the calculated value of the asynchronous signal compensation current in the Y direction at the b end i uyb (k).

[0077] The solution of the present invention performs PD operation on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal PD operation value, and then calculates the product value of the preset gyro coupling effect feedback gain coefficient, the real-time rotational speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction. It can quickly and accurately obtain the asynchronous signal compensation current operation value in each direction, and feed the obtained asynchronous signal compensation current operation value in each direction back to the control loop in other directions. It can suppress the gyro coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0078] At step S150, the asynchronous signal compensation current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, and the real-time signal current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the one, are used to compensate the real-time signal current calculated value in another direction of the remaining three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the one, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction. Specifically, the asynchronous signal compensation current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction is used to compensate the real-time signal current calculated value in another direction of the remaining three directions, the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, except the any one direction, to obtain a final current reference value in the other direction; and based on the final current reference value in the other direction, the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction is controlled.

[0079] The solution of the present invention uses an algorithm to separate the displacement signal of the magnetic bearing rotor under high-speed operation, that is, the real-time displacement signal, into a displacement signal synchronized with the speed, that is, the synchronous displacement signal. The real-time displacement signal of the magnetic bearing rotor is subtracted from the synchronous displacement signal separated from the real-time displacement signal, and the difference is used as the cross-feedback error; by performing proportional differential operation on the cross-feedback error, the different directions (such as Figure 7 The calculated values ​​of the directions corresponding to the four control channels shown (i.e., radial front X direction, radial front Y direction, radial rear X direction, and radial rear Y direction) are transmitted back to the control loops in other directions through cross-feedback, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor, achieving high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speeds.

[0080] In some embodiments, the radial control loop of any one of the front radial magnetic bearing stator and the rear radial magnetic bearing stator, that is, the control loop of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system, includes: a current differential control loop of the electromagnetic coil in the radial front X direction, recorded as the first control loop; a current differential control loop of the electromagnetic coil in the radial front Y direction, recorded as the second control loop; a current differential control loop of the electromagnetic coil in the radial rear X direction, recorded as the third control loop; and a current differential control loop of the electromagnetic coil in the radial rear Y direction, recorded as the fourth control loop.

[0081] In step S150, the asynchronous signal compensation current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction is used to compensate the real-time signal current calculated value in another direction of the remaining three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction. The specific process is described in the following exemplary embodiment.

[0082] The following combination Figure 4 FIG. 1 is a flow chart of an embodiment of a method of the present invention for compensating a real-time signal current calculated value in another direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except for any one direction, further illustrating a specific process of compensating the real-time signal current calculated value in another direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except for any one direction in step S150, including steps S410 to S420.

[0083] Step S410: For any current control loop among the first control loop, the second control loop, the third control loop, and the fourth control loop, the asynchronous signal compensation current operation value in the direction of any current control loop is used to compensate the real-time signal current operation value in the direction of a target control loop among the remaining three control loops to obtain a final current reference value in the direction of the target control loop; wherein the remaining three control loops refer to the remaining three control loops among the first control loop, the second control loop, the third control loop, and the fourth control loop except the any current control loop.

[0084] In some embodiments, in step S410, for any current control loop among the first control loop, the second control loop, the third control loop, and the fourth control loop, the asynchronous signal compensation current calculated value in the direction of the current control loop is used to compensate the real-time signal current calculated value in the direction of a target control loop among the other three control loops to obtain a final current reference value in the direction of the target control loop, including at least one of the following compensation situations:

[0085] The first compensation scenario: when any of the current control loops is the first control loop, the fourth control loop is used as the target control loop, that is: the asynchronous signal compensation current operation value in the direction of the first control loop is used to compensate the real-time signal current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the fourth control loop.

[0086] The second compensation scenario: when any of the current control loops is the second control loop, the third control loop is used as the target control loop, that is: the asynchronous signal compensation current operation value in the direction of the second control loop is used to compensate the real-time signal current operation value in the direction of the third control loop to obtain the final current reference value in the direction of the third control loop.

[0087] The third compensation scenario: when any of the current control loops is the third control loop, the second control loop is used as the target control loop, that is: the asynchronous signal compensation current operation value in the direction of the third control loop is used to compensate the real-time signal current operation value in the direction of the second control loop to obtain the final current reference value in the direction of the second control loop.

[0088] The fourth compensation scenario: when any of the current control loops is the fourth control loop, the first control loop is used as the target control loop, that is: the real-time signal current operation value in the direction of the first control loop is compensated by using the asynchronous signal compensation current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the first control loop.

[0089] See also Figure 8 In the example shown, in the cross feedback loop control, the asynchronous signal compensation current calculation value i uxa (k) Superimposed on the PID calculation value i in the Y direction of end b yb (k), and finally obtain the final current reference value I in the Y direction of end b yb (k); Compensate the current calculation value i of the asynchronous signal in the Y direction of end a uya (k) Superimposed on the PID calculation value i in the X direction of end b xb (k), and finally obtain the final current reference value I in the X direction of end b xb (k); Compensate the current calculation value i of the asynchronous signal in the X direction of the b end uxb (k) Superimposed on the PID calculation value i in the Y direction of end a ya (k), and finally obtain the final current reference value I in the Y direction of end a ya (k); Compensate the current calculation value i of the asynchronous signal in the Y direction at the b end uyb (k) Superimposed on the PID calculation value i in the X direction of end a xa (k), and finally obtain the final current reference value I in the X direction of end a xa (k); The above cross-coupling control can effectively suppress the gyro coupling effect. Figure 7 Compared to the example shown, Figure 8 In the example shown, by extracting the asynchronous component in each direction at each end, calculating it, and then feeding it back to the control loop in the other direction at the other end, the stiffness and damping of the entire magnetic bearing control system are effectively increased, thereby suppressing the magnetic suspension vibration.

