Magnetic suspension equipment and control method and control device thereof

Abstract

The invention provides magnetic suspension equipment and a control method and control device thereof, the magnetic suspension equipment controls a suspension permanent magnet to be kept at a target position through an electric control coil, and the electric control coil comprises a first coil for controlling the suspension position of the suspension permanent magnet in a first direction; acquiring positive and negative directions of power-on parameters of the first coil when the suspension permanent magnet is kept at the first position; obtaining the positive and negative directions of the target position adjusted in the first direction according to the corresponding relation between the positive and negative directions of the power-on parameters of the preset first coil and the positive and negative directions of the target position needing to be adjusted in the first direction, and obtaining a second position according to the obtained amplitude of the target position adjusted in the first direction, and changing the target position from the first position to the second position, and controlling the electric control coil to enable the suspension permanent magnet to move from the first position to the second position. While the power of the electric control coil is reduced, fewer computing resources are occupied, the computing process is simple and efficient, and the suspension stability can be improved.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation, and in particular to a magnetic levitation device and a control method and a control device thereof. Background Art

[0002] Existing magnetic levitation equipment, such as a magnetic levitation globe, a magnetic levitation tray, etc., includes a base and a levitation permanent magnet. The base includes a fixed annular permanent magnet (or multiple independent permanent magnets distributed in a circumferential array), a magnetic sensor and multiple electric control coils. The levitation permanent magnet is suspended at a target position (for example, suspended directly above, directly below, diagonally above, diagonally below, etc.) under the action of the magnetic force of the base.

[0003] The magnetic sensor is used to detect the actual suspension position of the suspension permanent magnet.

[0004] The electric control coil is used to generate a control magnetic field during the operation of the magnetic levitation device to ensure that the suspended permanent magnet remains in the target position, and to drive the suspended permanent magnet to return to the target position when the suspended permanent magnet deviates from the target position. For example, when the magnetic sensor (such as a three-axis magnetic sensor) detects that the actual suspension position of the suspended permanent magnet deviates from the target position, the microcontroller in the magnetic levitation device first calculates the error signal between the actual suspension position detected by the magnetic sensor and the target position, and then obtains the control value through PID (proportional, differential, integral) operation of this error signal, and further converts the control value into the duty cycle of the pulse width modulation value (for example, when the control value is 50, the duty cycle of the pulse width modulation value is set to 50%), and then uses the microcontroller The PWM hardware function or software timer in the controller generates a pulse width modulation value, wherein if the calculated control value is a negative value, the phase of the pulse width modulation value is adjusted accordingly (for example, the phase of the pulse width modulation value when the control value is 50 is offset by 180 degrees from the phase of the pulse width modulation value when the control value is -50), and the pulse width modulation value is output to a drive circuit (for example, an H-bridge or a MOSFET driver) to control the current of the electric control coil so that the electric control coil generates a control magnetic field, thereby forming a magnetic force on the suspended permanent magnet, driving the suspended permanent magnet to return to the target position; of course, the solution of controlling the electric control coil to generate a control magnetic field to keep the suspended permanent magnet at the target position can also be referred to the patent document with publication number CN104270035A.

[0005] Furthermore, during the operation of the magnetic levitation device, in order to reduce the power of the electric control coil to control the suspension permanent magnet to maintain balance, the prior art usually takes the theoretical position where the suspension permanent magnet can be suspended only under the magnetic force of the annular permanent magnet as the target position, that is, the target position is theoretically the position where the power of the electric control coil is 0 when the magnetic levitation device is running; or takes the position area containing the theoretical position as the target position, and theoretically the power of the electric control coil is lower than the preset threshold when the suspension permanent magnet is maintained at the target position. Among them, as recorded in the patent document with publication number CN1819436A, when the magnetic levitation device is placed horizontally or tilted, the suspension permanent magnet in the magnetic levitation device has a theoretical position where it can be suspended only under the magnetic force of the annular permanent magnet. Specifically, for example, in existing solutions where the magnetic levitation device is designed to be placed horizontally and the center line of the annular permanent magnet is designed to be along the vertical direction, the target position is generally set directly above or below the base, and the target position is located on the center line of the annular permanent magnet; similarly, in solutions where there is an angle between the center line of the annular permanent magnet and the vertical direction, it is usually possible to determine a theoretical position where a levitation permanent magnet can be suspended only under the magnetic force of the annular permanent magnet through experiments or magnetic simulation.

[0006] However, the technicians of this application have discovered that in actual operation, the magnetic levitation equipment may cause the power of the electric control coil to continuously be higher than the preset threshold when controlling the suspended permanent magnet to maintain the preset target position due to tooling errors, posture deviations during use, etc., causing the electric control coil to heat up too much, which in turn leads to problems such as reduced suspension stability of the suspended permanent magnet. Summary of the invention

[0007] The purpose of the present application is to provide a magnetic levitation device and a control method and a control device thereof, so as to reduce the power of the electric control coil and improve the stability of the operation of the magnetic levitation device.

[0008] In a first aspect, the present application provides a control method for a magnetic levitation device, the magnetic levitation device comprising a base and a levitation permanent magnet, the base comprising a fixedly arranged first permanent magnet, a magnetic sensor and an electric control coil, the levitation permanent magnet being suspended at a target position under the action of the magnetic force of the base, the target position being located on one side of the base along a third direction; the magnetic levitation device controls the levitation position of the levitation permanent magnet by the electric control coil, wherein the electric control coil comprises a first coil and a second coil, the first coil being used to control the levitation position of the levitation permanent magnet in a first direction, the second coil being used to control the levitation position of the levitation permanent magnet in a second direction, the first direction, the second direction and the third direction being perpendicular to each other.

[0009] The control method includes: changing the target position from a first position to a second position, and controlling the electric control coil to move the suspended permanent magnet from the first position to the second position and keep it at the second position; the magnitude of the power-on parameter of the first coil when controlling the suspended permanent magnet to be kept at the second position is smaller than the magnitude of the power-on parameter when controlling the suspended permanent magnet to be kept at the first position; wherein the second position is calculated in the following manner: when the suspended permanent magnet is kept at the first position, the positive and negative directions of the power-on parameter of the first coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the first direction are obtained according to the correspondence between the preset positive and negative directions of the power-on parameter of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; and the amplitude of the target position that needs to be adjusted in the first direction is obtained; taking the first position as the starting point, and calculating the second position according to the positive and negative directions and amplitude of the target position that need to be adjusted in the first direction.

[0010] From the above, it can be seen that the present application adjusts the target position so that the output power of the electric control coil when controlling the suspended permanent magnet to remain in the adjusted target position is reduced, thereby reducing the situation where the electric control coil continues to output high power when controlling the suspended permanent magnet to remain in the preset target position due to tooling errors or posture deviations during use. This is beneficial to reducing the heat generated by the electric control coil and maintaining the stability of the operation of the magnetic levitation equipment.

[0011] Of course, the technical solution of the present application is derived based on the following rule discovered by the technicians of the present application: in a certain magnetic levitation device, there is a certain corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction. For example, the positive and negative directions in which the target position needs to be adjusted in the first direction obtained according to the determined corresponding relationship and the actual positive and negative directions of the energization parameters of the first coil are used to adjust the target position, which can effectively reduce the power of the first coil in controlling the levitation permanent magnet to remain at the target position; that is, there is the aforementioned determined corresponding relationship, such as adjusting the target position from the first position to the second position according to the positive and negative directions in which the target position needs to be adjusted in the first direction obtained by the correspondence between the corresponding relationship and the actual positive and negative directions of the energization parameters of the first coil, so that the power of the first coil when controlling the levitation permanent magnet to remain at the second position is less than the power when controlling the levitation permanent magnet to remain at the first position (since the power is positively correlated with the magnitude of the energization parameter, the magnitude of the energization parameter of the first coil when controlling the levitation permanent magnet to remain at the second position is less than the magnitude of the energization parameter when controlling the levitation permanent magnet to remain at the first position).

[0012] Furthermore, after detecting the positive and negative directions of the power-on parameters of the first coil, the present application can directly determine the positive and negative directions in which the target position needs to be adjusted in the first direction based on the correspondence between the positive and negative directions of the power-on parameters of the preset first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction. Therefore, the process of calculating the second position in the present application is relatively simple, occupies less computing resources, and is more efficient. Especially when the electric control coil originally outputs at a higher power, since the present application can quickly calculate and adjust the target position, it is beneficial to shorten the time that the electric control coil works in high-power conditions, which is beneficial to further improve the stability of the operation of the magnetic levitation equipment.

[0013] In one implementable embodiment, the control method for the magnetic levitation device also includes: when the suspended permanent magnet is maintained at the first position, the size of the power-on parameter of the first coil is also obtained, and based on the corresponding relationship between the preset size of the power-on parameter of the first coil and the amplitude by which the target position needs to be adjusted in the first direction, the amplitude by which the target position needs to be adjusted in the first direction is obtained; or, the amplitude by which the target position needs to be adjusted in the first direction is a preset fixed amplitude.

[0014] In one implementation, the first coil includes a first coil and a third coil respectively located on both sides of the target position in the first direction.

[0015] Furthermore, coil No. 1 and coil No. 3 are controlled in series.

[0016] Alternatively, coil No. 1 and coil No. 3 are controlled independently, and the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction includes: the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, and / or the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0017] From the above, it can be seen that whether the coils constituting the first coil are connected in series or controlled independently, the suspension permanent magnet control method of the present application is applicable, and the application scope of the technical solution of the present application is relatively wide. However, the target position is measured under ideal working conditions and ideal environment.

[0018] In one possible implementation, the control method for the magnetic levitation device further includes: When the suspended permanent magnet is maintained at the first position, the size of the power-on parameter of the first coil is obtained, and it is determined whether the size of the power-on parameter of the first coil is greater than or equal to a first threshold; if so, the second position is calculated, and the target position is changed from the first position to the second position, so that the suspended permanent magnet moves from the first position to the second position and remains at the second position; otherwise, the target position is stabilized at the first position.

