A sensorless magnetic bearing

Abstract

The present invention discloses a sensorless magnetic suspension bearing, which relates to the technical field of sensorless magnetic suspension bearings, including a back electromotive force control system, wherein the back electromotive force control system includes an electromagnetic coil a, an electromagnetic coil b, an electromagnet a, an electromagnet b, a power amplifier a, a power amplifier b, a single chip microcomputer, a PID position controller, a narrow band filter, a multiplier and a comparison amplifier. The sensorless magnetic suspension bearing described in the present invention applies the back electromotive force sensing technology, and the displacement of the magnetic suspension rotating shaft in the system is obtained according to the current or voltage signal of the electromagnetic coil on the electromagnet. Since no displacement sensor is required, the axial size of the rotor of the magnetic suspension bearing is reduced, and the dynamic performance of the system is improved, which is particularly suitable for operation in high-speed occasions. The sensorless magnetic suspension bearing omits the position sensor in the prior art, and the design is relatively simplified, and there are fewer connectors and related cables in the circuit, which reduces the manufacturing cost of the bearing and has good stability performance.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic suspension bearings, in particular to a sensorless magnetic suspension bearing. Background Art

[0002] Magnetic bearings are a type of bearing that uses magnetic force to suspend the rotor in the air, so that there is no mechanical contact between the rotor and the stator. In the prior art, the magnetic bearing system detects the deviation signal of the rotor shaft through a position sensor. When the rotor is disturbed and deviates from its reference position, the sensor detects the displacement of the rotor from the reference point and transmits this displacement signal to the controller. After receiving the signal, the controller calculates and outputs a control signal, controls the coil current through a power amplifier, and adjusts the magnitude of the electromagnetic force, thereby stably suspending the rotor in the working position.

[0003] In order to realize the position controllability of the magnetic suspension system, it is necessary to establish a closed-loop feedback control system, namely, a magnetic bearing displacement detection system. At present, most of the displacement sensor feedback control systems are used in China. Due to the presence of the displacement sensor, the axial size of the magnetic suspension bearing becomes larger, the dynamic performance of the system is reduced, and the cost is high and the reliability is low. In addition, the transmission accuracy and capacity of this type of bearing depend on the performance quality of the sensor. The price of high-performance sensors is also high, which leads to high overall preparation costs of magnetic suspension bearings, greatly limiting the application of magnetic suspension bearings in industry. In addition, the existing magnetic suspension bearings also have high assembly accuracy requirements, which brings great difficulties to the assembly operation. Summary of the invention

[0004] The purpose of the present invention is to provide a sensorless magnetic bearing in order to solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a sensorless magnetic suspension bearing, comprising a back electromotive force control system, the back electromotive force control system comprising an electromagnetic coil a, an electromagnetic coil b, an electromagnet a, an electromagnet b, a power amplifier a, a power amplifier b, a single-chip microcomputer, a PID position controller, a narrow-band filter, a multiplier and a comparison amplifier, the magnetic suspension rotating shaft is arranged between the electromagnet a and the electromagnet b, the electromagnetic coil a is wound on the electromagnet a, the electromagnetic coil b is wound on the electromagnet b, the electromagnetic coil a and the electromagnetic coil b are both connected to a comparison amplifier, the comparison amplifier is sequentially connected to the single-chip microcomputer and the PID position controller through a narrow-band filter and a multiplier, the PID position controller is respectively connected to and controls the electromagnetic coil a and the electromagnetic coil b through the power amplifier a and the power amplifier b;

[0006] When the magnetic suspension rotating shaft deviates downward, due to the change of the air gap between the electromagnet a and the electromagnet b, the reverse electromotive force e generated by the electromagnetic coil a and the electromagnetic coil b respectively1 and e 2 , reverse electromotive force e 1 and e 2 The current i in electromagnetic coil a and electromagnetic coil b is changed respectively. 1 and i 2 , the changed current i 1 and i 2 The voltage u is applied to the comparator amplifier. 1 and u 2 , voltage u 1 and u 2 After superposition, an output voltage u is generated. After the output voltage u passes through a narrowband filter, it is multiplied by a synchronous square wave, and a rectifier current output position change signal is formed through a multiplier, that is, a detection position signal is generated and output. The detection position signal enters the single-chip microcomputer, and is compared with the pre-stored reference position signal in the single-chip microcomputer to obtain a difference, which is passed to the PID position controller. The PID position controller sends the compensated and amplified displacement detection output signal to the power amplifier a and the power amplifier b respectively, generates a control current, and then adjusts the magnetic field strength of the electromagnet a and the electromagnet b, controls the magnetic suspension rotating axis to always be in the center position between the electromagnet a and the electromagnet b, and realizes the purpose of position adjustment of the magnetic suspension rotating axis.