[0090] Step S420 : controlling the operating current of the electromagnetic coil in the direction of the target control loop according to the final current reference value in the direction of the target control loop.

[0091] In a magnetic bearing system, the magnetic bearing rotor is subject to significant interference due to the gyroscopic coupling effect. The PID controller in related solutions is difficult to meet its displacement accuracy requirements and high-speed operation targets. When the magnetic bearing system rotates at high speed, the vibration caused by the gyroscopic coupling effect is reflected in the poor displacement accuracy of the rotor. The solution of the present invention, through an improved cross-feedback control method, provides a method for extracting asynchronous components, and calculates and feeds back the extracted asynchronous components. Through the PID+cross-feedback control method, the gyroscopic coupling effect of the magnetic bearing rotor at high speed can be suppressed, improving the control effect and achieving high-precision stable suspension of the magnetic bearing rotor, as well as smooth operation at high speeds. The solution of the present invention does not require a precise mathematical model and has the characteristics of low overshoot, fast response, and simple control. It greatly improves the stability of the magnetic bearing system and is also applicable to other control situations requiring rotating machinery.

[0092] The technical solution of this embodiment is adopted, by detecting the displacement signal of the magnetic bearing rotor under high-speed operation, that is, the real-time displacement signal, for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the radial control of the magnetic bearing, namely, the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction), separating the displacement signal synchronized with the speed of the magnetic bearing rotor from the real-time displacement signal of the magnetic bearing rotor to obtain the synchronous displacement signal of the magnetic bearing rotor, subtracting the real-time displacement signal of the magnetic bearing rotor from the synchronous displacement signal of the magnetic bearing rotor to obtain the asynchronous displacement signal of the magnetic bearing rotor, and using the asynchronous displacement signal of the magnetic bearing rotor as the cross-feedback error of the magnetic bearing rotor; performing proportional differential operation on the cross-feedback error of the magnetic bearing rotor to obtain the magnetic bearing rotor. The operation value of each direction of radial control (i.e., the operation value of the asynchronous signal compensation current); further, the operation value of one direction (such as one direction of the X direction and the Y direction) of one end of the magnetic bearing rotor (such as the radial front or radial rear end) is transmitted back to the control loop of the other direction (such as the other direction of the X direction and the Y direction) of the other end of the magnetic bearing radial control (such as the other end of the radial front or radial rear) in the form of cross feedback; thus, by extracting the asynchronous displacement signal from the real-time displacement signal of each direction of each radial end of the magnetic bearing rotor and calculating the asynchronous signal compensation current operation value, it is fed back to the control loop of the other direction of the other radial end of the magnetic bearing rotor, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor and making the magnetic bearing rotor stably suspended and running at high speed.

[0093] According to an embodiment of the present invention, a control device for a magnetic bearing system corresponding to the control method of the magnetic bearing system is also provided. Figure 5The figure shows a schematic structural diagram of an embodiment of the device of the present invention. The magnetic bearing system comprises a front radial bearing and a rear radial bearing; specifically, the magnetic bearing system comprises a magnetic bearing rotor, a front radial magnetic bearing stator, and a rear radial magnetic bearing stator; the radial control method of the front radial magnetic bearing stator is the same as the control method of the rear radial magnetic bearing stator, and both adopt current differential control; either the front radial magnetic bearing stator or the rear radial magnetic bearing stator comprises an electromagnetic coil in the radial front X direction, an electromagnetic coil in the radial front Y direction, an electromagnetic coil in the radial rear X direction, and an electromagnetic coil in the radial rear Y direction. Figure 6 FIG. 1 is a schematic structural diagram of an embodiment of a radial control system of a magnetic bearing. Figure 6 As shown, the magnetic bearing radial control system includes: a magnetic bearing, a current sensor, a displacement sensor, a displacement sensor signal conversion circuit, a controller, and a power amplifier; the magnetic bearing has a magnetic bearing rotor and a magnetic bearing stator. There is an air gap x between the magnetic bearing rotor and the magnetic bearing stator. The displacement sensor is used to detect the displacement signal of the magnetic bearing rotor to obtain the displacement signal x in each direction of the magnetic bearing rotor. a (x b ),y a (y b ), the current sensor is used to detect the coil current of the magnetic bearing stator to obtain the detection current i in each direction of the magnetic bearing stator xa+ (i xb+ ),i ya+ (i yb+ ),i xa- (i xb- ),i xa- (i xb- The displacement sensor signal conversion circuit is used to convert the displacement signal x in each direction of the magnetic bearing rotor detected by the displacement sensor. a (x b ),y a (y b ) after signal conversion processing, and then input to the controller; the controller outputs the control signal to the power amplifier. The power amplifier, based on the control signal, according to the detection current i in each direction of the magnetic bearing stator detected by the current sensor xa+ (i xb+ ),i ya+ (i yb+ ),i xa- (i xb- ),i xa- (i xb- ), outputs control current to the coil of the magnetic bearing stator to control the radial suspension of the magnetic bearing.