[0019] When the electric control coil controls the suspended permanent magnet to remain in the first position, the magnitude of the power-on parameter of the first coil is greater than or equal to the first threshold value, indicating that when the suspended permanent magnet is controlled to maintain balance based on the first position, the overall output power of the electric control coil is large, thereby adjusting the target position in time. The target position is dynamically updated according to the magnitude of the power-on parameter of the electric control coil, which is beneficial to improving the adjustment flexibility of the magnetic levitation equipment.

[0020] In a possible implementation, the correspondence between the positive and negative directions of the energization parameter of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is measured experimentally.

[0021] Further, the experimental methods include: The target position is changed from the third position to the fourth position, and the suspended permanent magnet is moved from the third position to the fourth position by controlling the electric control coil, and maintained at the fourth position; wherein the fourth position is a position calculated according to a preset adjustment rule with the third position as the starting point; the positive and negative directions and magnitudes of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the third position, and the positive and negative directions and magnitudes of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position are obtained; In the case where the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the fourth position is smaller than the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the third position, the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the third position correspond to the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; if the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the fourth position is larger than the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the third position, the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the third position correspond to the opposite direction of the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction.

[0022] In a possible implementation, the second coil includes a No. 2 coil and a No. 4 coil respectively located on both sides of the target position in the second direction; the No. 2 coil and the No. 4 coil are controlled independently, or the No. 2 coil and the No. 4 coil are controlled in series.

[0023] In a possible implementation, the third direction is parallel to the vertical direction, or there is an angle less than or equal to 60 degrees between the third direction and the vertical direction.

[0024] In a possible implementation, the south pole and north pole of the first permanent magnet are distributed along the third direction, the south pole and north pole of the suspension permanent magnet are distributed along the third direction, and the south pole of the first permanent magnet is oriented in the same direction as the south pole of the suspension permanent magnet.

[0025] In a possible implementation, the first permanent magnet is an annular permanent magnet whose center line is parallel to the third direction; or, the first permanent magnet includes at least three independent permanent magnets, each of which is distributed around the center line parallel to the third direction.

[0026] In a possible implementation, the energization parameter of the first coil includes a pulse width modulation value for controlling the first coil, or a control value for generating a pulse width modulation value, or a current of the first coil.

[0027] In one possible implementation, the control method for the magnetic levitation device further includes: When the suspended permanent magnet is maintained at the first position, the positive and negative directions of the power-on parameters of the second coil are also obtained, and based on the correspondence between the preset positive and negative directions of the power-on parameters of the second coil and the positive and negative directions in which the target position needs to be adjusted in the second direction, the positive and negative directions in which the target position needs to be adjusted in the second direction are obtained; and the amplitude in which the target position needs to be adjusted in the second direction is obtained; taking the first position as the starting point, the second position is calculated according to the positive and negative directions and amplitude in which the target position needs to be adjusted in the first direction, and according to the positive and negative directions and amplitude in which the target position needs to be adjusted in the second direction.

[0028] From the above, it can be seen that the second position of the present application is based on the first position as the starting point, and is determined according to the positive and negative directions and amplitudes that need to be adjusted in the first direction according to the target position, as well as the positive and negative directions and amplitudes that need to be adjusted in the second direction according to the target position. The data of the target position in the first direction and the second direction can be adjusted at the same time, which is beneficial to improving the target position adjustment efficiency and reducing the power of the first coil and the second coil, which is beneficial to further improving the stability of the balance control of the suspended permanent magnet.

[0029] In a second aspect, the present application provides a control device for a magnetic levitation device, which is applied to the magnetic levitation device, wherein the magnetic levitation device includes a base and a levitation permanent magnet, the base includes a fixedly arranged first permanent magnet, a magnetic sensor and an electric control coil, the levitation permanent magnet is suspended at a target position under the action of the magnetic force of the base, and the target position is located on one side of the base along a third direction; the magnetic levitation device controls the levitation position of the levitation permanent magnet through the electric control coil, wherein the electric control coil includes a first coil and a second coil, the first coil is used to control the levitation position of the levitation permanent magnet in a first direction, and the second coil is used to control the levitation position of the levitation permanent magnet in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; The control device includes: A target position update module is used to change the target position from a first position to a second position; wherein the second position is calculated in the following manner: when the suspended permanent magnet is maintained at the first position, the positive and negative directions of the power-on parameters of the first coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the first direction are obtained according to the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; and the amplitude of the target position that needs to be adjusted in the first direction is obtained; the second position is a position calculated based on the positive and negative directions and amplitude of the target position that need to be adjusted in the first direction, taking the first position as the starting point; An electric-controlled coil control module is used to move a suspended permanent magnet from a first position to a second position and maintain it at the second position by controlling the electric-controlled coil; wherein the magnitude of the power-on parameter of the first coil when controlling the suspended permanent magnet to maintain it at the second position is smaller than the magnitude of the power-on parameter when controlling the suspended permanent magnet to maintain it at the first position.

[0030] In a third aspect, the present application provides a magnetic levitation device, comprising a processor and a memory communicatively connected to the processor; wherein the memory stores instructions, and the instructions are executed by the processor to implement a control method for the magnetic levitation device as in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a three-dimensional diagram of a magnetic levitation device provided in the first embodiment; Figure 2 is a cross-sectional schematic diagram of a magnetic levitation device provided in the first embodiment in a horizontally placed state; Figure 3 is a flow chart of a control method for a magnetic levitation device provided in the first embodiment; Figure 4 is a cross-sectional schematic diagram of a magnetic levitation device provided in the second embodiment in an inclined placement state; Figure 5 is a schematic structural diagram of a control device for a magnetic levitation device provided in the third embodiment; Figure 6 It is a schematic diagram of the framework of a magnetic levitation device provided in the fourth embodiment. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present application in conjunction with the accompanying drawings. A person skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solution provided in this embodiment is also applicable to similar technical problems.

[0033] Control method for magnetic levitation device Embodiment 1: See first Figure 1 and Figure 2 , Figure 1 and Figure 2 A unified spatial rectangular coordinate system (right-hand system) is adopted to represent the relative position relationship between the features in this embodiment, wherein the X-axis direction is the first direction, the Y-axis direction is the second direction, and the Z-axis direction is the third direction. Both the X-axis direction and the Y-axis direction are parallel to the horizontal plane, and the Z-axis direction is the vertical direction.

[0034] The magnetic levitation device in this embodiment is explained as follows: the magnetic levitation device in this embodiment includes a base and a levitation permanent magnet 2; the base includes a fixedly arranged control board 14, an annular permanent magnet 13 (an example of a first permanent magnet), a three-axis magnetic sensor 12 (an example of a magnetic sensor) and an electric control coil 11, and the annular permanent magnet 13, the three-axis magnetic sensor 12 and the electric control coil 11 are all fixedly arranged on the control board 14.

[0035] In this embodiment, the electric control coil 11 is fixed on the control board 14 by screws, and the annular permanent magnet 13 is fixed on the control board 14 by gluing, and the center line of the annular permanent magnet 13 is along the Z-axis direction.

[0036] The normal line of the main surface of the control board 14 is along the Z-axis direction. The three-axis magnetic sensor 12 is directly fixed on the main surface of the control board 14 on the positive side of the Z-axis. The three-axis magnetic sensor 12 is used to detect the magnetic field signal to calculate the suspension position of the suspended permanent magnet 2. The center line L of the annular permanent magnet 13 passes through the center of the three-axis magnetic sensor 12.

[0037] The south pole and north pole of the annular permanent magnet 13 are distributed along the Z axis, with the south pole facing the negative direction of the Z axis and the north pole facing the positive direction of the Z axis. The south pole and north pole of the suspended permanent magnet 2 are distributed along the Z axis, with the south pole facing the negative direction of the Z axis and the north pole facing the positive direction of the Z axis.

[0038] During the operation of the magnetic levitation device, the levitation permanent magnet 2 is suspended at a target position under the magnetic force of the base, and the target position is located on the positive side of the base on the Z axis. The magnetic levitation device controls the levitation position of the levitation permanent magnet through the control magnetic field generated by the electric control coil 11.

[0039] In this embodiment, the electric control coil 11 includes a first coil and a second coil, the first coil is used to control the suspension position of the suspension permanent magnet 2 in the X-axis direction, and the second coil is used to control the suspension position of the suspension permanent magnet 2 in the Y-axis direction.

[0040] Specifically, the first coil includes coil No. 111 and coil No. 3 113 , and the second coil includes coil No. 2 112 and coil No. 4 114 ; coil No. 111 , coil No. 2 112 , coil No. 3 113 and coil No. 4 114 are all located inside the annular permanent magnet 13 and distributed in an array around the center line of the annular permanent magnet 13 .

[0041] The first coil 111 and the third coil 113 are located on both sides of the target position in the X-axis direction, specifically, the first coil 111 is located on the positive side of the X-axis of the target position, and the third coil 113 is located on the negative side of the X-axis of the target position. In this embodiment, the first coil 111 and the third coil 113 are controlled in series. When the first coil is energized, the magnetic forces of the first coil 111 and the third coil 113 on the suspended permanent magnet at the same time are one showing a magnetic attraction force and the other showing a magnetic repulsion force (hereinafter referred to as "one attraction and one repulsion"); for example, when the magnetic force of the first coil 111 on the suspended permanent magnet is a magnetic attraction force, the magnetic force of the third coil 113 on the suspended permanent magnet is a magnetic repulsion force.

[0042] Coil No. 2 112 and coil No. 4 114 are located on both sides of the target position in the Y-axis direction. Specifically, coil No. 2 112 is located on the negative side of the Y-axis of the target position, and coil No. 4 114 is located on the positive side of the Y-axis of the target position. Coil No. 2 112 and coil No. 4 114 are controlled in series. Similarly, the magnetic force of coil No. 2 112 and coil No. 4 114 on the suspended permanent magnet also exhibits "one attraction and one repulsion".