[0007] As a further solution of the present invention: the electromagnet a and the electromagnet b are symmetrically arranged in pairs around the magnetic suspension rotation axis, and the number of the electromagnet a and the electromagnet b is 2-8 pairs.

[0008] As a further solution of the present invention: the magnetic bearing includes a mounting block and a mounting frame, the two mounting frames are respectively located on both sides of the mounting block, the inner side of the mounting block is fixedly connected to a connecting block, the outer wall of the connecting block is sleeved with a winding skeleton, the winding skeleton is installed on the outer wall of the connecting block through a mounting mechanism, the mounting block and the mounting frame are connected through a docking mechanism, the mounting mechanism includes a positioning frame, the positioning frame is sleeved on the outer wall of the connecting block and is located at one end of the winding skeleton, the interior of the connecting block is symmetrically slidably connected to a fixed block extending from the connecting block, the outer wall of the fixed block is fixedly connected to an elastic sheet, the interior of the connecting block is slidably connected to a movable frame, the two sides of the movable frame are respectively in contact with the two fixed blocks, and the top of the movable frame is fixedly connected to a round rod.

[0009] As a further solution of the present invention: the mounting mechanism also includes an arc groove, the arc groove is opened on the outer wall of the mounting block, the inner wall of the arc groove is opened with a limiting groove, the inner wall of the arc groove is slidably connected with an arc block, the outer wall of the arc block is fixedly connected with the limiting block, the limiting block is located on the inner wall of the limiting groove, the bottom end of the arc block is fixedly connected with a vertical plate, the outer wall of the vertical plate is opened with an oblique groove, and the round rod is slidably connected to the inner wall of the oblique groove.

[0010] As a further solution of the present invention: the docking mechanism includes a connecting column, which is symmetrically inserted through the outer wall of the mounting block and rotatably connected thereto; a rotating ring is fixedly connected to the middle of the outer wall of the connecting column; protrusions are fixedly connected to the tops of both ends of the connecting column; grooves are provided on the outer walls of both ends of the connecting column; a connecting hole is provided on the outer wall of the mounting frame; a circular groove is provided on the outer wall of the mounting frame at one end of the connecting hole; a vertical groove connected to the circular groove is provided on the inner wall of the connecting hole; an insert block is symmetrically fixedly connected to the outer wall of the positioning frame; and a slot is provided on the inner circle of the mounting frame.

[0011] As a further solution of the present invention: the inner wall of the positioning frame is in contact with the outer wall of the connecting block, and one end of the fixing block extending out of the connecting block is provided with a first inclined surface.

[0012] As a further solution of the present invention: the outer wall of the arc block fits with the inner wall of the arc groove, the inner wall of the limiting groove fits with the outer wall of the limiting block, and the limiting block is arc-shaped.

[0013] As a further solution of the present invention: the inclined groove is inclined, and the inner wall of the inclined groove fits with the outer wall of the round rod.

[0014] As a further solution of the present invention: the movable frame is in a mountain shape and includes a middle support arm and two side support arms located on both sides of the middle support arm, wherein the upper end of the middle support arm is connected to a round rod, and the bottom end of the fixed block is provided with a second inclined surface, and the upper ends of the two side support arms of the movable frame are respectively in contact with the second inclined surface.

[0015] As a further solution of the present invention: the outer wall of the connecting column fits with the inner wall of the connecting hole, the outer wall of the protrusion fits with the inner wall of the vertical groove; the outer wall of the insert block fits with the inner wall of the slot.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The sensorless magnetic bearing of the present invention uses back electromotive force sensing technology. The displacement of the magnetic suspension rotating shaft in the system is obtained according to the current or voltage signal of the electromagnetic coil on the electromagnet. Since no displacement sensor is required, the axial size of the magnetic suspension bearing rotor is reduced, and the dynamic performance of the system is improved, which is particularly suitable for operation in high-speed occasions. The sensorless magnetic bearing omits the position sensor in the prior art, and the design is relatively simple. There are fewer connectors and related cables in the line, which reduces the bearing manufacturing cost and has good stability performance.