[0094] See also Figure 6In the example shown, the radial control of the magnetic bearing adopts current differential control, with two current differentials in the radial front X direction (FX), two current differentials in the radial front Y direction (FY), two current differentials in the radial rear X direction (RX), and two current differentials in the radial rear Y direction (RY). There are a total of eight current differential closed current control channels, in which the displacement control algorithm of each channel is the same, and they are all decentralized control methods. Specifically, Figure 7 FIG. 1 is a schematic diagram of the structure of an embodiment of a magnetic bearing distributed control system. Figure 7 As shown in the figure, it is a decentralized control method. Among them, end a is the front end and end b is the back end. Figure 7 In the example shown, the control mode of the first channel is: the displacement signal x in the X direction of end a a After AD conversion and PID control, the PID operation value i in the X direction of end a is obtained. xa ;PID calculation value i xa After DA conversion, the final current reference value I in the X direction of end a is obtained. xa The X direction at end a refers to the radial front X direction (FX).

[0095] The control method of the second channel is: the displacement signal y in the Y direction of end a a After AD conversion and PID control, the PID operation value i in the Y direction of end a is obtained. ya ; PID calculation value i in the Y direction of end a ya After DA conversion, the final current reference value I in the Y direction of end a is obtained. ya The Y direction at end a refers to the radial front Y direction (FY).

[0096] The control method of the third channel is: the displacement signal x in the X direction of the b end b After AD conversion and PID control, the PID calculation value i in the X direction of end b is obtained. xb ; PID calculation value i in the X direction of end b xb After DA conversion, the final current reference value I in the X direction of end b is obtained. xb The X direction at the b end refers to the radial rear X direction (RX).

[0097] The fourth control mode is: the displacement signal y in the Y direction of the b end b After AD conversion and PID control, the PID operation value i in the Y direction of end b is obtained. yb ; PID calculation value i in the Y direction of end b yb After DA conversion, the final current reference value I in the Y direction of end b is obtained. yb The Y direction at the b end refers to the radial rear Y direction (RY).

[0098] In the solution of the present invention, Figure 5 As shown, the device of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: an acquisition unit 102 and a control unit 104.

[0099] The acquisition unit 102 is configured to, when the magnetic bearing system is operating, that is, when the magnetic bearing rotor in the magnetic bearing system is operating at a speed greater than a set speed threshold, acquire a real-time displacement signal of the magnetic bearing rotor in each of the radial front X direction, radial front Y direction, radial rear X direction, and radial rear Y direction of the magnetic bearing rotor according to a set detection period; and acquire the real-time speed of the magnetic bearing rotor; wherein, when the magnetic bearing rotor is operating at a speed greater than the set speed threshold, that is, the magnetic bearing rotor is operating at high speed. The specific functions and processing of the acquisition unit 102 are shown in step S110.

[0100] The control unit 104 is configured to perform calculations based on the real-time displacement signals of the magnetic bearing rotor in each direction to obtain real-time signal current calculation values ​​(e.g., PID calculation values) in each direction. The specific functions and processing of the control unit 104 are described in step S120.

[0101] In some embodiments, the control unit 104 performs operations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current operation value in each direction, including: the control unit 104 is specifically configured to perform AD conversion on the real-time displacement signal of the magnetic bearing rotor in each direction, and then perform PID operation to obtain a PID operation value in each direction as the real-time signal current operation value in each direction.

[0102] In the solution of the present invention, by performing AD operation and PID operation in sequence on the real-time displacement signal of the magnetic bearing rotor in each direction, the PID operation value in each direction, that is, the real-time signal current reference value, can be obtained more accurately. The PID operation value in each direction is used to control the working current of the electromagnetic coil in each direction, which is beneficial to reducing the control error of the working current of the electromagnetic coil in each direction.

[0103] The control unit 104 is further configured to extract asynchronous components based on the real-time displacement signals of the magnetic bearing rotor in each direction, thereby obtaining asynchronous displacement signals of the magnetic bearing rotor in each direction. The specific functions and processing of the control unit 104 are described in step S130.

[0104] In some embodiments, the control unit 104 extracts asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal of the magnetic bearing rotor in each direction, including:

[0105] The control unit 104 is further configured to separate the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction, thereby obtaining the synchronous component displacement signal of the magnetic bearing rotor in each direction. The specific functions and processing of the control unit 104 are further described in step S210.

[0106] In some embodiments, the control unit 104 separates the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction, including: the control unit 104 is further configured to calculate the synchronous component displacement signal of the magnetic bearing rotor in each direction according to the following formula based on the real-time displacement signal of the magnetic bearing rotor in each direction:

[0107] X a (k) = (1-α)X a (k-1)+x a (k);

[0108] Among them, α is a constant; k represents the current moment in the set detection cycle, k-1 represents the previous moment, and X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1.

[0109] Specifically, Figure 8 FIG. 1 is a schematic diagram of the structure of an embodiment of a magnetic bearing cross-feedback control system. Figure 8 As shown, compared to Figure 7 , a new cross-feedback loop has been added. Figure 8 For the example shown, Figure 7 In the example shown, one of the feedback displacement signals is separated into asynchronous signals, and the same is true for the other displacement signals. a (k) is used as an example to illustrate the process of separating asynchronous signals. Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) performing a process of separating asynchronous signals, comprising:

[0110] Step 11: For the real-time displacement signal x in the X direction of end a a (k), first the real-time displacement signal x in the X direction from end a a(k) Separate the synchronous component displacement signal X a (k), the separated synchronous component displacement signal X a (k) is:

[0111] X a (k) = (1-α)X a (k-1)+x a (k) (1).