[0043] In the prior art, the theoretical position where the suspended permanent magnet can be suspended only under the magnetic force of the annular permanent magnet is usually used as the target position. The target position is generally determined during the factory test of the magnetic suspension device or determined by magnetic simulation. For example, in the existing scheme where the magnetic suspension device is designed to be placed horizontally and the center line of the annular permanent magnet is designed to be along the vertical direction, the target position is usually set at a position directly above or directly below the base along the extension direction of the center line of the annular permanent magnet. In theory, when the suspended permanent magnet is suspended at the target position, the magnetic force from the annular permanent magnet is equal to its own gravity in magnitude and opposite in direction. Therefore, in theory, the suspended permanent magnet can be suspended at the target position only under the magnetic force of the annular permanent magnet, that is, in theory, the power of the electric control coil when the suspended permanent magnet is suspended at the target position is 0. However, the technicians of this application have discovered that in actual operation, the magnetic levitation equipment may cause the power of the electric control coil to continuously be higher than the preset threshold when controlling the suspended permanent magnet to maintain the preset target position due to tooling errors, posture deviations during use, etc., causing the electric control coil to heat up too much, which in turn leads to problems such as reduced suspension stability of the suspended permanent magnet.

[0044] It should be noted that, during the operation of the magnetic levitation device, in theory, a theoretical position where the power of the electric control coil is 0 when the levitation permanent magnet is suspended can be determined as the target position through experiments or magnetic simulation, or a position area containing the theoretical position can be used as the target position, but the target position is measured under ideal working conditions and ideal environments. During the actual application process, the circuit itself will also have certain losses, including the resistance loss of the coil and the loss of the drive circuit. These losses are inevitable in practical applications. In addition, due to other environmental reasons, the power of the electric control coil cannot be completely zero during the actual operation of the magnetic levitation. Therefore, the position where the power of the electric control coil is theoretically 0 in this embodiment may be the position where the actual power of the electric control coil is lower than the preset threshold in the actual application of the magnetic levitation device.

[0045] In order to improve the above problems, this embodiment provides a magnetic levitation device and a control method and a control device thereof. Figure 3 , Figure 3 A flow chart of a control method for a magnetic levitation device provided in this embodiment. The control method for a magnetic levitation device includes: S300: Change the target position from the first position to the second position, wherein the second position is calculated in the following manner: when the suspended permanent magnet is maintained at the first position, the positive and negative directions of the power-on parameters of the first coil are obtained, and the positive and negative directions in which the target position needs to be adjusted in the first direction are obtained according to the correspondence between the preset positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction; and the amplitude in which the target position needs to be adjusted in the first direction is obtained; taking the first position as the starting point, the second position is calculated according to the positive and negative directions and amplitude in which the target position needs to be adjusted in the first direction.

[0046] S301: Controlling the electric control coil to move the suspended permanent magnet from the first position to the second position and keep it at the second position; when the first coil controls the suspended permanent magnet to remain at the second position, the magnitude of the power-on parameter is smaller than when the first coil controls the suspended permanent magnet to remain at the first position.

[0047] Next, based on the structure of the magnetic levitation device described above, a control method for the magnetic levitation device in this embodiment is described in detail: In this embodiment, the target position is represented by the spatial coordinate values ​​of the X-axis, Y-axis, and Z-axis. In this embodiment, the position data of the target position in the X-axis direction and the Y-axis direction are adjusted, while the position data of the target position in the Z-axis direction is not adjusted specifically, so the position data of the target position in the Z-axis direction is omitted in this embodiment.

[0048] The power-on parameter of this embodiment is current. In the magnetic levitation device, the positive and negative power-on parameters of the electric control coils 11 are controlled to change the direction of the control magnetic field generated by each electric control coil; based on this, the power-on parameter of each electric control coil has positive and negative values ​​representing the positive and negative directions of the power-on parameter, that is, the positive and negative values ​​of the current represent the positive and negative directions of the current.

[0049] Specifically, this embodiment starts with the position coordinates of the first position (the original target position) as (x0, y0), (x0, y0) is located directly above the base and on the center line L of the annular permanent magnet 13, and the adjustment of the target position in the X-axis direction is briefly described: First, obtain the preset correspondence between the positive and negative directions of the current of the first coil of the magnetic levitation device and the positive and negative directions in which the target position needs to be adjusted in the X-axis direction. For example, the correspondence is: when the positive and negative directions of the current of the first coil are negative, the positive and negative directions in which the target position needs to be adjusted in the X-axis direction are positive; and when the positive and negative directions of the current of the first coil are positive, the positive and negative directions in which the target position needs to be adjusted in the X-axis direction are negative.

[0050] The corresponding relationship between the positive and negative directions of the current of the preset first coil of the magnetic levitation device and the positive and negative directions of the target position that need to be adjusted in the first direction is measured in advance based on experiments.

[0051] And, when the suspended permanent magnet 2 is controlled to remain at the first position (x0, y0), the positive and negative directions of the current I1 of the first coil are obtained. For example, if the current I1 of the first coil is a negative value, the positive and negative directions of the current I1 of the first coil are negative.

[0052] Afterwards, according to the positive and negative directions of the current of the first coil, and the correspondence between the preset positive and negative directions of the current of the first coil and the positive and negative directions in which the target position needs to be adjusted in the X-axis direction, the positive and negative directions in which the target position needs to be adjusted in the X-axis direction are obtained. For example: in this embodiment, the positive and negative directions in which the target position needs to be adjusted in the X-axis direction are positive.

[0053] In addition, the amplitude by which the target position needs to be adjusted in the X-axis direction is obtained. For example, in this embodiment, the amplitude by which the target position needs to be adjusted in the X-axis direction is a fixed value of 1 mm.

[0054] Then, taking the first position (x0, y0) as the starting point, the second position is calculated according to the positive and negative direction and amplitude of the target position that needs to be adjusted in the X-axis direction; for example, in this embodiment, the target position is increased by 1 mm in the X-axis direction to obtain the second position (x0+1, y0). The target position is changed from the first position (x0, y0) to the second position (x0+1, y0).

[0055] Then, the suspended permanent magnet is moved from the first position (x0, y0) to the second position (x0+1, y0) and maintained at the second position (x0+1, y0) by controlling the electric control coil 11; at this time, when the first coil controls the suspended permanent magnet to remain at the second position (x0+1, y0), the magnitude of the current I2 is smaller than the magnitude of the current I1 when the first coil controls the suspended permanent magnet to remain at the first position (x0, y0), that is, the absolute value of the current I2 |I2| is smaller than the absolute value of the current I1 |I1|.

[0056] From the above, it can be seen that after the heating problem of the electric control coil of the magnetic levitation device is found in this embodiment, the target position is adjusted in this embodiment. For example, according to the positive and negative directions and amplitudes of the target position that need to be adjusted in the X-axis direction, the target position is changed from the first position (x0, y0) to the second position (x0+1, y0), so that the power of the adjusted target position is reduced. Therefore, when the electric control coil controls the levitation permanent magnet to maintain the target position, it can work at a lower output power, reducing the situation where the electric control coil continues to output high power due to target position setting deviations, tooling errors, posture deviations during use, etc., which is beneficial to maintaining the stability of the operation of the magnetic levitation device.

[0057] Of course, the technical solution of this embodiment is derived based on the following rule discovered by the technicians of this embodiment: in a certain magnetic levitation device, there is a certain corresponding relationship between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction. After detecting the positive and negative directions of the power-on parameters of the first coil, the positive and negative directions in which the target position needs to be adjusted in the first direction can be obtained according to the determined corresponding relationship, and the target position is adjusted from the first position to the second position according to the obtained positive and negative directions in which the target position needs to be adjusted in the first direction, so that the power of the first coil when controlling the levitation permanent magnet to remain in the second position is less than the power when controlling the levitation permanent magnet to remain in the first position (since the power is positively correlated with the size of the power-on parameter, the size of the power-on parameter of the first coil when controlling the levitation permanent magnet to remain in the second position is less than the size of the power-on parameter when controlling the levitation permanent magnet to remain in the first position).

[0058] Furthermore, after detecting the positive and negative directions of the power-on parameters of the first coil, the present embodiment can directly determine the positive and negative directions of the adjustment of the target position based on the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction. Therefore, the process of calculating the second position in the present embodiment is relatively simple, occupies less computing resources, and is more efficient. Especially when the electric control coil originally outputs at a higher power, since the present application can quickly calculate and adjust the target position, it is beneficial to shorten the time that the electric control coil works in high-power conditions, which is beneficial to further improve the stability of the operation of the magnetic levitation equipment.

[0059] It should be noted that the magnetic sensor in this embodiment adopts a three-axis magnetic sensor 12. Optionally, in other embodiments of the present application, the magnetic sensor may also be a two-axis magnetic sensor or two or more single-axis magnetic sensors, which is not limited here.

[0060] Among them, in this embodiment, the three-axis magnetic sensor 12 is fixed on the control board 14, and the center line L of the annular permanent magnet 13 passes through the center of the three-axis magnetic sensor 12. Optionally, in other embodiments of the present application, the magnetic sensor can also be fixed on the control board through other circuit boards, that is, the setting height of the magnetic sensor along the third direction can be set according to needs, and the setting position of the magnetic sensor along the third direction can be not on the plane where the control board is located; for example, the magnetic sensor can be fixed on the circuit board through other circuit boards, and is set at a position of 1 / 2 the height of the electric control coil along the third direction. The setting position of the magnetic sensor in the horizontal direction can also be other positions that deviate from the projection of the center line on the XOY plane. For example, the magnetic sensor is fixed on the control board and is located at a position 1 mm on the positive side of the center line of the first permanent magnet in the first direction; the specific position of the magnetic sensor can be set by those skilled in the art according to actual conditions, and is not limited here.

[0061] In this embodiment, the South Pole and the North Pole of the first permanent magnet 13 are distributed along the Z-axis direction, the South Pole and the North Pole of the suspended permanent magnet 2 are distributed along the Z-axis direction, and the South Pole of the first permanent magnet 13 is oriented in the same direction as the South Pole of the suspended permanent magnet 2, both of which are oriented in the negative direction of the Z-axis. Optionally, in other embodiments of the present application, the South Pole and the North Pole of the first permanent magnet are distributed along the third direction, the South Pole and the North Pole of the suspended permanent magnet are distributed along the third direction, the South Pole of the first permanent magnet is oriented in the same direction as the South Pole of the suspended permanent magnet, both of which are oriented in the positive direction of the third direction, for example, the third direction is the Z-axis direction, and the South Pole of the first permanent magnet and the South Pole of the suspended permanent magnet can both be oriented in the positive direction of the Z-axis.