[0018] 2. By setting up the installation mechanism and the docking mechanism, the parts in the docking mechanism cooperate, and the four installation blocks are installed between the two installation frames. Then, the winding skeleton is installed on the connecting block through the cooperation of the parts in the installation mechanism. At the same time, the installation block and the installation frame are automatically reinforced to complete the assembly of the magnetic levitation bearing, which is convenient for the assembly operation of the magnetic levitation bearing, and the assembly is simple and the assembly accuracy can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the back electromotive force control system of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the magnetic suspension bearing of the present invention;

[0021] Figure 3 It is a schematic diagram of the split structure of the magnetic bearing of the present invention;

[0022] Figure 4 It is a schematic diagram of the installation of the winding frame of the present invention;

[0023] Figure 5 It is a schematic diagram of the internal structure of the mounting block and the connecting block of the present invention;

[0024] Figure 6 It is a schematic diagram of the assembly structure of the arc block, the movable frame and the round rod of the present invention;

[0025] Figure 7 It is a schematic diagram of the installation of the connecting column of the present invention;

[0026] Figure 8 It is a schematic diagram of the internal structure of the mounting frame of the present invention;

[0027] Fig. 9 For the present invention Figure 8 Enlarged view of point A in the middle.

[0028] In the figure: 1, magnetic suspension rotating shaft; 101, electromagnetic coil a; 102, electromagnet a; 103, power amplifier a; 201, electromagnetic coil b; 202, electromagnet b; 203, power amplifier b; 301, single chip microcomputer; 302, PID position controller; 401, comparison amplifier; 402, narrow band filter; 403, multiplier; 5, mounting block; 6, mounting frame; 7, connecting block; 8, mounting mechanism; 801, positioning frame; 80 2. Fixed block; 803. Elastic sheet; 804. Movable frame; 805. Round rod; 806. Arc groove; 807. Limiting groove; 808. Arc block; 809. Limiting block; 810. Vertical plate; 811. Oblique groove; 9. Docking mechanism; 901. Connecting column; 902. Rotating ring; 903. Groove; 904. Protrusion; 905. Connecting hole; 906. Round groove; 907. Vertical groove; 908. Insert block; 909. Slot; 10. Winding frame. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0031] See also Figures 1 to 9In an embodiment of the present invention, a sensorless magnetic suspension bearing includes a back electromotive force control system, wherein the back electromotive force control system includes an electromagnetic coil a101, an electromagnetic coil b201, an electromagnet a102, an electromagnet b202, a power amplifier a103, a power amplifier b203, a single chip computer 301, a PID position controller 302, a narrow band filter 402, a multiplier 403 and a comparison amplifier 401, a magnetic suspension rotating shaft 1 is arranged between the electromagnet a102 and the electromagnet b202, and the electromagnetic coil a101 is arranged between the electromagnet a102 and the electromagnet b202. The coil a101 is wound around the electromagnet a102, and the electromagnetic coil b201 is wound around the electromagnet b202. The electromagnetic coil a101 and the electromagnetic coil b201 are both connected to a comparison amplifier 401. The comparison amplifier 401 is sequentially connected to a single-chip computer 301 and a PID position controller 302 through a narrowband filter 402 and a multiplier 403. The PID position controller 302 is respectively connected to and controls the electromagnetic coil a101 and the electromagnetic coil b201 through a power amplifier a103 and a power amplifier b203.