[0112] Where: α is a constant, preferably α = 0.125; k represents the current moment, k-1 represents the previous moment, X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1. If the previous moment k-1 is the starting moment, then the synchronous component displacement signal X at the previous moment k-1 is a (k-1) is 0.

[0113] The solution of the present invention can quickly and accurately obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction by summing the proportional value of the synchronous component displacement signal of the magnetic bearing rotor in each direction at the previous moment and the real-time displacement signal of the magnetic bearing rotor in each direction at the current moment in a time sequence. After the asynchronous displacement signal of the magnetic bearing rotor in each direction is obtained based on the synchronous component displacement signal of the magnetic bearing rotor in each direction, it is calculated and fed back to the control loop in other directions. This can suppress the gyroscopic coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0114] The control unit 104 is further configured to use the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction as the asynchronous displacement signal of the magnetic bearing rotor in each direction. The specific functions and processing of the control unit 104 are also shown in step S220. Specifically, as Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal further includes: step 12, based on the synchronous component displacement signal X separated in step 11 a (k), real-time displacement signal x in the X direction from end a a (k) Extract the asynchronous displacement signal x ua (k), the extracted asynchronous displacement signal x ua (k) is:

[0115] x ua (k) = xa (k)-X a (k) (2).

[0116] In the solution of the present invention, after separating the synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction, the difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction is used as the asynchronous displacement signal of the magnetic bearing rotor in each direction. The asynchronous component can be extracted from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal of the magnetic bearing rotor in each direction quickly and accurately. After calculation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction, the signal is fed back to the control loop in other directions. This can suppress the gyroscopic coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0117] The control unit 104 is further configured to calculate the asynchronous displacement signal of the magnetic bearing rotor in each direction based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction (e.g., an asynchronous signal compensation current calculation value). The specific functions and processing of the control unit 104 are further described in step S140.

[0118] In some embodiments, the control unit 104 performs calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time speed of the magnetic bearing rotor to obtain the asynchronous signal compensation current calculation value in each direction, including:

[0119] The control unit 104 is further configured to perform PD calculation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain the PD calculation value of the asynchronous displacement signal in each direction. The specific functions and processing of the control unit 104 are also referred to step S310. Specifically, Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal also includes: step 13, then the asynchronous displacement signal x extracted in step 12 is ua (k) Perform PD operation to obtain the asynchronous displacement signal PD operation value i in the X direction of end a uxa _PD(k):

[0120] i uxa _PD(k)=K p ·x ua (k)+K d (·x ua (k)-xua (k-1)) (3).

[0121] Where: K p is the proportional control coefficient, K d is the differential control coefficient, x ua (k) is the asynchronous displacement signal at the current time k, x ua (k-1) The asynchronous displacement signal at the previous moment k-1.

[0122] The control unit 104 is further configured to use the product of the preset gyro coupling effect feedback gain coefficient, the real-time rotation speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction as the asynchronous signal compensation current operation value in each direction. The specific functions and processing of the control unit 104 are also shown in step S320. Specifically, Figure 8 As shown, the real-time displacement signal x in the X direction of end a a (k) The process of separating the asynchronous signal also includes: step 14, performing the following operation on the asynchronous displacement signal PD calculated value obtained in step 13 to obtain the asynchronous signal compensation current calculated value i in the X direction of the a terminal uxa (k):

[0123] i uxa (k) = K c ·ω·i uxa _PD(k) (4).

[0124] Where K c is the gyro coupling effect feedback gain coefficient, and ω is the real-time rotational speed. In the calculation formula for the first path, the units of the data on both sides of the equal sign are consistent.

[0125] Similarly, the above operations are performed on the other three asynchronous displacement signals to obtain the asynchronous signal compensation current calculation values ​​i in the Y direction of end a. uya (k), the calculated value of the asynchronous signal compensation current in the X direction at the b end i uxb (k), the calculated value of the asynchronous signal compensation current in the Y direction at the b end i uyb (k).

[0126] The solution of the present invention performs PD operation on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain the asynchronous displacement signal PD operation value, and then calculates the product value of the preset gyro coupling effect feedback gain coefficient, the real-time rotational speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction. It can quickly and accurately obtain the asynchronous signal compensation current operation value in each direction, and feed the obtained asynchronous signal compensation current operation value in each direction back to the control loop in other directions. It can suppress the gyro coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and achieve high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0127] The control unit 104 is further configured to use the asynchronous signal compensation current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, and the real-time signal current calculated value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the one direction, to compensate the real-time signal current calculated value in another direction of the remaining three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the one direction, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction. Specifically, the asynchronous signal compensation current calculated value in any one of the radial front X direction, radial front Y direction, radial rear X direction, and radial rear Y direction is used to compensate the real-time signal current calculated value in another direction of the radial front X direction, radial front Y direction, radial rear X direction, and radial rear Y direction other than the one direction, thereby obtaining a final current reference value in the other direction. Based on the final current reference value in the other direction, the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction is controlled. The specific functions and processing of the control unit 104 are further described in step S150.

