Control method and equipment for high-speed motor and electromagnetic bearing system

Abstract

The invention belongs to the technical field, and discloses a control method and device for a high-speed motor and electromagnetic bearing system, and the method comprises the following steps: selecting an input variable and an output variable of a fuzzy controller; fuzzifying the input variable and the output variable, and determining a quantization factor, a basic discourse domain and a fuzzy discourse domain; defining a fuzzy subset and a membership function in the fuzzy domain of the input variable and the output variable; the membership degree is calculated through a membership degree function; substituting the membership degree into a fuzzy value formula to obtain a fuzzy value of the output variable, and performing defuzzification to obtain an accurate control quantity of the output variable; and outputting the precise control quantity of the output variable to an electromagnetic bearing model for control. The method provided by the invention can effectively reduce the oscillation and oscillation phenomenon of the system, improves the stability of the whole system, and can adapt to the situation of large disturbance or complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of active magnetic bearings, and in particular relates to a control method and equipment for a high-speed motor and electromagnetic bearing system. Background Art

[0002] The combination of high-speed motors and active magnetic bearings (AMBs) has become an important technical solution, especially in those occasions where high precision, speed and reliability are required. The magnetic bearing system is an open-loop unstable system, so it needs to be closed-loop controlled. However, there are strong nonlinearities, parameter uncertainties and external interferences in the magnetic bearing system. The control system needs to overcome these factors in order for the magnetic bearing to play its various advantages.

[0003] The Chinese patent announcement number is CN113009834B, and the name is an authorized patent for a fuzzy PID control optimization method for a magnetic levitation flywheel motor. The method includes: according to the control model of the magnetic levitation flywheel motor, for the fuzzy PID controller, determine the input variables, output variables and corresponding ranges of change; design the initial parameters of the fuzzy rules; obtain the output through fuzzy reasoning; process the output displacement and speed as a function of the expansion factor parameter τ; obtain the displacement and speed readings at the current moment and the previous moment, and update the expansion factor parameter τ through the gradient descent formula. Although this patent application also uses a fuzzy PID control method, it cannot adapt to high-speed motors and electromagnetic bearing systems. Summary of the invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a control method and equipment for a high-speed motor and electromagnetic bearing system, which provides a simple solution through fuzzy PID, thereby reducing the shock and oscillation phenomenon of the system and adapting to the nonlinear characteristics of the motor control system.

[0005] To achieve the above object, the technical solution adopted by the present invention is: In a first aspect, the present invention provides a control method for a high-speed motor and an electromagnetic bearing system, comprising the following steps: Select the input variables and output variables of the fuzzy controller; Fuzzify the input variables and output variables, determine the quantitative factors, basic domain and fuzzy domain; define fuzzy subsets and membership functions in the fuzzy domain of the input variables and output variables; The membership is calculated by the membership function; Substitute the membership degree into the fuzzy value formula to get the fuzzy value of the output variable, and obtain the precise control value of the output variable through defuzzification; The precise control amount of the output variable is output to the electromagnetic bearing model for control.

[0006] Optionally, the input variable of the fuzzy controller is the rotor vibration signal and its change rate collected by the eddy current displacement sensor.

[0007] Optionally, the fuzzy domains of both the input variable and the output variable are [-6,6].

[0008] Optionally, a Mamdani inference type fuzzy controller is used for fuzzy inference.

[0009] Optionally, a centroid method is used for defuzzification.

[0010] Optionally, the high-speed motor and electromagnetic bearing system includes a high-speed magnetic levitation rotor model, the input end of the high-speed magnetic levitation rotor model is connected to the electromagnetic bearing model, the input end of the electromagnetic bearing model is connected to the power amplifier, and the output variable of the fuzzy controller is a power amplifier control signal.

[0011] In a second aspect, the present invention provides a control system for a high-speed motor and an electromagnetic bearing system, comprising: A range selection module is used to select the input variables and output variables of the fuzzy controller; The fuzzification processing module is used to fuzzify the input variables and output variables, determine the quantitative factors, basic domain and fuzzy domain; define fuzzy subsets and membership functions in the fuzzy domain of the input variables and output variables; A first calculation module, used for calculating the membership through the membership function; The second calculation module is used to substitute the membership degree into the fuzzy value formula to obtain the fuzzy value of the output variable, and obtain the precise control amount of the output variable through defuzzification; The output module is used to output the precise control amount of the output variable to the electromagnetic bearing model for control.

[0012] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a control method for the high-speed motor and electromagnetic bearing system when executing the computer program.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the high-speed motor and electromagnetic bearing system is implemented.

