Magnetic suspension bearing suspension control system and method based on master-slave communication interaction

Abstract

The invention relates to a magnetic suspension bearing suspension control system and method based on master-slave communication interaction. The system comprises a first signal acquisition and processing module, a second signal acquisition and processing module, a suspension control calculation module, a communication module, a PWM output module and a driving module. The first signal acquisition and processing module and the suspension control calculation module are located in the host, and the second signal acquisition and processing module and the PWM output module are located in the slave. According to the system, the host computer and the slave computer work cooperatively, the host computer carries out suspension control calculation, the slave computer collects current and voltage signals, the signals collected by the slave computer are transmitted to the host computer through communication interaction between the host computer and the slave computer to carry out controlled quantity calculation, and the controlled quantity output by the host computer is transmitted to the slave computer to realize closed-loop control of the magnetic suspension bearing. The data processing time of the host and the storage space occupied by the data are reduced, the operation control efficiency of the system is improved, and therefore more efficient and more accurate suspension control is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic bearing suspension control, and in particular to a magnetic bearing suspension control system and method based on master-slave communication interaction. Background Art

[0002] Magnetic bearings are a type of bearing technology without mechanical contact. They use the electromagnetic force generated by a magnetic field to support and suspend rotating parts without the need for traditional mechanical contact. This design eliminates friction and wear, and improves the efficiency and reliability of the system. Therefore, they are often used in industrial fields that require high precision, low noise, low vibration and long life, such as wind turbines, air compressors, etc., and have broad market application prospects.

[0003] Magnetic bearing technology generates a magnetic field by generating current in the bearing to achieve suspension control. In order to reduce wear and collision, the closed-loop suspension control of the system is the key to this technology. Currently, the widely used closed-loop suspension control is usually implemented based on a single controller. A single controller is easy and fast to operate and has certain advantages in closed-loop suspension control. However, a single controller is difficult to be compatible with the requirements of high feedback and high-complexity control of magnetic bearing systems. Summary of the invention

[0004] Based on this, it is necessary to provide a magnetic bearing suspension control system and method based on master-slave communication interaction that can meet the requirements of high feedback and high complexity control of the magnetic bearing system, improve the system's computational control efficiency, and thus achieve more efficient and precise suspension control in response to the above-mentioned technical problems.

[0005] A magnetic bearing suspension control system based on master-slave communication interaction, the system comprising:

[0006] A first signal acquisition and processing module, a second signal acquisition and processing module, a suspension control calculation module, a communication module, a PWM output module, and a drive module; wherein the first signal acquisition and processing module and the suspension control calculation module are located inside the host, and the second signal acquisition and processing module and the PWM output module are located inside the slave;

[0007] The first signal acquisition and processing module is used to collect and process the gap signal between the electromagnet and the rotor output by the integrated sensor in real time; the second signal acquisition and processing module is used to collect and process the current and voltage signals of the magnetic bearing in real time and transmit them to the suspension control calculation module;

[0008] The suspension control calculation module is used to realize the control of the set gap between the electromagnet and the rotor, and performs suspension control calculation according to the gap signal and current and voltage signals collected in real time, and outputs the control quantity;

[0009] The communication module is used to transmit the control quantity output by the suspension control calculation module to the PWM output module for drive signal output control through serial communication, and transmit the current and voltage signals collected by the second signal collection and processing module to the suspension control calculation module for control quantity calculation;

[0010] The PWM output module is used to adjust the PWM output drive signal according to the control amount and send the drive signal to the drive module;

[0011] The drive module is used to output an excitation current to the electromagnet of the magnetic bearing according to the drive signal, control the electromagnetic force of the electromagnet through the excitation current, and control the real-time position of the rotor through the electromagnetic force, thereby realizing closed-loop control of the real-time gap between the electromagnet and the rotor.

[0012] Further, the clearance signal includes two axial clearance signals and four radial clearance signals.

[0013] Further, the system also includes a first fault signal diagnosis and protection module located inside the host, and a second fault signal diagnosis and protection module located inside the slave;

[0014] Among them, the first fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bus voltage, coil current, inter-board temperature, communication, gap, and fan; the second fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bridge arm current, bridge arm open circuit, and bridge arm short circuit.

[0015] Furthermore, the system also includes a host computer interaction module, which is used to realize interaction between the host and the host computer debugging software through serial communication, debug and control the host according to the host computer debugging software, and display key parameters for stable suspension of the magnetic bearing.