[0032] When the magnetic suspension rotating axis 1 deviates downward, due to the change of the air gap in the electromagnet a102 and the electromagnet b202, the reverse electromotive force e generated by the electromagnetic coil a101 and the electromagnetic coil b201 respectively 1 and e 2 , reverse electromotive force e 1 and e 2 The current i in the electromagnetic coil a101 and the electromagnetic coil b201 are changed respectively. 1 and i 2 , the changed current i 1 and i 2 The voltage u is applied to the comparator amplifier 401. 1 and u 2 , voltage u 1 and u 2 After superposition, an output voltage u is generated. After the output voltage u passes through a narrowband filter 402, it is multiplied by a synchronous square wave, and a rectified current output position change signal is formed through a multiplier 403, that is, a detection position signal is generated and output. The detection position signal enters the single-chip microcomputer 301, and is compared with the pre-stored reference position signal in the single-chip microcomputer 301 to obtain a difference, and the difference is transmitted to the PID position controller 302. The PID position controller 302 sends the compensated and amplified displacement detection output signal to the power amplifier a103 and the power amplifier b203 respectively, to generate a control current, and then adjust the magnetic field strength of the electromagnet a102 and the electromagnet b202, so as to control the magnetic suspension rotating axis 1 to always be in the center position between the electromagnet a102 and the electromagnet b202, thereby achieving the purpose of position adjustment of the magnetic suspension rotating axis 1.

[0033] Electromagnet a102 and electromagnet b202 are symmetrically arranged in pairs around the magnetic suspension rotating shaft 1, and the number of electromagnet a102 and electromagnet b202 is 4 pairs. The sensorless magnetic suspension bearing omits the position sensor set in the prior art, and instead extracts the rotor position information from the voltage and current data of the magnetic suspension bearing electromagnetic coil. The displacement of the magnetic suspension rotating shaft 1 in the sensorless magnetic suspension bearing system is obtained based on the current or voltage signal on the electromagnetic coil. Since no displacement sensor is required, the axial size of the magnetic suspension bearing rotor is reduced, and the dynamic performance of the system is improved, which is particularly suitable for operation in occasions requiring high-speed transmission.

[0034] Please refer to Figures 2 to 9 The magnetic bearing includes a mounting block 5 and a mounting frame 6. The two mounting frames 6 are respectively located on both sides of the mounting block 5. A connecting block 7 is fixedly connected to the inner side of the mounting block 5. A winding skeleton 10 is sleeved on the outer wall of the connecting block 7. The winding skeleton 10 is installed on the outer wall of the connecting block 7 through a mounting mechanism 8. The mounting block 5 and the mounting frame 6 are connected through a docking mechanism 9.

[0035] In this embodiment, when assembling the magnetic bearing, four mounting blocks 5 are mounted between two mounting frames 6, and then the winding skeleton 10 is mounted on the connecting block 7 to complete the assembly of the magnetic bearing.

[0036] Please refer to Figures 2 to 6 The mounting mechanism 8 includes a positioning frame 801, which is sleeved on the outer wall of the connecting block 7 and is located at one end of the winding skeleton 10. The interior of the connecting block 7 is symmetrically slidably connected to a fixed block 802 extending from the connecting block 7. The outer wall of the fixed block 802 is fixedly connected to an elastic sheet 803. The interior of the connecting block 7 is slidably connected to a movable frame 804. The two sides of the movable frame 804 are respectively in contact with the two fixed blocks 802. The top of the movable frame 804 is fixedly connected to a round rod 805. The mounting mechanism 8 It also includes an arc groove 806, which is opened on the outer wall of the mounting block 5, and the inner wall of the arc groove 806 is opened with a limiting groove 807, the inner wall of the arc groove 806 is slidably connected with an arc block 808, the outer wall of the arc block 808 is fixedly connected with a limiting block 809, the limiting block 809 is located on the inner wall of the limiting groove 807, the bottom end of the arc block 808 is fixedly connected with a vertical plate 810, the outer wall of the vertical plate 810 is opened with an inclined groove 811, and the round rod 805 is slidably connected to the inner wall of the inclined groove 811.

[0037] In this embodiment: when installing the winding skeleton 10, the winding skeleton 10 is sleeved on the outer wall of the connecting block 7, and the winding skeleton 10 pushes the positioning frame 801 to slide on the outer wall of the connecting block 7 until the positioning frame 801 contacts the mounting block 5 and stops. At this time, the fixing block 802 is moved out of the connecting block 7 and contacts the winding skeleton 10 under the elastic force of the elastic sheet 803, and the positioning frame 801 and the fixing block 802 clamp the winding skeleton 10 on the connecting block 7.