[0062] In this embodiment, the first permanent magnet is an annular permanent magnet 13 whose center line L is parallel to the Z-axis direction; optionally, in other embodiments of the present application, the first permanent magnet may include at least three independent permanent magnets, each of which is distributed around the center line L parallel to the third direction.

[0063] In this embodiment, the annular permanent magnet 13 is fixed to the control board 14 by gluing, and the electric control coil 11 is fixed to the control board 14 by screws; optionally, in other embodiments of the present application, the electric control coil 11 can also be fixed by gluing or other methods, and the annular permanent magnet 13 can also be fixed by screws or other methods.

[0064] In this embodiment, the No. 1 coil 111 and the No. 3 coil 113 are located on both sides of the target position in the X-axis direction: they are located on the control board 14 and on both sides of the target position in the X-axis direction. Optionally, in other embodiments of the present application, the No. 1 coil and the No. 3 coil can also be located on both sides of the target position that are not directly opposite in the first direction, and they only need to be located on both sides of the target position in the first direction. For example, the distance between the No. 1 coil and the target position in the X-axis direction is different from the distance between the No. 3 coil and the target position in the X-axis direction.

[0065] It should be noted that, in this embodiment, the target position is represented by the spatial coordinate values ​​of the X-axis, Y-axis, and Z-axis. Optionally, in other embodiments of the present application, the target position may also be represented by the magnetic field strength values ​​of the X-axis, Y-axis, and Z-axis. Since data processing is performed directly based on the magnetic field strength value, the detection value of the three-axis magnetic sensor 12 can be directly used for calculation during the control process, which is beneficial to improving calculation efficiency. Based on this, in this embodiment, the target position is preferably represented by the magnetic field strength values ​​of the X-axis, Y-axis, and Z-axis.

[0066] It should be noted that in this embodiment, the power-on parameter of each electrically controlled coil is current, wherein the absolute value of the current is the magnitude of the current, and the positive and negative values ​​of the current represent the positive and negative directions of the current. Optionally, the power-on parameter of each electrically controlled coil may also be a control value calculated based on the target position and the detection value of the three-axis magnetic sensor 12, wherein the absolute value of the control value is the magnitude of the control value, and the positive and negative values ​​of the control value represent the positive and negative directions of the control value. Alternatively, the power-on parameter of each electrically controlled coil may also be voltage, wherein the absolute value of the voltage is the magnitude of the voltage, and the positive and negative values ​​of the voltage represent the positive and negative directions of the voltage. Alternatively, it may be a pulse width modulation value (PWM) for driving the electrically controlled coil driving circuit obtained by further calculation based on the control value, wherein the absolute value of the pulse width modulation value is the magnitude of the pulse width modulation value, and the positive and negative values ​​of the pulse width modulation value represent the positive and negative directions of the pulse width modulation value. Alternatively, it may be other parameters that are proportional to power and have positive and negative directions, wherein the absolute value of the power-on parameter is the magnitude of the power-on parameter, and the positive and negative values ​​of the power-on parameter represent the positive and negative directions of the power-on parameter. No further explanation is given here, and all of them are within the protection scope of this application.

[0067] Among them, the pulse width modulation value used to drive the electric control coil driving circuit, or the control value used to generate the pulse width modulation value is used as the power-on parameter of the electric control coil, which can be directly obtained in the microcontroller of the magnetic levitation device, which can reduce the setting of the current sensor or the voltage sensor, and reduce the sensor error, which is beneficial to improving the control accuracy of the electric control coil in the magnetic levitation device, and can further reduce the problem that the electric control coil may work at a power higher than the preset threshold due to the sensor error, thereby helping to improve the stability of the operation of the magnetic levitation device; moreover, the control value and the pulse width modulation value are related parameters that must be calculated by the magnetic levitation device when controlling the electric control coil. Using the control value or the pulse width modulation value as the power-on parameter of the electric control coil does not require the calculation of other redundant parameters, such as the calculation of power, which is beneficial to further reduce the occupation of computing resources and improve computing efficiency; based on this, it is preferred to use the control value of the electric control coil or the pulse width modulation value used to drive the electric control coil driving circuit as the power-on parameter of the electric control coil.

[0068] Furthermore, in this embodiment, the control value and the pulse width modulation value for driving the electric control coil driving circuit can be calculated based on a proportion integration differentiation (PID) control algorithm. In other embodiments, the control value and the pulse width modulation value can also be calculated using a proportion differentiation (PD) algorithm or other calculation methods.

[0069] Specifically, taking the power-on parameter as the control value as an example, when the suspended permanent magnet is maintained at the target position, the size of the power-on parameter of the first coil is obtained, including: obtaining the detection value of the magnetic sensor in the process of the electric control coil controlling the suspended permanent magnet to maintain the target position; and obtaining the size of the power-on parameter of the first coil according to the position information in the first direction of the target position and the position information in the first direction of the detection value of the magnetic sensor.

[0070] Wherein, when the power-on parameter is a pulse width modulation value for driving an electric control coil driving circuit, the size of the power-on parameter of the first coil is determined according to the position information of the target position in the first direction and the position information of the detection value of the magnetic sensor in the first direction, further comprising: determining the control value of the first coil according to the position information of the target position in the first direction and the position information of the detection value of the magnetic sensor in the first direction; and obtaining the size of the power-on parameter of the first coil according to the control value of the first coil.

[0071] Further, the timing of calculating the second position in this embodiment may be to calculate the second position once every preset time, or to calculate the second position when the magnitude of the power-on parameter of the first coil is greater than or equal to the first threshold value. Among them, in the manner of calculating the second position every preset time, it is possible that when the electric control coil controls the suspension permanent magnet to maintain balance based on the target position, the electric control coil works at a lower power, and there is no need to adjust the target position. At this time, polling and calculating the second position will consume more computing resources; it is also possible that due to special circumstances, such as the tilt of the magnetic levitation device, when the electric control coil controls the suspension permanent magnet to maintain balance based on the target position, the electric control coil will work at a higher power, and the timing time has not arrived, and the target position has not been adjusted in time, which will cause the electric control coil to heat up too high and the suspension stability of the suspension permanent magnet to decrease.

[0072] Furthermore, it is preferred that the second position is calculated when the magnitude of the power-on parameter of the first coil is greater than or equal to the first threshold value, and the target position is updated, which is conducive to improving the flexibility of adjustment of the magnetic levitation device. When the magnitude of the power-on parameter of the first coil is greater than or equal to the first threshold value when the electric control coil controls the suspended permanent magnet to remain in the first position, it means that when the suspended permanent magnet is controlled to maintain balance based on the first position, the overall output power of the electric control coil is relatively large, so that the target position can be adjusted in time.

[0073] Specifically, the control method for the magnetic levitation device also includes: when the suspended permanent magnet is maintained at the first position, obtaining the size of the power-on parameter of the first coil, and determining whether the size of the power-on parameter of the first coil is greater than or equal to a first threshold; if so, calculating the second position, and changing the target position from the first position to the second position, so that the suspended permanent magnet moves from the first position to the second position and remains at the second position; otherwise, stabilizing the target position to the first position.

[0074] It should be noted that the first threshold is a predetermined preset value and is an absolute value. For example, the first threshold may be a preset value set according to the number of coil windings, or may be a preset value determined in advance based on experimental tests or experimental simulations.

[0075] In this embodiment, the correspondence between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is measured and stored by an experiment.

[0076] Next, the corresponding relationship between the positive and negative directions of the energization parameters of the first coil measured by the experiment and the positive and negative directions of the target position that need to be adjusted in the first direction is further specifically described: In this embodiment, the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is measured by an experimental method, which is stored after preliminary experimental testing in the development and testing stage, and can be directly called during the operation of the magnetic levitation device. Optionally, in other embodiments of the present application, the experimental process can also be configured in the magnetic levitation device in advance, and the experimental test and storage are performed when the magnetic levitation device is powered on for the first time.

[0077] The specific experimental test method includes: changing the target position from the third position to the fourth position, and moving the suspended permanent magnet from the third position to the fourth position and maintaining it at the fourth position by controlling the electric control coil; wherein the fourth position is a position calculated based on the third position and a preset adjustment rule; obtaining the positive and negative directions of the power-on parameters and the magnitude of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the third position, as well as the positive and negative directions of the power-on parameters and the magnitude of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position; when the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position is less than the magnitude of the power-on parameters when the suspended permanent magnet is maintained at the third position. size, then the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the third position correspond to the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rules, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; if the size of the energization parameters of the first coil when the suspended permanent magnet is maintained at the fourth position is greater than the size of the energization parameters when the suspended permanent magnet is maintained at the third position, then the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the third position correspond to the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rules, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction.

[0078] For example, the positive and negative directions of the power-on parameters of the first coil are negative, and the target position is changed from the third position (the original target position) to the fourth position according to the preset adjustment rule, wherein the preset adjustment rule is to positively adjust the position information of the third position in the first direction, and the adjustment amplitude is 0.5 mm, that is, the data of the X-axis is increased by 0.5 mm. In the case where the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position is smaller than when it is maintained at the third position, it means that when the power-on parameters of the first coil are negative, the position information of the target position in the first direction is increased, and the power of the first coil can be reduced. According to the positive and negative directions of the power-on parameters of the first coil being negative when the suspended permanent magnet is maintained at the third position, corresponding to the positive and negative directions of the target position adjusted in the first direction according to a preset adjustment rule (that is, the positive and negative directions of the target position adjusted in the first direction are positive), the corresponding relationship between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set. In other words, the corresponding relationship between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set to include: when the positive and negative directions of the power-on parameters of the first coil are negative, the positive and negative directions of the target position that need to be adjusted in the first direction are positive; conversely, when the positive and negative directions of the power-on parameters of the first coil are positive, the positive and negative directions of the target position that need to be adjusted in the first direction are negative.