[0016] Furthermore, the system also includes an online update module, which is used to send the burning file to the host in hexadecimal data format through the host computer debugging software, and update and maintain the programs and parameters of the host and slave.

[0017] Furthermore, the system also includes a data storage module for reading and writing data sent by the host computer debugging software.

[0018] Furthermore, the system also includes a PLC module for realizing analog-to-digital conversion and input-output control through PLC interaction with the host.

[0019] Furthermore, the system also includes a human-machine interface for interacting with a host computer in a serial communication manner to achieve visual display of the magnetic bearing suspension control.

[0020] Furthermore, the system also includes a special test module for performing a current loop test, an axis position identification test and an impact test on the magnetic bearing.

[0021] A magnetic bearing suspension control method based on master-slave communication interaction, the method comprising:

[0022] The first signal acquisition and processing module acquires and processes the gap signal between the electromagnet and the rotor output by the integrated sensor in real time, and the second signal acquisition and processing module acquires and processes the current and voltage signals of the magnetic bearing in real time, and transmits the current and voltage signals to the suspension control calculation module through the communication module in a serial communication manner;

[0023] The gap signal and the current and voltage signal are input into the suspension control calculation module to perform suspension control calculation, output the control quantity, and transmit the control quantity to the PWM output module through the communication module in a serial communication manner;

[0024] The PWM output module adjusts the PWM output drive signal according to the control quantity, and sends the drive signal to the drive module. The drive signal controls the drive module to output the excitation current to the electromagnet of the magnetic bearing, controls the electromagnetic force of the electromagnet through the excitation current, and controls the real-time position of the rotor through the electromagnetic force, thereby realizing closed-loop control of the real-time gap between the electromagnet and the rotor.

[0025] The above-mentioned magnetic bearing suspension control system and method based on master-slave communication interaction have the following beneficial effects:

[0026] 1. Compared with a single controller for magnetic bearing suspension control, this application realizes closed-loop control of magnetic bearings by integrating the host and slave to work together. The host and slave are responsible for different tasks respectively, thereby improving the responsiveness and stability of the system.

[0027] 2. In the present application, the host performs suspension control calculations, and the slave collects current and voltage signals, and transmits the signals collected by the slave to the host for control quantity calculation through communication interaction between the master and the slave, and transmits the control quantity output by the host to the slave for drive control, thereby reducing the data processing time of the host and the storage space occupied by the data, and improving the calculation and control efficiency of the system, thereby achieving more efficient and more accurate suspension control, thereby reducing the friction and collision of the magnetic suspension bearing, improving its performance and extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural block diagram of a magnetic bearing suspension control system based on master-slave communication interaction in one embodiment;

[0029] Figure 2The figure is a control flow diagram of a magnetic bearing suspension control system based on master-slave communication interaction in one embodiment. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] In one embodiment, Figure 1 As shown, a magnetic bearing suspension control system based on master-slave communication interaction, the system includes:

[0032] A first signal acquisition and processing module, a second signal acquisition and processing module, a suspension control calculation module, a communication module, a PWM (pulse width modulation circuit) output module, and a driving module; wherein the first signal acquisition and processing module and the suspension control calculation module are located inside the host, and the second signal acquisition and processing module and the PWM output module are located inside the slave; wherein the host may adopt DSP (digital signal processing), the slave may adopt PIC single chip microcomputer, and the communication module may adopt MCU (microcontroller) to implement;

[0033] The first signal acquisition and processing module is used to collect and process the gap signal between the electromagnet and the rotor output by the integrated sensor in real time; the second signal acquisition and processing module is used to collect and process the current and voltage signals of the magnetic bearing in real time and transmit them to the suspension control calculation module; the current and voltage signals include input voltage, input current, overcurrent signal and actual current driven by the bridge arm of the magnetic bearing;

[0034] The suspension control calculation module is used to realize the control of the set gap between the electromagnet and the rotor, and performs suspension control calculation according to the gap signal and current and voltage signals collected in real time, and outputs the control quantity;

[0035] The communication module is used to transmit the control quantity output by the suspension control calculation module to the PWM output module for drive signal output control through serial communication, and transmit the current and voltage signals collected by the second signal collection and processing module to the suspension control calculation module for control quantity calculation;

[0036] The PWM output module is used to adjust the PWM output drive signal according to the control amount and send the drive signal to the drive module;

[0037] The drive module is used to output the excitation current to the electromagnet of the magnetic bearing according to the drive signal, control the electromagnetic force of the electromagnet through the excitation current, and control the real-time position of the rotor through the electromagnetic force, so as to realize the closed-loop control of the real-time gap between the electromagnet and the rotor. Specifically, the control is divided into axial control and radial control. The axial control controls the axial position of the rotor by driving two axial bearing coils, and the radial control controls the radial position and posture of the rotor by driving two radial bearings with a total of 4 sets of coils.