[0128] The solution of the present invention uses an algorithm to separate the displacement signal of the magnetic bearing rotor under high-speed operation, that is, the real-time displacement signal, into a displacement signal synchronized with the speed, that is, the synchronous displacement signal. The real-time displacement signal of the magnetic bearing rotor is subtracted from the synchronous displacement signal separated from the real-time displacement signal, and the difference is used as the cross-feedback error; by performing proportional differential operation on the cross-feedback error, the different directions (such as Figure 7The calculated values ​​of the directions corresponding to the four control channels shown (i.e., radial front X direction, radial front Y direction, radial rear X direction, and radial rear Y direction) are transmitted back to the control loops in other directions through cross-feedback, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor, achieving high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speeds.

[0129] In some embodiments, the radial control loop of any one of the front radial magnetic bearing stator and the rear radial magnetic bearing stator, that is, the control loop of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system, includes: a current differential control loop of the electromagnetic coil in the radial front X direction, recorded as the first control loop; a current differential control loop of the electromagnetic coil in the radial front Y direction, recorded as the second control loop; a current differential control loop of the electromagnetic coil in the radial rear X direction, recorded as the third control loop; and a current differential control loop of the electromagnetic coil in the radial rear Y direction, recorded as the fourth control loop.

[0130] The control unit 104 uses the asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to compensate the real-time signal current calculation value in another direction of the other three directions except the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, so as to control the working current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction, including:

[0131] The control unit 104 is further configured to, for any current control loop among the first, second, third, and fourth control loops, use the asynchronous signal compensation current calculated value in the direction of the current control loop to compensate the real-time signal current calculated value in the direction of a target control loop among the remaining three control loops, thereby obtaining a final current reference value in the direction of the target control loop. The specific functions and processing of the control unit 104 are further described in step S410. The remaining three control loops refer to the remaining three control loops among the first, second, third, and fourth control loops, excluding the current control loop.

[0132] In some embodiments, the control unit 104 compensates, for any current control loop among the first control loop, the second control loop, the third control loop, and the fourth control loop, the real-time signal current calculated value in the direction of a target control loop among the other three control loops using the asynchronous signal compensation current calculated value in the direction of the current control loop, to obtain a final current reference value in the direction of the target control loop, including at least one of the following compensation scenarios:

[0133] The first compensation scenario: the control unit 104 is further configured to use the fourth control loop as the target control loop when any current control loop is the first control loop, that is: using the asynchronous signal compensation current operation value in the direction of the first control loop to compensate the real-time signal current operation value in the direction of the fourth control loop, to obtain the final current reference value in the direction of the fourth control loop.

[0134] The second compensation scenario: the control unit 104 is further configured to use the third control loop as the target control loop when any current control loop is the second control loop, that is: using the asynchronous signal compensation current operation value in the direction of the second control loop to compensate the real-time signal current operation value in the direction of the third control loop, to obtain the final current reference value in the direction of the third control loop.

[0135] The third compensation scenario: the control unit 104 is further configured to use the second control loop as the target control loop when any current control loop is the third control loop, that is, to compensate the real-time signal current operation value in the direction of the second control loop by using the asynchronous signal compensation current operation value in the direction of the third control loop to obtain the final current reference value in the direction of the second control loop.

[0136] The fourth compensation scenario: the control unit 104 is further configured to use the first control loop as the target control loop when any current control loop is the fourth control loop, that is: using the asynchronous signal compensation current operation value in the direction of the fourth control loop to compensate the real-time signal current operation value in the direction of the first control loop, to obtain the final current reference value in the direction of the first control loop.

[0137] See also Figure 8 In the example shown, in the cross feedback loop control, the asynchronous signal compensation current calculation value i uxa(k) Superimposed on the PID calculation value i in the Y direction of end b yb (k), and finally obtain the final current reference value I in the Y direction of end b yb (k); Compensate the current calculation value i of the asynchronous signal in the Y direction of end a uya (k) Superimposed on the PID calculation value i in the X direction of end b xb (k), and finally obtain the final current reference value I in the X direction of end b xb (k); Compensate the current calculation value i of the asynchronous signal in the X direction of the b end uxb (k) Superimposed on the PID calculation value i in the Y direction of end a ya (k), and finally obtain the final current reference value I in the Y direction of end a ya (k); Compensate the current calculation value i of the asynchronous signal in the Y direction at the b end uyb (k) Superimposed on the PID calculation value i in the X direction of end a xa (k), and finally obtain the final current reference value I in the X direction of end a xa (k); The above cross-coupling control can effectively suppress the gyro coupling effect. Figure 7 Compared to the example shown, Figure 8 In the example shown, by extracting the asynchronous component in each direction at each end, calculating it, and then feeding it back to the control loop in the other direction at the other end, the stiffness and damping of the entire magnetic bearing control system are effectively increased, thereby achieving the effect of suppressing magnetic suspension vibration.

[0138] The control unit 104 is further configured to control the working current of the electromagnetic coil in the direction of the target control loop according to the final current reference value in the direction of the target control loop. The specific functions and processing of the control unit 104 are also shown in step S420.

[0139] In a magnetic bearing system, the magnetic bearing rotor is subject to significant interference due to the gyroscopic coupling effect. The PID controller in related solutions is difficult to meet its displacement accuracy requirements and high-speed operation targets. When the magnetic bearing system rotates at high speed, the vibration caused by the gyroscopic coupling effect is reflected in the poor displacement accuracy of the rotor. The solution of the present invention, through an improved cross-feedback control method, provides a method for extracting asynchronous components, and calculates and feeds back the extracted asynchronous components. Through the PID+cross-feedback control method, the gyroscopic coupling effect of the magnetic bearing rotor at high speed can be suppressed, improving the control effect and achieving high-precision stable suspension of the magnetic bearing rotor, as well as smooth operation at high speeds. The solution of the present invention does not require a precise mathematical model and has the characteristics of low overshoot, fast response, and simple control. It greatly improves the stability of the magnetic bearing system and is also applicable to other control situations requiring rotating machinery.