[0079] For another example, the target position is changed from the third position (the original target position) to the fourth position according to the preset adjustment rule, wherein the preset adjustment rule is to positively adjust the position information of the third position in the first direction, and the adjustment amplitude is 0.5 mm. When the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the power-on parameter of the first coil when the suspended permanent magnet is maintained at the fourth position is greater than when it is maintained at the third position, it means that the third position should be negatively adjusted, that is, the data of the X-axis is reduced, so as to reduce the power of the first coil. According to the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the third position, Negative direction, corresponding to the positive and negative directions in which the target position is adjusted in the first direction according to a preset adjustment rule (that is, the positive and negative directions in which the target position is adjusted in the first direction are negative directions), to set the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction, that is, the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is set to include: when the positive and negative directions of the power-on parameters of the first coil are negative, the positive and negative directions in which the target position needs to be adjusted in the first direction are negative; conversely, when the positive and negative directions of the power-on parameters of the first coil are positive, the positive and negative directions in which the target position needs to be adjusted in the first direction are positive.

[0080] It should be noted that in the above two examples of the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction by experimental measurement, the third position is the target position initially set by the magnetic levitation device when it leaves the factory. Optionally, the third position may also be a position set in the magnetic levitation device for experimental testing. If the third position is a position for experimental testing set separately in the magnetic levitation device, the magnetic levitation device must be adjusted from the target position to the third position before the experimental test is performed. In this embodiment, the third position is preferably the original target position of the magnetic levitation device to simplify the experimental process and improve the efficiency of determining the corresponding relationship.

[0081] Further, in this embodiment, the first coil and the third coil are controlled in series to change the target position from the third position (the original target position) to the fourth position. When the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the fourth position and the third position are opposite, it means that when the third position is changed to the fourth position according to the preset adjustment rule, the positive and negative directions of the adjustment are correct, but the adjustment amplitude is too large, resulting in the first coil generating an opposite control magnetic field to maintain the balance of the suspended permanent magnet. In other words, an opposite conclusion can be drawn based on this, that is, the positive and negative directions of the energization parameters before and after the adjustment based on the preset rule are opposite, and it is considered that the positive and negative directions adjusted based on the preset rule are correct; then, according to the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the third position being negative, corresponding to the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule (that is, the positive and negative directions of the target position adjusted in the first direction are positive), the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set.

[0082] Optionally, in other embodiments of the present application, if the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position are changed compared to when it is maintained at the third position, that is, the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position are opposite to the positive and negative directions of the power-on parameters of the first coil when it is maintained at the third position, it is also possible to retreat from the fourth position to the third position, and change the preset adjustment rules (for example, reduce the adjustment amplitude, change the positive and negative directions of the adjustment, etc.), calculate the new fourth position, and repeat the experiment.

[0083] Among them, the preset adjustment rule is pre-set, and in this embodiment, only the position information of the first direction in the third position is adjusted. In other embodiments of the present application, the position information of the first direction and the second direction in the third position can also be adjusted at the same time. Specifically, for example, the position information of the third position in the first direction is negatively adjusted, and the position information in the second direction is negatively adjusted, that is, the data of the X-axis and the Y-axis are reduced. Furthermore, the adjustment amplitude in the preset adjustment rule is a preset absolute value, such as a fixed value, or an adjustment function preset according to the size of the power-on parameter, or other preset relationship functions. The above is only an example description and does not limit the scope. Those skilled in the art can set the preset adjustment rules according to actual conditions.

[0084] The following describes the extent to which the target position needs to be adjusted in the first direction: In this embodiment, the amplitude of the target position adjustment in the first direction is a fixed value. Optionally, in other embodiments of the present application, the amplitude of the target position adjustment in the first direction may also be a predetermined and stored correspondence between the magnitude of the power-on parameter of the first coil and the amplitude of the target position adjustment in the first direction, which is determined through multiple rounds of testing and data processing during the development process, and may be a correspondence between the magnitude range of different power-on parameters of the first coil and the amplitude of the target position adjustment in the first direction, or may be a linear relationship between the magnitude of the power-on parameter of the first coil and the amplitude of the target position adjustment in the first direction.

[0085] It should be noted that the amplitude by which the target position needs to be adjusted in the first direction is an absolute value.

[0086] Specifically, the control method for the magnetic levitation device also includes: when the suspended permanent magnet is maintained at the first position, obtaining the size of the power-on parameter of the first coil, and obtaining the amplitude by which the target position needs to be adjusted in the first direction according to the corresponding relationship between the preset size of the power-on parameter of the first coil and the amplitude by which the target position needs to be adjusted in the first direction; or, the amplitude by which the target position needs to be adjusted in the first direction is a preset fixed amplitude.

[0087] In the present embodiment, coil No. 1 and coil No. 3 in the first coil are controlled in series. Optionally, coil No. 1 and coil No. 3 may be independently controlled in other embodiments of the present application. It can be understood that there is no necessary connection between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions of the power-on parameters of coil No. 3, and there is no necessary connection between the magnitude of the power-on parameters of coil No. 1 and the magnitude of the power-on parameters of coil No. 3.

[0088] When coil No. 1 and coil No. 3 are controlled independently, the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction includes: the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, and / or the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0089] For example, when coil No. 1 and coil No. 3 are controlled independently, and both coil No. 1 and coil No. 3 generate magnetic forces on the suspended permanent magnet in the same control cycle, one of which is magnetic attraction and the other is magnetic repulsion (hereinafter referred to as "one attraction and one repulsion"), when the target position is adjusted, the energization parameters of the two coils will change. In other words, when coil No. 1 and coil No. 3 are controlled independently, and "one attraction and one repulsion" is expressed, the positive and negative directions that the target position needs to be adjusted in the first direction can be obtained based on the corresponding relationship between the positive and negative directions of the energization parameters of coil No. 1 and the positive and negative directions that the target position needs to be adjusted in the first direction; the positive and negative directions that the target position needs to be adjusted in the first direction can also be obtained based on the corresponding relationship between the positive and negative directions of the energization parameters of coil No. 3 and the positive and negative directions that the target position needs to be adjusted in the first direction.

[0090] From the above, it can be seen that the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction may only include: the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, or may only include: the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0091] Further, in the case where the No. 1 coil and the No. 3 coil show "one attracts and one repels", the correspondence between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions that the target position needs to be adjusted in the first direction may also include: the correspondence between the positive and negative directions of the energization parameters of the No. 1 coil and the positive and negative directions that the target position needs to be adjusted in the first direction, and the correspondence between the positive and negative directions of the energization parameters of the No. 3 coil and the positive and negative directions that the target position needs to be adjusted in the first direction. When determining the positive and negative directions that the target coil needs to be adjusted in the first direction, one of the above two correspondences may be selected; that is, the positive and negative directions that the target coil needs to be adjusted in the first direction may be obtained according to the correspondence between the positive and negative directions of the energization parameters of the No. 1 coil and the positive and negative directions that the target position needs to be adjusted in the first direction; the positive and negative directions that the target coil needs to be adjusted in the first direction may also be obtained according to the correspondence between the positive and negative directions of the energization parameters of the No. 3 coil and the positive and negative directions that the target position needs to be adjusted in the first direction.

[0092] For another example, the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction may also include: the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, and the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0093] The coil with the larger power-on parameter between coil No. 1 and coil No. 3 can be used as the target coil, and the positive and negative directions of the power-on parameter of the first coil are the positive and negative directions of the power-on parameter of the target coil; the corresponding relationship between the positive and negative directions of the power-on parameter of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is the corresponding relationship between the positive and negative directions of the power-on parameter of the target coil and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0094] It should be noted that when the magnitude of the power-on parameters in coil No. 1 and coil No. 3 is the same, and the magnetic forces of coil No. 1 and coil No. 3 on the suspended permanent magnet are one as magnetic attraction and the other as magnetic repulsion, the target coil can be coil No. 1 or coil No. 3.

[0095] Furthermore, the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction can be determined experimentally, and the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction can be determined experimentally.

[0096] Below, with the power-on parameter as current, the No. 1 coil and the No. 3 coil in the first coil are independently controlled, and the positive and negative directions of the power-on parameter of the No. 1 coil and the positive and negative directions of the target position that need to be adjusted in the first direction are experimentally determined, and the positive and negative directions of the power-on parameter of the No. 3 coil and the positive and negative directions of the target position that need to be adjusted in the first direction are experimentally determined, and an example is given to illustrate: For example, the current of coil No. 1 is obtained as I3, where I3 is a negative value, that is, the current direction of coil No. 1 is negative. The target position is changed from the third position (the original target position) to the fourth position according to the preset adjustment rule, where the preset adjustment rule is: the position information of the third position in the X-axis direction is adjusted positively, and the adjustment amplitude is 0.5 mm, that is, the X-axis data is increased by 0.5 mm. In the case where the positive and negative directions of the power-on parameters of the first coil when the levitation permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the current of the first coil when the levitation permanent magnet is maintained at the fourth position is smaller than that when it is maintained at the third position, it means that when the current of the first coil is negative, the position information of the target position in the X-axis direction is increased, and the power can be reduced. At this time, according to the correspondence between the positive and negative directions of the current of the first coil when the levitation permanent magnet is maintained at the third position and the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule (that is, the positive and negative directions of the target position adjusted in the first direction are positive), the corresponding relationship between the positive and negative directions of the current of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set; that is, the corresponding relationship between the positive and negative directions of the current of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is: when the positive and negative directions of the current of the first coil are negative, the positive and negative directions of the target position that need to be adjusted in the first direction are positive.

[0097] For another example, the target position is changed from the third position (the original target position) to the fourth position according to the preset adjustment rule, wherein the preset adjustment rule is: the position information of the third position in the X-axis direction is positively adjusted with an adjustment amplitude of 0.5 mm, that is, the X-axis data is increased by 0.5 mm. In the case where the positive and negative directions of the power-on parameters of the first coil when the levitation permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the current of the first coil when the levitation permanent magnet is maintained at the fourth position is greater than that when it is maintained at the third position, it means that a negative adjustment should be made, that is, the data of the X-axis should be reduced to reduce the power. At this time, according to the positive and negative directions of the power-on parameters of the first coil when the levitation permanent magnet is maintained at the third position corresponding to the opposite direction of the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule (that is, the positive and negative directions of the target position adjusted in the first direction are negative), the corresponding relationship between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set. That is to say, the corresponding relationship between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is: when the positive and negative directions of the power-on parameters of the first coil are negative, the positive and negative directions of the target position that need to be adjusted in the first direction are negative.