[0038] The control process of the magnetic bearing suspension control system based on the master-slave communication interaction is as follows: Figure 2 As shown, the specific process includes: according to the set gap between the electromagnet and the rotor, and by reading the collected gap signal and current and voltage signal, suspension control calculation is performed, a control quantity is output and a drive signal is output according to the control quantity, an excitation current is output to the electromagnet of the magnetic bearing according to the drive signal, the electromagnetic force of the electromagnet is controlled by the excitation current, and the real-time position of the rotor is controlled by the electromagnetic force, and the gap signal between the electromagnet and the rotor collected in real time is fed back to perform suspension control calculation, so as to realize closed-loop control of the real-time gap between the electromagnet and the rotor.

[0039] Further, the clearance signal includes two axial clearance signals and four radial clearance signals.

[0040] Furthermore, the system also includes a first fault signal diagnosis and protection module located inside the host and a second fault signal diagnosis and protection module located inside the slave. The first fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bus voltage, coil current, inter-board temperature, communication, gap, and fan; the second fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bridge arm current, bridge arm open circuit, and bridge arm short circuit.

[0041] Furthermore, the system also includes a host computer interaction module, which is used to realize the interaction between the host and the host computer debugging software through serial communication, debug and control the host according to the host computer debugging software, and display the key parameters of the stable suspension of the magnetic bearing. The host computer interaction module is located inside the host.

[0042] Furthermore, the system also includes an online update module, which is used to send the burning file to the host in hexadecimal data format through the host debugging software, and update and maintain the programs and parameters of the host and the slave. Among them, the online update module is implemented based on the RS232 standard communication interface. Among them, the online update module is located inside the host.

[0043] Furthermore, the system also includes a data storage module, which is used to store data sent by the host computer debugging software by reading and writing the storage chip in the host. Figure 1 As shown, the data storage module includes an RTC (real time clock) and an EEPROM (electrically erasable programmable read-only memory).

[0044] Furthermore, the system also includes a PLC module (Programmable Logic Controller) for implementing analog-to-digital conversion (DA) and input-output (I / O) control through PLC interaction with a host.

[0045] Furthermore, the system also includes a human-machine interface (HMI) for interacting with a host computer in a serial communication manner to achieve visual display of the magnetic bearing suspension control.

[0046] Furthermore, a special test module can be installed in the system to perform current loop test, axis position identification test and impact test on the magnetic bearing.

[0047] In one embodiment, a magnetic bearing suspension control method based on master-slave communication interaction is provided, comprising the following steps:

[0048] The first signal acquisition and processing module acquires and processes the gap signal between the electromagnet and the rotor output by the integrated sensor in real time, and the second signal acquisition and processing module acquires and processes the current and voltage signals of the magnetic bearing in real time, and transmits the current and voltage signals to the suspension control calculation module through the communication module in a serial communication manner;

[0049] The gap signal and the current and voltage signal are input into the suspension control calculation module to perform suspension control calculation, output the control quantity, and transmit the control quantity to the PWM output module through the communication module in a serial communication manner;

[0050] The PWM output module adjusts the PWM output drive signal according to the control quantity, and sends the drive signal to the drive module. The drive signal controls the drive module to output the excitation current to the electromagnet of the magnetic bearing, controls the electromagnetic force of the electromagnet through the excitation current, and controls the real-time position of the rotor through the electromagnetic force, thereby realizing closed-loop control of the real-time gap between the electromagnet and the rotor.