[0038] When the winding skeleton 10 is to be dismantled, the arc block 808 is pushed to slide in the arc groove 806. At this time, the limit block 809 slides in the limit groove 807 to limit the movement of the arc block 808. The displacement of the arc block 808 drives the vertical plate 810 to move. At this time, the round rod 805 slides in the inclined groove 811. The displacement of the round rod 805 drives the movable frame 804 to move. The displacement of the movable frame 804 drives the fixed block 802 to move and retract into the connecting block 7, so that the fixed block 802 is displaced and separated from the winding skeleton 10, and the fixation of the winding skeleton 10 can be cancelled.

[0039] Please refer to Figures 4 to 9 The docking mechanism 9 includes a connecting column 901, which symmetrically penetrates and is rotatably connected to the outer wall of the mounting block 5. A rotating ring 902 is fixedly connected to the middle of the outer wall of the connecting column 901. The tops of both ends of the connecting column 901 are fixedly connected to protrusions 904. Grooves 903 are provided on the outer walls of both ends of the connecting column 901. A connecting hole 905 is provided on the outer wall of the mounting frame 6. A circular groove 906 is provided on the outer wall of the mounting frame 6 at one end of the connecting hole 905. A vertical groove 907 connected to the circular groove 906 is provided on the inner wall of the connecting hole 905. Insert blocks 908 are symmetrically fixedly connected to the outer wall of the positioning frame 801. A slot 909 is provided on the inner circle of the mounting frame 6.

[0040] In this embodiment: when assembling the mounting block 5 and the mounting frame 6, the connecting column 901 is inserted into the connecting hole 905. At this time, the protrusion 904 slides in the vertical groove 907 until the mounting block 5 and the mounting frame 6 are fitted together, and the protrusion 904 enters the circular groove 906. The connecting column 901 is rotated. The rotation of the connecting column 901 drives the protrusion 904 to rotate into the inner cavity of the circular groove 906 and separate from the vertical groove 907, thereby fixing the mounting block 5 and the mounting frame 6 for docking.

[0041] After the assembly of the mounting block 5 and the mounting frame 6 is completed, the winding frame 10 can be installed. The winding frame 10 pushes the positioning frame 801 to move, and the positioning frame 801 moves to fit the mounting block 5 and the mounting frame 6. The positioning frame 801 moves to drive the insert block 908 to move, and the insert block 908 moves and inserts into the slot 909 to reinforce the mounting block 5 and the mounting frame 6 to prevent the mounting block 5 and the mounting frame 6 from loosening during use.

[0042] Please refer to Figures 2 to 6 The inner wall of the positioning frame 801 is in contact with the outer wall of the connecting block 7 , and one end of the fixing block 802 extending out of the connecting block 7 is provided with a first inclined surface.

[0043] In this embodiment: the winding skeleton 10 is sleeved on the outer wall of the connecting block 7, the winding skeleton 10 contacts the first inclined surface, the fixed block 802 is pushed into the connecting block 7, the elastic sheet 803 is squeezed, and the winding skeleton 10 pushes the positioning frame 801 to slide on the outer wall of the connecting block 7 until the positioning frame 801 contacts the mounting block 5 and stops. At this time, the fixed block 802 is displaced out of the connecting block 7 and contacts the winding skeleton 10 under the elastic force of the elastic sheet 803, and the positioning frame 801 and the fixed block 802 clamp the winding skeleton 10 on the connecting block 7.

[0044] Please refer to Figures 2 to 6 The outer wall of the arc block 808 fits with the inner wall of the arc groove 806, and the inner wall of the limiting groove 807 fits with the outer wall of the limiting block 809, and the shape of the limiting block 809 is arc-shaped.

[0045] In this embodiment: the arc block 808 is pushed to slide in the arc groove 806 , and at this time, the limit block 809 slides in the limit groove 807 to limit the movement of the arc block 808 .

[0046] Please refer to Figures 2 to 6 The inclined groove 811 is inclined, and the inner wall of the inclined groove 811 is in contact with the outer wall of the round rod 805. The movable frame 804 is in a mountain shape and includes a middle support arm and two side support arms located on both sides of the middle support arm, wherein the upper end of the middle support arm is connected to the round rod 805, and the bottom end of the fixed block 802 is provided with a second inclined surface, and the upper ends of the two side support arms of the movable frame 804 are respectively in contact with the second inclined surface.