[0098] Similarly, the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions of the target position that need to be adjusted in the first direction is determined through experiments. The experimental method is the same as that of coil No. 1, and the specific experimental process is not repeated here. It should be noted that during the experiment, the magnetic repulsion force of coil No. 1 or coil No. 3 can be controlled by setting the third position, so as to conduct experiments on the corresponding coils.

[0099] It should be noted that the above experimental method is only an example, and the specific corresponding relationship needs to be determined according to the winding method of the electric control coil, the current control method, etc. The specific corresponding relationship is not limited here.

[0100] Next, the adjustment range of the target position in the first direction is described when the No. 1 coil and the No. 3 coil are controlled independently: When coil No. 1 and coil No. 3 are controlled separately and independently, the adjustment amplitude of the target position in the first direction can be a fixed value, or the adjustment amplitude of the target position in the first direction can be a predetermined and stored correspondence between the size of the power-on parameter of the first coil and the adjustment amplitude of the target position in the first direction. The correspondence is determined through multiple rounds of testing and data processing during the development process, and can be a correspondence between the size range of different power-on parameters of the first coil and the adjustment amplitude of the target position in the first direction, or can be a linear relationship between the size of the power-on parameter of the first coil and the adjustment amplitude of the target position in the first direction.

[0101] Further, in a case where the amplitude by which the target position needs to be adjusted in the first direction is a predetermined and stored correspondence between the size of the power-on parameter of the first coil and the amplitude by which the target position is adjusted in the first direction, the correspondence between the size of the power-on parameter of the first coil and the amplitude by which the target position is adjusted in the first direction includes: the correspondence between the size of the power-on parameter of coil No. 1 and the amplitude by which the target position is adjusted in the first direction, and the correspondence between the size of the power-on parameter of coil No. 3 and the amplitude by which the target position is adjusted in the first direction.

[0102] It should be noted that when determining the positive and negative directions that the target position needs to be adjusted in the first direction, based on the correspondence between the positive and negative directions of the power-on parameters of the No. 1 coil and the positive and negative directions that the target position needs to be adjusted in the first direction, when determining the amplitude that the target position needs to be adjusted in the first direction, it is also necessary to determine the correspondence between the magnitude of the power-on parameters of the No. 1 coil and the amplitude that the target position needs to be adjusted in the first direction. When determining the positive and negative directions that the target position needs to be adjusted in the first direction, based on the correspondence between the positive and negative directions of the power-on parameters of the No. 3 coil and the positive and negative directions that the target position needs to be adjusted in the first direction, when determining the amplitude that the target position needs to be adjusted in the first direction, it is also necessary to determine the correspondence between the magnitude of the power-on parameters of the No. 3 coil and the amplitude that the target position needs to be adjusted in the first direction.

[0103] In this embodiment, the target position is adjusted according to the positive and negative directions and amplitudes that need to be adjusted in the first direction. During this process, the position information of the target position in the second direction can remain unchanged. Furthermore, the position information of the target position in the first direction and the second direction can also be adjusted at the same time. Preferably, the data of the target position in the first direction and the second direction are adjusted at the same time, which is beneficial to improving the target position adjustment efficiency, reducing the power of the first coil and the second coil, and helping to further improve the stability of the balance control of the suspended permanent magnet.

[0104] Specifically, the control method for the magnetic levitation device also includes: when the suspended permanent magnet is maintained at the first position, obtaining the positive and negative directions of the power-on parameters of the second coil, and according to the correspondence between the preset positive and negative directions of the power-on parameters of the second coil and the positive and negative directions of the target position adjusted in the second direction, obtaining the positive and negative directions of the target position adjusted in the second direction; and obtaining the amplitude of the target position adjusted in the second direction; taking the first position as the starting point, calculating the second position according to the positive and negative directions and amplitude of the target position to be adjusted in the first direction, and according to the positive and negative directions and amplitude of the target position adjusted in the second direction.

[0105] Then, the target position is changed from the first position to the second position, and the suspended permanent magnet is moved from the first position to the second position by controlling the electric control coil, and is maintained at the second position.

[0106] It should be noted that the control method of the second coil is similar to the above-mentioned control method of the first coil, and the technical solution related to the adjustment of the target position in the second direction is the same as the above-mentioned technical solution related to the adjustment of the target position in the first direction, which will not be repeated here. Regarding the solution for measuring the positive and negative directions and amplitude of the adjustment of the target position in the second direction by experimental means, reference can be made to the above-mentioned solution for measuring the positive and negative directions and amplitude of the adjustment of the target position in the first direction by experimental means, which will not be repeated here.

[0107] In this embodiment, the third direction is parallel to the vertical direction. Furthermore, in other embodiments of the present application, there may be an angle between the third direction and the vertical direction, that is, the magnetic levitation device is inclined relative to the horizontal plane. In this case, the gravity of the suspended permanent magnet can be decomposed into a component perpendicular to the base and a component parallel to the base. At this time, the annular permanent magnet will generate a magnetic force on the suspended permanent magnet, and the corresponding magnetic force can also be perpendicular to the base and parallel to the base. Theoretically, when the magnetic force provided by the annular permanent magnet can overcome the gravity of the suspended permanent magnet, the suspended permanent magnet can be suspended only under the magnetic force of the annular permanent magnet. At this time, the inclination angle of the magnetic levitation device is affected by the magnitude of the magnetic force that the annular permanent magnet can provide and the gravity of the suspended permanent magnet. When the magnitude of the magnetic force that the annular permanent magnet can provide is larger and / or the gravity of the suspended permanent magnet is smaller, the angle at which the magnetic levitation device can be tilted is larger.

[0108] Specifically, in other embodiments of the present application, there may be an angle less than or equal to 60 degrees between the third direction and the vertical direction, such as an angle of 60 degrees between the third direction and the vertical direction, an angle of 50 degrees between the third direction and the vertical direction, an angle of 45 degrees between the third direction and the vertical direction, an angle of 30 degrees between the third direction and the vertical direction, and an angle of 10 degrees between the third direction and the vertical direction.

[0109] Control method for magnetic levitation device Example 2: Next, combine Figure 4 The second embodiment of the control method for magnetic suspension equipment provided by the present application is introduced, wherein the attached Figure 4 The Xa axis, Ya axis, and Za axis directions correspond to the X axis, Y axis, and Z axis directions in the aforementioned embodiment, respectively, the first direction is the Xa axis direction, the second direction is the Ya axis direction, and the third direction is the Za axis direction, wherein the Za direction forms a 30 degree angle with the vertical direction Da. The specific scheme of the magnetic levitation device in this embodiment may be the same as that of the magnetic levitation device in the first embodiment, however, the base of the magnetic levitation device in this embodiment is tilted, specifically, the center line of the first permanent magnet forms a 30 degree angle with the vertical direction Da.

[0110] In this embodiment, the magnetic levitation device includes an electric control coil, a three-axis magnetic sensor 12a, an annular permanent magnet 13a, a suspension permanent magnet 2a and a base. The base, the annular permanent magnet 13a and the suspension permanent magnet are arranged along the Za axis direction; the base includes a control board 14a, and the annular permanent magnet 13a, the electric control coil and the three-axis magnetic sensor 12a are installed and fixed on the control board 14a.

[0111] In this embodiment, the first coil includes a No. 1 coil 111a and a No. 3 coil 113a for controlling the levitation position of the levitation permanent magnet 2a in the Xa-axis direction. The No. 1 coil 111a and the No. 3 coil 113a are respectively located on both sides opposite to the target position in the first direction; the second coil includes a No. 2 coil (not shown in the figure) and a No. 4 coil 114a for controlling the levitation position of the levitation permanent magnet 2a in the Ya-axis direction. The No. 2 coil and the No. 4 coil 114a are respectively located on both sides opposite to the target position in the Ya-axis direction.

[0112] The gravity G of the suspended permanent magnet 2a can be decomposed into G2 perpendicular to the base and G1 on the positive side of the X axis parallel to the base. When the target position is located directly above the base and on the center line La of the annular permanent magnet 13a, when the magnetic suspension device is not tilted, that is, when the third direction is parallel to the vertical direction, when the suspended permanent magnet is suspended at the target position, the reaction force G1' of G1 is provided by the coil; after the magnetic suspension device is tilted, the position corresponding to the lowest power point of the electric control coil when controlling the suspension permanent magnet to maintain balance should be located on the negative side of the first direction of the target position. Controlling the balance of the suspended permanent magnet according to the target position will cause the electric control coil to continue to work. At this time, the first permanent magnet will generate a magnetic field force F to the lower left on the suspended permanent magnet, which can be decomposed into two vertical components F1 and F2. F1 is the reaction force of G1, and F2 and G2 are offset by the buoyancy of the large annular magnet.

[0113] Taking the energization parameters of the electric control coil as the control value and adjusting the target position in the Xa axis direction and the Ya axis direction as an example, the target position adjustment method is specifically described as follows: In this embodiment, the Za axis direction and the vertical direction have an angle of 30 degrees. At this time, the preset target position (i.e., the first position) is (B x10 , B y10 , B z10 ), the target position is characterized by a magnetic field strength value. At this time, the electric control coil generates a control magnetic field to keep the suspended permanent magnet 2a at the first position in the first direction, and drives the suspended permanent magnet 2a to return to the first position when the suspended permanent magnet 2a deviates from the preset equilibrium position.

[0114] First, the suspended permanent magnet 2a is maintained at the first position (B x10 , B y10 , B z10 ), obtain the control value M of the first coil 1a and the control value M of the second coil 2a , where the control value M of the first coil 1a is a negative value, the control value M of the second coil 2a is a positive value, that is, in this embodiment, the control value M of the first coil 1a The positive and negative directions are negative and the second coil control value M2a The positive and negative direction is positive.