[0140] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0141] According to the technical solution of the present invention, the displacement signal of the magnetic bearing rotor under high-speed operation, i.e., the real-time displacement signal, is detected for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the radial control of the magnetic bearing, i.e., the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction). A displacement signal synchronized with the rotational speed of the magnetic bearing rotor is separated from the real-time displacement signal of the magnetic bearing rotor to obtain a synchronous displacement signal of the magnetic bearing rotor. The real-time displacement signal of the magnetic bearing rotor is subtracted from the synchronous displacement signal of the magnetic bearing rotor to obtain an asynchronous displacement signal of the magnetic bearing rotor. The asynchronous displacement signal of the magnetic bearing rotor is used as the cross-feedback error of the magnetic bearing rotor. The cross-feedback error of the rotor is subjected to proportional differential operation to obtain the operation value of each direction of the radial control of the magnetic bearing (i.e., the operation value of the asynchronous signal compensation current); then, the operation value of one direction (e.g., one direction between the X direction and the Y direction) of one end of the magnetic bearing rotor (e.g., one end between the radial front and the radial rear) is transmitted back to the control loop of the other direction (e.g., the other direction between the X direction and the Y direction) of the other end of the radial control of the magnetic bearing (e.g., the other end between the radial front and the radial rear) in the form of cross feedback; and is transmitted back to the control loop of the other direction in the form of cross feedback, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor, thereby achieving high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0142] According to an embodiment of the present invention, a magnetic bearing system corresponding to the control device of the magnetic bearing system is also provided. The magnetic bearing system may include: the control device of the magnetic bearing system described above.

[0143] Since the processing and functions implemented by the magnetic bearing system of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned device, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0144] The technical solution of the present invention is adopted, by detecting the displacement signal of the magnetic bearing rotor under high-speed operation, that is, the real-time displacement signal, for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the radial control of the magnetic bearing, namely, the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction), separating the displacement signal synchronized with the rotation speed of the magnetic bearing rotor from the real-time displacement signal of the magnetic bearing rotor to obtain the synchronous displacement signal of the magnetic bearing rotor, subtracting the real-time displacement signal of the magnetic bearing rotor from the synchronous displacement signal of the magnetic bearing rotor to obtain the asynchronous displacement signal of the magnetic bearing rotor, and using the asynchronous displacement signal of the magnetic bearing rotor as the cross-feedback error of the magnetic bearing rotor; and performing a differential analysis on the cross-feedback error of the magnetic bearing rotor. Proportional differential operation is performed to obtain the operation value of each direction of the radial control of the magnetic bearing (i.e., the operation value of the asynchronous signal compensation current); then, the operation value of one direction (e.g., one direction between the X direction and the Y direction) of one end of the magnetic bearing rotor (e.g., the radial front end or the radial rear end) is transmitted back to the control loop of the other direction (e.g., the other direction between the X direction and the Y direction) of the other end of the radial control of the magnetic bearing (e.g., the radial front end or the radial rear end) in the form of cross feedback; by extracting the asynchronous component (e.g., the asynchronous displacement signal) of each direction of each radial end of the magnetic bearing rotor, calculating it and then feeding it back to the control loop of the other direction of the other end, the gyroscopic coupling effect of the magnetic bearing rotor is offset, so that the magnetic bearing rotor can be stably suspended and run at high speed.

[0145] According to an embodiment of the present invention, a computer program product corresponding to a magnetic bearing system is further provided, comprising a computer program. When the computer program is executed by a processor, the steps of the control method of the magnetic bearing system described above are implemented.

[0146] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned magnetic bearing system, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0147] According to the technical solution of the present invention, the displacement signal of the magnetic bearing rotor under high-speed operation, i.e., the real-time displacement signal, is detected for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the radial control of the magnetic bearing, i.e., the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction). A displacement signal synchronized with the rotational speed of the magnetic bearing rotor is separated from the real-time displacement signal of the magnetic bearing rotor to obtain a synchronous displacement signal of the magnetic bearing rotor. The real-time displacement signal of the magnetic bearing rotor is subtracted from the synchronous displacement signal of the magnetic bearing rotor to obtain an asynchronous displacement signal of the magnetic bearing rotor. The asynchronous displacement signal of the magnetic bearing rotor is used as the cross-feedback error of the magnetic bearing rotor. The cross-feedback error of the magnetic bearing rotor is subjected to proportional differential operation to obtain the magnetic bearing rotor. The calculated value of each direction of radial control (i.e., the calculated value of the asynchronous signal compensation current); further, the calculated value of one direction (such as one direction of the X direction and the Y direction) of one end of the magnetic bearing rotor (such as the radial front or radial rear end) is transmitted back to the control loop of the other direction (such as the other direction of the X direction and the Y direction) of the other end of the magnetic bearing radial control (such as the radial front or radial rear end) in the form of cross feedback; by extracting the asynchronous component of each direction of each end, calculating and feeding back to the control loop of the other direction of the other end, the stiffness and damping of the entire magnetic bearing control system are effectively increased, thereby offsetting the gyroscopic coupling effect of the magnetic bearing rotor, suppressing magnetic suspension vibration, and realizing high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0148] According to an embodiment of the present invention, a storage medium corresponding to the control method of the magnetic bearing system is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the control method of the magnetic bearing system described above.