[0047] In this embodiment: the displacement of the arc block 808 drives the vertical plate 810 to move, and the round rod 805 slides in the inclined groove 811. The displacement of the round rod 805 drives the movable frame 804 to move, and the displacement of the movable frame 804 pushes the fixed block 802 to move, and the fixed block 802 moves and separates from the winding skeleton 10, thereby canceling the fixation of the winding skeleton 10.

[0048] Please refer to Figures 4 to 9 The outer wall of the connecting column 901 fits with the inner wall of the connecting hole 905 , and the outer wall of the protrusion 904 fits with the inner wall of the vertical groove 907 .

[0049] In this embodiment: the connecting column 901 is inserted into the connecting hole 905, and the protrusion 904 slides in the vertical groove 907 until the mounting block 5 and the mounting frame 6 are fitted together, and the protrusion 904 enters the circular groove 906. The connecting column 901 is rotated, and the rotation of the connecting column 901 drives the protrusion 904 to rotate into the inner cavity of the circular groove 906 and separate from the vertical groove 907, thereby fixing the mounting block 5 and the mounting frame 6 for docking.

[0050] Please refer to Figures 4 to 9 , the outer wall of the plug block 908 fits with the inner wall of the slot 909 .

[0051] In this embodiment: when the winding skeleton 10 is installed, the winding skeleton 10 pushes the positioning frame 801 to move, and the positioning frame 801 moves to fit the mounting block 5 and the mounting frame 6. The displacement of the positioning frame 801 drives the insertion block 908 to move, and the insertion block 908 moves and is inserted into the slot 909 to reinforce the mounting block 5 and the mounting frame 6.

[0052] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A sensorless magnetic bearing, characterized in that: The invention comprises a back electromotive force control system, wherein the back electromotive force control system comprises an electromagnetic coil a (101), an electromagnetic coil b (201), an electromagnet a (102), an electromagnet b (202), a power amplifier a (103), a power amplifier b (203), a single chip computer (301), a PID position controller (302), a narrow band filter (402), a multiplier (403) and a comparison amplifier (401), wherein a magnetic suspension rotating shaft (1) is arranged between the electromagnet a (102) and the electromagnet b (202), and the electromagnetic coil a (101) is wound around the electromagnet a. (102), an electromagnetic coil b (201) is wound on an electromagnet b (202), the electromagnetic coil a (101) and the electromagnetic coil b (201) are both connected to a comparison amplifier (401), the comparison amplifier (401) is sequentially connected to a single-chip computer (301) and a PID position controller (302) via a narrowband filter (402) and a multiplier (403), the PID position controller (302) is respectively connected to and controls the electromagnetic coil a (101) and the electromagnetic coil b (201) via a power amplifier a (103) and a power amplifier b (203); When the magnetic suspension rotating axis (1) deflects downward, due to the change of the air gap in the electromagnet a (102) and the electromagnet b (202), the electromagnetic coil a (101) and the electromagnetic coil b (201) respectively generate reverse electromotive forces e1 and e2, and the reverse electromotive forces e1 and e2 respectively change the currents i1 and i2 in the electromagnetic coil a (101) and the electromagnetic coil b (201). The changed currents i1 and i2 are applied to the comparison amplifier (401) to generate voltages u1 and u2. The voltages u1 and u2 are superimposed to generate an output voltage u. The output voltage u passes through a narrowband filter (402) and is multiplied by a synchronous square wave. A rectified current output position change signal is formed through a multiplier (403), that is, A detection position signal is generated and output, and the detection position signal enters the single-chip microcomputer (301), and is compared with a pre-stored reference position signal in the single-chip microcomputer (301) to obtain a difference, and the difference is transmitted to a PID position controller (302). The PID position controller (302) sends the compensated and amplified displacement detection output signal to a power amplifier a (103) and a power amplifier b (203) respectively, to generate a control current, thereby adjusting the magnetic field strength of the electromagnet a (102) and the electromagnet b (202), and controlling the magnetic suspension rotating shaft (1) to always be in a central position between the electromagnet a (102) and the electromagnet b (202), thereby achieving the purpose of position adjustment of the magnetic suspension rotating shaft (1); The invention comprises a mounting block (5) and a mounting frame (6), wherein the two mounting frames (6) are respectively located on two sides of the mounting block (5), the inner side of the mounting block (5) is fixedly connected to a connecting block (7), the outer wall of the connecting block (7) is sleeved with a winding frame (10), the winding frame (10) is mounted on the outer wall of the connecting block (7) via a mounting mechanism (8), the mounting block (5) and the mounting frame (6) are connected via a docking mechanism (9), the mounting mechanism (8) comprises a positioning frame (801), the positioning frame (802) is connected to the outer wall of the connecting block (7), and the positioning frame (803) is connected to the outer wall of the connecting block (7). 01) is sleeved on the outer wall of the connecting block (7) and is located at one end of the winding skeleton (10), the interior of the connecting block (7) is symmetrically slidably connected to a fixed block (802) extending from the connecting block (7), the outer wall of the fixed block (802) is fixedly connected to an elastic sheet (803), the interior of the connecting block (7) is slidably connected to a movable frame (804), the two sides of the movable frame (804) are respectively in contact with the two fixed blocks (802), and the top of the movable frame (804) is fixedly connected to a round rod (805); The mounting mechanism (8) further comprises an arcuate groove (806), wherein the arcuate groove (806) is provided on the outer wall of the mounting block (5), a limiting groove (807) is provided on the inner wall of the arcuate groove (806), an arcuate block (808) is slidably connected to the inner wall of the arcuate groove (806), the outer wall of the arcuate block (808) is fixedly connected to a limiting block (809), the limiting block (809) is located on the inner wall of the limiting groove (807), a vertical plate (810) is fixedly connected to the bottom end of the arcuate block (808), an oblique groove (811) is provided on the outer wall of the vertical plate (810), and the round rod (805) is slidably connected to the inner wall of the oblique groove (811).