[0115] Further, obtain the correspondence between the positive and negative directions of the control value of the first coil and the positive and negative directions in which the target position needs to be adjusted in the Xa-axis direction, and the correspondence between the positive and negative directions of the control value of the second coil and the positive and negative directions in which the target position needs to be adjusted in the Ya-axis direction. In this embodiment, the correspondence between the positive and negative directions of the control value of the first coil and the positive and negative directions in which the target position needs to be adjusted in the Xa-axis direction is: if the positive and negative directions of the control value of the first coil are positive, then the positive and negative directions in which the target position needs to be adjusted in the Xa-axis direction are positive; if the positive and negative directions of the control value of the first coil are negative, then the positive and negative directions in which the target position needs to be adjusted in the Xa-axis direction are negative. The correspondence between the positive and negative directions of the control value of the second coil and the positive and negative directions in which the target position needs to be adjusted in the Ya-axis direction is: if the positive and negative directions of the control value of the second coil are positive, then the positive and negative directions in which the target position needs to be adjusted in the Ya-axis direction are negative; if the positive and negative directions of the control value of the second coil are negative, then the positive and negative directions in which the target position needs to be adjusted in the Ya-axis direction are positive.

[0116] It should be noted that the specific method for experimentally measuring the correspondence between the positive and negative directions of the control value of the first coil and the positive and negative directions of the target position that need to be adjusted in the Xa-axis direction, and the correspondence between the positive and negative directions of the control value of the second coil and the positive and negative directions of the target position that need to be adjusted in the Ya-axis direction can be referred to the aforementioned embodiment and will not be repeated here.

[0117] Secondly, when the suspended permanent magnet is maintained at the first position, the magnitude of the control value of the first coil (ie, the absolute value of the control value of the first coil | M 1a |), if at this time |M 1a | is greater than the first threshold value; according to the positive and negative direction of the control value of the first coil is negative, the positive and negative direction of the target position that needs to be adjusted in the Xa-axis direction is negative, and the corresponding positive and negative direction of the target position that needs to be adjusted in the Xa-axis direction is negative, that is, B x10 Reduce; and obtain the amplitude by which the target position needs to be adjusted in the Xa direction.

[0118] When the suspended permanent magnet is maintained at the first position, the magnitude of the control value of the second coil (ie, the absolute value of the control value of the second coil | M 2a |), if at this time |M 2a | is greater than the first threshold value. According to the positive and negative direction of the control value of the second coil, the positive and negative direction that the target position needs to be adjusted in the Ya axis direction is negative. Correspondingly, the positive and negative direction that the target position needs to be adjusted in the Ya direction is negative, that is, B y10 Decrease; and obtain the amplitude that the target position needs to be adjusted in the Ya direction.

[0119] Taking the first position as the starting point, the direction and amplitude in the Xa direction are adjusted to be negative according to the target position, and the direction and amplitude in the Ya direction are adjusted to be negative according to the target position, and the second position is calculated. At this time, the target position is updated, and the electric control coil is controlled to move the suspended permanent magnet from the first position to the second position and maintain it at the second position.

[0120] The acquisition method for adjusting the amplitude of the target position in the Xa direction and the acquisition method for adjusting the amplitude of the target position in the Ya direction are as described in the above-mentioned embodiments, and will not be repeated here.

[0121] At this time, the control value of the first coil when controlling the suspended permanent magnet to remain in the second position will be smaller than the control value when controlling the suspended permanent magnet to remain in the first position, and the control value of the second coil when controlling the suspended permanent magnet to remain in the second position will be smaller than the control value when controlling the suspended permanent magnet to remain in the first position, that is, the power of the first coil and the second coil when controlling the suspended permanent magnet to remain in the second position is reduced relative to when controlling the suspended permanent magnet to remain in the first position.

[0122] Embodiment of the control device for magnetic suspension equipment: This embodiment of the present application provides a control device 50 for a magnetic levitation device, which is applied to the magnetic levitation device. The magnetic levitation device includes a base and a levitation permanent magnet. The base includes a fixedly arranged first permanent magnet, a magnetic sensor, and an electric control coil. The levitation permanent magnet is suspended at a target position under the action of the magnetic force of the base, and the target position is located on one side of the base along a third direction. The magnetic levitation device controls the levitation position of the levitation permanent magnet through the electric control coil, wherein the electric control coil includes a first coil and a second coil, the first coil is used to control the levitation position of the levitation permanent magnet in a first direction, and the second coil is used to control the levitation position of the levitation permanent magnet in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other. The control device 50 for the magnetic suspension device comprises: The target position updating module 501 is used to change the target position from the first position to the second position; wherein the second position is calculated in the following manner: when the suspended permanent magnet is maintained at the first position, the positive and negative directions of the power-on parameters of the first coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the first direction are obtained according to the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; and the amplitude of the target position that needs to be adjusted in the first direction is obtained; the second position is the position calculated based on the positive and negative directions and amplitude of the target position that need to be adjusted in the first direction, taking the first position as the starting point; The electric-controlled coil control module 502 is used to move the suspended permanent magnet from a first position to a second position and maintain it at the second position by controlling the electric-controlled coil; wherein the magnitude of the power-on parameter of the first coil when controlling the suspended permanent magnet to maintain it at the second position is smaller than the magnitude of the power-on parameter when controlling the suspended permanent magnet to maintain it at the first position.

[0123] The target position updating module 501 in the control device 50 for the magnetic levitation device is also used to obtain the size of the power-on parameter of the first coil when the suspended permanent magnet is maintained at the first position, and obtain the amplitude by which the target position needs to be adjusted in the first direction according to the corresponding relationship between the preset size of the power-on parameter of the first coil and the amplitude by which the target position needs to be adjusted in the first direction; or, the amplitude by which the target position needs to be adjusted in the first direction is a preset fixed amplitude.

[0124] The first coil includes a first coil and a third coil respectively located on both sides of the target position in the first direction.

[0125] Furthermore, coil No. 1 and coil No. 3 are controlled in series.

[0126] Alternatively, coil No. 1 and coil No. 3 are controlled independently, and the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction includes: the correspondence between the positive and negative directions of the power-on parameters of coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, and / or the correspondence between the positive and negative directions of the power-on parameters of coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

[0127] The control device 50 for the magnetic suspension device also includes: A judgment module, used for obtaining the magnitude of the power-on parameter of the first coil when the suspended permanent magnet is maintained at the first position, and judging whether the magnitude of the power-on parameter of the first coil is greater than or equal to a first threshold; The target position updating module 501 is further used to calculate the second position and change the target position from the first position to the second position when the magnitude of the power-on parameter of the first coil is greater than or equal to the first threshold, otherwise, stabilize the target position to the first position.

[0128] Specifically, the correspondence between the positive and negative directions of the energization parameter of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is measured by an experiment.

[0129] The control device 50 for the magnetic suspension device also includes: A corresponding relationship determination module is used to change the target position from the third position to the fourth position, and to move the suspended permanent magnet from the third position to the fourth position and maintain it at the fourth position by controlling the electric control coil; wherein the fourth position is a position calculated based on the third position as the starting point and according to a preset adjustment rule; obtain the positive and negative directions and magnitudes of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the third position, and the positive and negative directions and magnitudes of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position; when the positive and negative directions of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the power-on parameters of the first coil when the suspended permanent magnet is maintained at the fourth position is less than the magnitude of the power-on parameters when the suspended permanent magnet is maintained at the third position, then according to According to the correspondence between the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the third position and the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set; if the magnitude of the energization parameter of the first coil when the suspended permanent magnet is maintained at the fourth position is greater than the magnitude of the energization parameter when the suspended permanent magnet is maintained at the third position, according to the correspondence between the positive and negative directions of the energization parameters of the first coil when the suspended permanent magnet is maintained at the third position and the opposite direction of the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction is set.

[0130] Specifically, the second coil includes a No. 2 coil and a No. 4 coil respectively located on both sides of the target position in the second direction; the No. 2 coil and the No. 4 coil are controlled independently, or the No. 2 coil and the No. 4 coil are controlled in series.

[0131] Specifically, the third direction is parallel to the vertical direction, or there is an angle less than or equal to 60 degrees between the third direction and the vertical direction.

[0132] Specifically, the south pole and the north pole of the first permanent magnet are distributed along the third direction, the south pole and the north pole of the suspension permanent magnet are distributed along the third direction, and the south pole of the first permanent magnet is oriented in the same direction as the south pole of the suspension permanent magnet.

[0133] Specifically, the first permanent magnet is a ring-shaped permanent magnet whose center line is parallel to the third direction; or, the first permanent magnet includes at least three independent permanent magnets, and each independent permanent magnet is distributed around the center line parallel to the third direction; Specifically, the energization parameter of the first coil includes a pulse width modulation value for controlling the first coil, or a control value for generating a pulse width modulation value, or a current of the first coil.

[0134] In the control device 50 for magnetic levitation equipment: The target position update module 501 is also used to obtain the positive and negative directions of the power-on parameters of the second coil when the suspended permanent magnet is maintained at the first position, and obtain the positive and negative directions in which the target position needs to be adjusted in the second direction according to the correspondence between the preset positive and negative directions of the power-on parameters of the second coil and the positive and negative directions in which the target position needs to be adjusted in the second direction; and obtain the amplitude in which the target position needs to be adjusted in the second direction; taking the first position as the starting point, according to the positive and negative directions and amplitude in which the target position needs to be adjusted in the first direction, and according to the positive and negative directions and amplitude in which the target position needs to be adjusted in the second direction, calculate the second position.

[0135] From the above, it can be seen that in this embodiment, the positive and negative directions of the power-on parameters of the first coil are predetermined to correspond to the positive and negative directions in which the target position needs to be adjusted in the first direction. Therefore, after determining the positive and negative directions of the power-on parameters of the first coil, the positive and negative directions of the target adjustment can be determined more quickly to adjust the target position from the first position to the second position, so that the power of the first coil when controlling the suspended permanent magnet to remain in the second position is less than the power when controlling the suspended permanent magnet to remain in the first position.

[0136] Moreover, after detecting the positive and negative directions of the power-on parameters of the first coil, the present embodiment can directly determine the positive and negative directions in which the target position needs to be adjusted in the first direction based on the correspondence between the positive and negative directions of the power-on parameters of the preset first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction. Therefore, the process of calculating the second position in the present embodiment is relatively simple, occupies less computing resources, and is more efficient. Especially when the electric control coil originally outputs at a higher power, since the present application can quickly calculate and adjust the target position, it is beneficial to shorten the time that the electric control coil works in high-power conditions, which is beneficial to further improve the stability of the operation of the magnetic levitation equipment.