[0149] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0150] By adopting the technical solution of the present invention, the displacement signal of the magnetic bearing rotor under high-speed operation, i.e., the real-time displacement signal, is detected for each of the different directions of radial control of the magnetic bearing (such as the directions corresponding to the four control channels of the radial control of the magnetic bearing, i.e., the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction). A displacement signal synchronized with the rotational speed of the magnetic bearing rotor is separated from the real-time displacement signal of the magnetic bearing rotor to obtain a synchronous displacement signal of the magnetic bearing rotor. The real-time displacement signal of the magnetic bearing rotor is subtracted from the synchronous displacement signal of the magnetic bearing rotor to obtain an asynchronous displacement signal of the magnetic bearing rotor. The asynchronous displacement signal of the magnetic bearing rotor is used as a cross-feedback error signal of the magnetic bearing rotor. difference; the cross-feedback error of the magnetic bearing rotor is proportionally differentiated to obtain the calculated value of each direction of the magnetic bearing radial control (i.e., the asynchronous signal compensation current calculated value); further, the calculated value of one direction (such as one direction between the X direction and the Y direction) of one end of the magnetic bearing rotor (such as the radial front or radial rear end) is transmitted back to the control loop of the other direction (such as the other direction between the X direction and the Y direction) of the other end of the magnetic bearing radial control (such as the radial front or radial rear end) in the form of cross feedback; it can suppress the gyro coupling effect of the magnetic bearing rotor at high speed, improve the control effect, and realize high-precision stable suspension of the magnetic bearing rotor and smooth operation at high speed.

[0151] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0152] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A control method for a magnetic bearing system, characterized in that: The magnetic bearing system comprises a front radial bearing and a rear radial bearing; and a method for controlling each of the front radial bearing and the rear radial bearing of the magnetic bearing system comprises: When the magnetic bearing rotor in the magnetic bearing system is running at a speed greater than a set speed threshold, obtaining a real-time displacement signal of the magnetic bearing rotor in each of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction of the magnetic bearing rotor; and obtaining the real-time speed of the magnetic bearing rotor; Performing calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction; Extracting asynchronous components based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction; Performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotational speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction; The asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction is used to compensate the real-time signal current calculation value in another direction of the remaining three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction.

2. The control method of the magnetic bearing system according to claim 1, characterized in that: in, Performing calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction includes: After AD conversion of the real-time displacement signal of the magnetic bearing rotor in each direction, PID operation is performed to obtain the PID operation value in each direction as the real-time signal current operation value in each direction; and / or, Extracting an asynchronous component based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction includes: Separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a synchronous component displacement signal of the magnetic bearing rotor in each direction; The difference between the real-time displacement signal of the magnetic bearing rotor in each direction and the synchronous component displacement signal of the magnetic bearing rotor in each direction is used as the asynchronous displacement signal of the magnetic bearing rotor in each direction.

3. The control method of the magnetic bearing system according to claim 2, characterized in that: Separating a synchronous component displacement signal from the real-time displacement signal of the magnetic bearing rotor in each direction to obtain the synchronous component displacement signal of the magnetic bearing rotor in each direction includes: Based on the real-time displacement signal of the magnetic bearing rotor in each direction, the synchronous component displacement signal of the magnetic bearing rotor in each direction is calculated according to the following formula: X a (k)=(1-α)X a (k-1)+x a (k); Among them, α is a constant; k represents the current moment in the set detection cycle, k-1 represents the previous moment, and X a (k) is the synchronous component displacement signal at the current moment k, X a (k-1) is the synchronous component displacement signal at the previous moment k-1, x a (k) represents the real-time displacement signal.

4. The control method of the magnetic bearing system according to any one of claims 1 to 3, characterized in that: The method includes performing calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction, including: Performing a PD operation based on the asynchronous displacement signal of the magnetic bearing rotor in each direction to obtain a PD operation value of the asynchronous displacement signal in each direction; The product of the preset gyro coupling effect feedback gain coefficient, the real-time rotation speed of the magnetic bearing rotor, and the asynchronous displacement signal PD operation value in each direction is used as the asynchronous signal compensation current operation value in each direction.

5. The control method of the magnetic bearing system according to any one of claims 1 to 3, characterized in that: The control circuit of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: a current differential control circuit of the electromagnetic coil in the radial front X direction, recorded as a first control circuit; a current differential control circuit of the electromagnetic coil in the radial front Y direction, recorded as a second control circuit; a current differential control circuit of the electromagnetic coil in the radial rear X direction, recorded as a third control circuit; and a current differential control circuit of the electromagnetic coil in the radial rear Y direction, recorded as a fourth control circuit; The method comprises: using an asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to compensate a real-time signal current calculation value in another direction of the other three directions except the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, so as to control an operating current of an electromagnetic coil of a magnetic bearing stator in the magnetic bearing system in the other direction, including: For any current control loop among the first control loop, the second control loop, the third control loop, and the fourth control loop, using the asynchronous signal compensation current calculated value in the direction of the current control loop, compensate the real-time signal current calculated value in the direction of a target control loop among the other three control loops to obtain a final current reference value in the direction of the target control loop; The operating current of the electromagnetic coil in the direction of the target control loop is controlled according to the final current reference value in the direction of the target control loop.