[0051] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A magnetic bearing suspension control system based on master-slave communication interaction, It is characterized in that The system comprises: a first signal acquisition and processing module, a second signal acquisition and processing module, a suspension control calculation module, a communication module, a PWM output module, and a driving module; wherein the first signal acquisition and processing module and the suspension control calculation module are located inside the host, and the second signal acquisition and processing module and the PWM output module are located inside the slave; The first signal acquisition and processing module is used to acquire and process the gap signal between the electromagnet and the rotor output by the integrated sensor in real time; the second signal acquisition and processing module is used to acquire and process the current and voltage signals of the magnetic bearing in real time and transmit them to the suspension control calculation module; The suspension control calculation module is used to realize the control of the set gap between the electromagnet and the rotor, and performs suspension control calculation according to the gap signal and current and voltage signals collected in real time, and outputs the control amount; The communication module is used to transmit the control quantity output by the suspension control calculation module to the drive signal output module for drive signal output control through serial communication, and transmit the current and voltage signals collected by the second signal collection and processing module to the suspension control calculation module for control quantity calculation; The PWM output module is used to adjust the PWM output drive signal according to the control amount, and send the drive signal to the drive module; The driving module is used to output an excitation current to the electromagnet of the magnetic bearing according to the driving signal, control the electromagnetic force of the electromagnet through the excitation current, and control the real-time position of the rotor through the electromagnetic force, thereby realizing closed-loop control of the real-time gap between the electromagnet and the rotor.

2. According to claim 1, the magnetic bearing suspension control system based on master-slave communication interaction, It is characterized in that The clearance signals include two axial clearance signals and four radial clearance signals.

3. According to claim 1, the magnetic bearing suspension control system based on master-slave communication interaction, It is characterized in that The system also includes a first fault signal diagnosis and protection module located inside the host, and a second fault signal diagnosis and protection module located inside the slave; Among them, the first fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bus voltage, coil current, inter-board temperature, communication, gap, and fan; the second fault signal diagnosis and protection module is used to perform fault diagnosis and protection on bridge arm current, bridge arm open circuit, and bridge arm short circuit.

4. According to claim 1, the magnetic bearing suspension control system based on master-slave communication interaction, It is characterized in that The system also includes a host computer interaction module, which is used to realize the interaction between the host and the host computer debugging software through serial communication, debug and control the host according to the host computer debugging software, and display the key parameters of the stable suspension of the magnetic bearing.

5. According to claim 1, the magnetic bearing suspension control system based on master-slave communication interaction, It is characterized in that The system also includes an online update module, which is used to send the burning file to the host in hexadecimal data format through the upper computer debugging software, and update and maintain the programs and parameters of the host and slave.

6. The magnetic bearing suspension control system based on master-slave communication interaction according to claim 1, It is characterized in that The system also includes a data storage module for reading and writing data sent by the host computer debugging software.

7. The magnetic bearing suspension control system based on master-slave communication interaction according to claim 1, It is characterized in that The system also includes a PLC module, which is used to realize analog-to-digital conversion and input-output control through PLC interaction with the host.

8. The magnetic bearing suspension control system based on master-slave communication interaction according to claim 1, It is characterized in that The system also includes a human-machine interface, which is used to interact with a host computer in a serial communication manner to achieve visual display of the magnetic bearing suspension control.

9. The magnetic bearing suspension control system based on master-slave communication interaction according to claim 1, It is characterized in that The system also includes a special test module for performing a current loop test, an axis position identification test and an impact test on the magnetic bearing.

10. A magnetic bearing suspension control method based on master-slave communication interaction, It is characterized in that The magnetic bearing suspension control system based on master-slave communication interaction according to any one of claims 1 to 9 is adopted, and the method comprises: The first signal acquisition and processing module acquires and processes the gap signal between the electromagnet and the rotor output by the integrated sensor in real time, and the second signal acquisition and processing module acquires and processes the current and voltage signals of the magnetic bearing in real time, and transmits the current and voltage signals to the suspension control calculation module by serial communication through the communication module; Input the gap signal and the current and voltage signal into the suspension control calculation module to perform suspension control calculation, output the control amount, and transmit the control amount to the PWM output module through the communication module in a serial communication manner; The PWM output module adjusts the PWM output drive signal according to the control quantity, and sends the drive signal to the drive module. The drive signal controls the drive module to output an excitation current to the electromagnet of the magnetic bearing, controls the electromagnetic force of the electromagnet by the excitation current, and controls the real-time position of the rotor by the electromagnetic force, thereby realizing closed-loop control of the real-time gap between the electromagnet and the rotor.

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