2. A sensorless magnetic bearing according to claim 1, characterized in that: The electromagnet a (102) and the electromagnet b (202) are symmetrically arranged in pairs around the magnetic suspension rotation axis (1), and the number of the electromagnet a (102) and the electromagnet b (202) is 2-8 pairs.

3. The sensorless magnetic bearing according to claim 1, characterized in that: The docking mechanism (9) comprises a connecting column (901), the connecting column (901) symmetrically penetrates and is rotatably connected to the outer wall of the mounting block (5), a rotating ring (902) is fixedly connected to the middle of the outer wall of the connecting column (901), and protrusions (904) are fixedly connected to the tops of both ends of the connecting column (901), and grooves (903) are provided on the outer walls of both ends of the connecting column (901), a connecting hole (905) is provided on the outer wall of the mounting frame (6), a circular groove (906) is provided on the outer wall of the mounting frame (6) at one end of the connecting hole (905), and a vertical groove (907) connected to the circular groove (906) is provided on the inner wall of the connecting hole (905), and an insert block (908) is symmetrically fixedly connected to the outer wall of the positioning frame (801), and a slot (909) is provided on the inner ring of the mounting frame (6).

4. The sensorless magnetic bearing according to claim 1, characterized in that: The inner wall of the positioning frame (801) is in contact with the outer wall of the connecting block (7), and one end of the fixing block (802) extending out of the connecting block (7) is provided with a first inclined surface.

5. The sensorless magnetic bearing according to claim 1, characterized in that: The outer wall of the arc block (808) fits with the inner wall of the arc groove (806), the inner wall of the limiting groove (807) fits with the outer wall of the limiting block (809), and the limiting block (809) is in an arc shape.

6. The sensorless magnetic bearing according to claim 1, characterized in that: The inclined groove (811) is inclined, and the inner wall of the inclined groove (811) fits the outer wall of the round rod (805).

7. The sensorless magnetic bearing according to claim 1, characterized in that: The movable frame (804) is in a mountain shape and comprises a middle support arm and two side support arms located on both sides of the middle support arm, wherein the upper end of the middle support arm is connected to a round rod (805), the bottom end of the fixed block (802) is provided with a second inclined surface, and the upper ends of the two side support arms of the movable frame (804) are respectively in contact with the second inclined surface.

8. The sensorless magnetic bearing according to claim 3, characterized in that: The outer wall of the connecting column (901) fits with the inner wall of the connecting hole (905); the outer wall of the protrusion (904) fits with the inner wall of the vertical groove (907); and the outer wall of the insert block (908) fits with the inner wall of the slot (909).

Images