6. The control method of the magnetic bearing system according to claim 4, characterized in that: The control circuit of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system includes: a current differential control circuit of the electromagnetic coil in the radial front X direction, recorded as a first control circuit; a current differential control circuit of the electromagnetic coil in the radial front Y direction, recorded as a second control circuit; a current differential control circuit of the electromagnetic coil in the radial rear X direction, recorded as a third control circuit; and a current differential control circuit of the electromagnetic coil in the radial rear Y direction, recorded as a fourth control circuit; The method comprises: using an asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to compensate a real-time signal current calculation value in another direction of the other three directions except the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction, so as to control an operating current of an electromagnetic coil of a magnetic bearing stator in the magnetic bearing system in the other direction, including: For any current control loop among the first control loop, the second control loop, the third control loop, and the fourth control loop, using the asynchronous signal compensation current calculated value in the direction of the current control loop, compensate the real-time signal current calculated value in the direction of a target control loop among the other three control loops to obtain a final current reference value in the direction of the target control loop; The operating current of the electromagnetic coil in the direction of the target control loop is controlled according to the final current reference value in the direction of the target control loop.

7. The control method of the magnetic bearing system according to claim 5, characterized in that: The method comprises: using the asynchronous signal compensation current calculation value in the direction of any current control loop to compensate the real-time signal current calculation value in the direction of a target control loop of the remaining three control loops to obtain a final current reference value in the direction of the target control loop, including: When any current control loop is the first control loop, the fourth control loop is used as the target control loop, that is, the asynchronous signal compensation current calculated value in the direction of the first control loop is used to compensate the real-time signal current calculated value in the direction of the fourth control loop to obtain a final current reference value in the direction of the fourth control loop; When any current control loop is the second control loop, the third control loop is used as the target control loop, that is, the asynchronous signal compensation current calculated value in the direction of the second control loop is used to compensate the real-time signal current calculated value in the direction of the third control loop to obtain a final current reference value in the direction of the third control loop; When any current control loop is the third control loop, the second control loop is used as the target control loop, that is, the real-time signal current calculated value in the direction of the second control loop is compensated by using the asynchronous signal compensation current calculated value in the direction of the third control loop to obtain a final current reference value in the direction of the second control loop; In the case where any of the current control loops is the fourth control loop, the first control loop is taken as the target control loop, that is: the real-time signal current operation value in the direction of the first control loop is compensated by using the asynchronous signal compensation current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the first control loop.

8. The control method of the magnetic bearing system according to claim 6, characterized in that: The method comprises: using the asynchronous signal compensation current calculation value in the direction of any current control loop to compensate the real-time signal current calculation value in the direction of a target control loop of the remaining three control loops to obtain a final current reference value in the direction of the target control loop, including: When any current control loop is the first control loop, the fourth control loop is used as the target control loop, that is, the asynchronous signal compensation current calculated value in the direction of the first control loop is used to compensate the real-time signal current calculated value in the direction of the fourth control loop to obtain a final current reference value in the direction of the fourth control loop; When any current control loop is the second control loop, the third control loop is used as the target control loop, that is, the asynchronous signal compensation current calculated value in the direction of the second control loop is used to compensate the real-time signal current calculated value in the direction of the third control loop to obtain a final current reference value in the direction of the third control loop; When any current control loop is the third control loop, the second control loop is used as the target control loop, that is, the real-time signal current calculated value in the direction of the second control loop is compensated by using the asynchronous signal compensation current calculated value in the direction of the third control loop to obtain a final current reference value in the direction of the second control loop; In the case where any of the current control loops is the fourth control loop, the first control loop is taken as the target control loop, that is: the real-time signal current operation value in the direction of the first control loop is compensated by using the asynchronous signal compensation current operation value in the direction of the fourth control loop to obtain the final current reference value in the direction of the first control loop.

9. A control device for a magnetic bearing system, characterized in that: The magnetic bearing system comprises a front radial bearing and a rear radial bearing; the control device of each radial bearing in the front radial bearing and the rear radial bearing of the magnetic bearing system comprises: an acquisition unit configured to, when the magnetic bearing rotor in the magnetic bearing system is running at a speed greater than a set speed threshold, acquire a real-time displacement signal of the magnetic bearing rotor in each direction of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction of the magnetic bearing rotor; and acquire the real-time speed of the magnetic bearing rotor; a control unit configured to perform calculations based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain a real-time signal current calculation value in each direction; The control unit is further configured to extract an asynchronous component based on the real-time displacement signal of the magnetic bearing rotor in each direction to obtain an asynchronous displacement signal of the magnetic bearing rotor in each direction; The control unit is further configured to perform calculations based on the asynchronous displacement signal of the magnetic bearing rotor in each direction and the real-time rotation speed of the magnetic bearing rotor to obtain an asynchronous signal compensation current calculation value in each direction; The control unit is further configured to use the asynchronous signal compensation current calculation value in any one of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction to compensate the real-time signal current calculation value in another direction of the remaining three directions of the radial front X direction, the radial front Y direction, the radial rear X direction, and the radial rear Y direction except the any one direction, so as to control the operating current of the electromagnetic coil of the magnetic bearing stator in the magnetic bearing system in the other direction.

10. A magnetic bearing system, characterized in that: include: The control device for a magnetic bearing system according to claim 9.

11. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the control method of the magnetic bearing system according to any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for controlling a magnetic bearing system according to any one of claims 1 to 8 are implemented.

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