[0137] Magnetic levitation device embodiment: like Figure 6A schematic diagram of the framework of a magnetic levitation device is shown. Another embodiment of the present application further proposes a magnetic levitation device, which includes a base and a levitation permanent magnet, the base includes a fixedly arranged first permanent magnet, a magnetic sensor and an electric control coil, the levitation permanent magnet is suspended at a target position under the action of the magnetic force of the base, and the target position is located on one side of the base along a third direction; the magnetic levitation device controls the levitation position of the levitation permanent magnet through the electric control coil, wherein the electric control coil includes a first coil and a second coil, the first coil is used to control the levitation position of the levitation permanent magnet in a first direction, and the second coil is used to control the levitation position of the levitation permanent magnet in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; the magnetic levitation device also includes: at least one processor 601; and a memory 602 communicatively connected to the at least one processor 601; wherein the memory 602 stores instructions, and the instructions are executed by the at least one processor 601 to implement the control method for the magnetic levitation device as described above.

[0138] Specifically, the magnetic levitation device may include: a processor 601, a memory 602, a communication interface 603 and a bus 604. The processor 601, the memory 602 and the communication interface 603 are connected to each other in communication within the device through the bus 604.

[0139] The processor 601 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in this embodiment.

[0140] The memory 602 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory may store an operating system and other application programs. When the technical solution provided in this embodiment is implemented by software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0141] The communication interface 603 is used to connect to a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through wireless communication methods (such as mobile network, WIFI, Bluetooth, etc.) or through wired methods (such as USB, network cable, etc.).

[0142] The bus 604 comprises a pathway for transmitting information between the various components of the device (eg, processor, memory, input / output interface, and communication interface).

[0143] It should be noted that, although the above device only shows the processor 601, the memory 602, the communication interface 603 and the bus 604, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the solution of this embodiment, and does not necessarily include all the components shown in the figure.

[0144] The magnetic levitation device of the above embodiment is used to implement the control method for the magnetic levitation device in the above corresponding embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0145] Finally, it should be emphasized that the above are only preferred embodiments of the present application and are not intended to limit the present application. For technicians in this field, the present application may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a magnetic levitation device, the magnetic levitation device comprising a base and a levitation permanent magnet, the base comprising a fixedly arranged first permanent magnet, a magnetic sensor and an electric control coil, the levitation permanent magnet suspends at a target position under the magnetic force of the base, the target position is located on one side of the base along a third direction; Features: The magnetic levitation device controls the levitation position of the levitation permanent magnet through the electric control coil, wherein the electric control coil includes a first coil and a second coil, the first coil is used to control the levitation position of the levitation permanent magnet in a first direction, and the second coil is used to control the levitation position of the levitation permanent magnet in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; The control method comprises: The target position is changed from a first position to a second position, and the suspended permanent magnet is moved from the first position to the second position and maintained at the second position by controlling the electric control coil; The magnitude of the power-on parameter of the first coil when controlling the suspended permanent magnet to remain at the second position is smaller than the magnitude of the power-on parameter when controlling the suspended permanent magnet to remain at the first position; The second position is calculated as follows: When the suspended permanent magnet is maintained at the first position, the positive and negative directions of the energization parameters of the first coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the first direction are obtained according to the correspondence between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; and obtaining the amplitude by which the target position needs to be adjusted in the first direction; Taking the first position as a starting point, the second position is calculated according to the positive and negative directions and the amplitudes of the adjustment of the target position in the first direction.

2. The control method for a magnetic levitation device according to claim 1, characterized in that: The control method further comprises: When the suspended permanent magnet is maintained at the first position, the magnitude of the energization parameter of the first coil is also obtained, and the magnitude of the target position that needs to be adjusted in the first direction is correspondingly obtained according to the correspondence between the magnitude of the energization parameter of the first coil and the magnitude of the target position that needs to be adjusted in the first direction; Alternatively, the amplitude by which the target position needs to be adjusted in the first direction is a preset fixed amplitude.

3. The control method for a magnetic levitation device according to claim 1, characterized in that: The first coil includes a first coil and a third coil respectively located on both sides of the target position in a first direction; The first coil and the third coil are controlled in series; Alternatively, the coil No. 1 and the coil No. 3 are controlled independently, and the correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction includes: the correspondence between the positive and negative directions of the power-on parameters of the coil No. 1 and the positive and negative directions in which the target position needs to be adjusted in the first direction, and / or the correspondence between the positive and negative directions of the power-on parameters of the coil No. 3 and the positive and negative directions in which the target position needs to be adjusted in the first direction.

4. The control method for a magnetic levitation device according to claim 1, characterized in that: The control method further comprises: When the suspended permanent magnet is maintained at the first position, obtaining the magnitude of the power-on parameter of the first coil, and determining whether the magnitude of the power-on parameter of the first coil is greater than or equal to a first threshold; If yes, the second position is calculated, and the target position is changed from the first position to the second position, so that the suspended permanent magnet moves from the first position to the second position and remains at the second position; Otherwise, the target position is stabilized as the first position.

5. The control method for a magnetic levitation device according to claim 1, characterized in that: The corresponding relationship between the positive and negative directions of the energization parameter of the first coil and the positive and negative directions in which the target position needs to be adjusted in the first direction is measured experimentally.

6. The control method for magnetic levitation equipment according to claim 5, characterized in that: The experimental method includes: The target position is changed from the third position to the fourth position, and the suspended permanent magnet is moved from the third position to the fourth position and maintained at the fourth position by controlling the electric control coil; The fourth position is a position calculated based on the third position as a starting point and according to a preset adjustment rule; Acquire the positive and negative directions and magnitudes of the energization parameters of the first coil when the levitation permanent magnet is maintained at the third position, and the positive and negative directions and magnitudes of the energization parameters of the first coil when the levitation permanent magnet is maintained at the fourth position; In the case where the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the fourth position and the third position are the same, if the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the fourth position is smaller than the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the third position, the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the third position correspond to the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; if the magnitude of the energization parameter of the first coil when the levitation permanent magnet is maintained at the fourth position is larger than the magnitude of the energization parameter of the levitation permanent magnet when the levitation permanent magnet is maintained at the third position, the positive and negative directions of the energization parameters of the first coil when the levitation permanent magnet is maintained at the third position correspond to the opposite direction of the positive and negative directions of the target position adjusted in the first direction according to the preset adjustment rule, so as to set the corresponding relationship between the positive and negative directions of the energization parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction.

7. The control method for a magnetic levitation device according to claim 1, characterized in that: The second coil includes a No. 2 coil and a No. 4 coil respectively located on both sides of the target position in the second direction; the No. 2 coil and the No. 4 coil are controlled independently, or the No. 2 coil and the No. 4 coil are controlled in series; The third direction is parallel to the vertical direction, or there is an angle less than or equal to 60 degrees between the third direction and the vertical direction; The south pole and the north pole of the first permanent magnet are distributed along the third direction, the south pole and the north pole of the suspension permanent magnet are distributed along the third direction, and the south pole of the first permanent magnet is oriented in the same direction as the south pole of the suspension permanent magnet; The first permanent magnet is an annular permanent magnet whose center line is parallel to the third direction; or, the first permanent magnet includes at least three independent permanent magnets, and each of the independent permanent magnets is distributed around a center line parallel to the third direction; The energization parameter of the first coil includes a pulse width modulation value for controlling the first coil, or a control value for generating the pulse width modulation value, or a current of the first coil.

8. The control method for a magnetic levitation device according to any one of claims 1 to 7, characterized in that: The control method further comprises: When the suspended permanent magnet is maintained at the first position, the positive and negative directions of the energization parameters of the second coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the second direction are obtained according to the correspondence between the preset positive and negative directions of the energization parameters of the second coil and the positive and negative directions of the target position that need to be adjusted in the second direction; and obtaining the amplitude by which the target position needs to be adjusted in the second direction; Taking the first position as a starting point, the second position is calculated according to the positive and negative directions and amplitudes that the target position needs to be adjusted in the first direction, and according to the positive and negative directions and amplitudes that the target position needs to be adjusted in the second direction.

9. A control device for a magnetic levitation device, applied to the magnetic levitation device, the magnetic levitation device comprising a base and a levitation permanent magnet, the base comprising a fixedly arranged first permanent magnet, a magnetic sensor and an electric control coil, the levitation permanent magnet suspends at a target position under the magnetic force of the base, the target position is located on one side of the base along a third direction; Features: The magnetic levitation device controls the levitation position of the levitation permanent magnet through the electric control coil, wherein the electric control coil includes a first coil and a second coil, the first coil is used to control the levitation position of the levitation permanent magnet in a first direction, and the second coil is used to control the levitation position of the levitation permanent magnet in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; The control device comprises: A target position update module, used for changing the target position from a first position to a second position; wherein the second position is calculated in the following manner: when the suspended permanent magnet is maintained at the first position, the positive and negative directions of the power-on parameters of the first coil are obtained, and the positive and negative directions of the target position that need to be adjusted in the first direction are obtained according to the preset correspondence between the positive and negative directions of the power-on parameters of the first coil and the positive and negative directions of the target position that need to be adjusted in the first direction; and the amplitude of the target position that needs to be adjusted in the first direction is obtained; the second position is a position calculated based on the positive and negative directions and amplitude of the target position that need to be adjusted in the first direction, taking the first position as the starting point; An electric-controlled coil control module is used to move the suspended permanent magnet from the first position to the second position and maintain it at the second position by controlling the electric-controlled coil; wherein the magnitude of the power-on parameter of the first coil when controlling the suspended permanent magnet to maintain it at the second position is smaller than the magnitude of the power-on parameter when controlling the suspended permanent magnet to maintain it at the first position.

10. A magnetic levitation device, characterized in that: comprising a processor and a memory in communication with the processor; The memory stores instructions, and the instructions are executed by the processor to implement the control method for a magnetic levitation device as claimed in any one of claims 1 to 8.

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