[0014] In a fifth aspect, the present invention provides a computer program product including a computer-readable medium, wherein the computer-readable medium contains a computer-readable program code, and the program code executes the control method of the high-speed motor and electromagnetic bearing system.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a control method and device for a high-speed motor and electromagnetic bearing system, which can well adapt to the nonlinear characteristics of the motor control system by using an intelligent control algorithm. Fuzzy PID control does not rely on an accurate mathematical model, which provides a simple solution for motor control, especially when the model is difficult to obtain or complex. Fuzzy PID control can effectively reduce the shock and oscillation of the system, improve the stability of the overall system, and can adapt to situations with large disturbances or complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0017] In the attached picture: Figure 1 It is a principle block diagram of the high-speed motor and electromagnetic bearing system of the present invention; Figure 2 is a diagram of a radial four-degree-of-freedom active electromagnetic bearing-rigid rotor system; Figure 3 It is the input and output variable membership function diagram of embodiment 1 of the present invention; Figure 4 is a characteristic surface diagram of input and output variables of Example 1 of the present invention; Figure 5 The rotor vibration of the first embodiment of the present invention x A Directional displacement map; Figure 6 The rotor vibration of the first embodiment of the present invention x B Directional displacement map; Figure 7 The rotor vibration of the first embodiment of the present invention y A Directional displacement map; Figure 8 The rotor vibration of the first embodiment of the present invention y B Directional displacement map. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0020] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. The present invention is described in detail below with reference to the accompanying drawings.

[0021] The present invention provides a control method for a high-speed motor and an electromagnetic bearing system, comprising the following steps: Select the input variables and output variables of the fuzzy controller; Fuzzify the input variables and output variables, determine the quantitative factors, basic domain and fuzzy domain; define fuzzy subsets and membership functions in the fuzzy domain of the input variables and output variables; The membership is calculated by the membership function; Substitute the membership degree into the fuzzy value formula to get the fuzzy value of the output variable, and obtain the precise control value of the output variable through defuzzification; The precise control amount of the output variable is output to the electromagnetic bearing model for control.

[0022] The present invention adopts an intelligent control algorithm, which can well adapt to the nonlinear characteristics of the motor control system. Fuzzy PID control does not rely on an accurate mathematical model and provides a simple solution. Fuzzy PID control can effectively reduce the shock and oscillation of the system and improve the stability of the overall system.

[0023] Example 1 Proportional Integral Derivative (PID) control is a classic control method that is widely used in various control systems because of its simple structure, easy implementation and convenient parameter debugging. PID obtains precise control actions through precise proportional-integral-differential operations, acts on magnetic bearings, achieves stable suspension, and thus optimizes system performance. PID is usually used as the main controller in active electromagnetic bearing-rigid rotor systems to ensure system stability.

[0024] Fuzzy Logic Control (FLC) is a computer digital control technology based on fuzzy set theory, fuzzy language variables and fuzzy logic reasoning. The implementation of fuzzy control mainly includes fuzzification, knowledge base, logical judgment and defuzzification. Fuzzy logic control regards the controlled system as a "black box". The controller learns the system characteristics according to the input and output responses, and adjusts the controller parameters in real time according to the control objectives. It is very suitable for complex nonlinear system control.

[0025] When there are uncertainties in the controlled object or the model parameters vary greatly, the PID control effect has certain limitations, and the parameter setting process and the principles based on it are not clear, and often rely on experience debugging. Simple PID control can no longer meet the increasingly complex application requirements. Adding fuzzy control on the basis of traditional PID control can be used to realize the active control of active electromagnetic bearing-rigid rotor system.

[0026] Step 1, analyzing the composition of the active electromagnetic bearing-rigid rotor system, and establishing a model of the four-degree-of-freedom active electromagnetic bearing-rigid rotor system; Figure 2 It is a typical radial four-degree-of-freedom active electromagnetic bearing-rigid rotor system.

[0027] When there is a deviation between the real-time position of the rotor and the target position, the controller will receive the real-time position signal of the rotor transmitted by the displacement sensor and send out a control signal according to the set algorithm. After being amplified by the power amplifier, it drives the electromagnetic bearing and adjusts the magnitude of the electromagnetic force, thereby making real-time corrections to the rotor position so that it can be stably suspended at the ideal position.

[0028] exist Figure 2 The relevant planes and coordinate systems are defined in . Assume that the center planes of AMBs-A and AMBs-B at both ends are and The center of mass of the balanced rotor is C , due to symmetry, the center of mass C It will be located on the geometric center line of the rotor. Points are made parallel to the center planes of the AMBs at both ends and Plane , The plane intersects the stator geometric center line at point. Point to the center plane of AMBs at both ends and The distances are l a and l b ,flat and The distance between .Establish Fixed coordinate system, where Axis is the axis of rotation, , and A right-handed system is formed between them. Then the motion state of the rotor can be expressed by the rotor mass center at and The translational displacement in the direction x , y ) and the rotor winding and Angular displacement of the axis ( , ) to describe.

[0029] Using rotor dynamics theory, the differential equation of the AMBs-rigid rotor system during acceleration operation is obtained as follows: Formula 1 In formula 1, is the rotor mass; and J The rotor winding Axis and around the axis or The moment of inertia of the shaft; and are unbalanced mass and eccentricity respectively; Two AMBs are respectively and Directional electromagnetic force.

[0030] The matrix is ​​represented as Formula 2 In formula 2, , , They are the generalized mass matrix, gyro matrix, and arm coefficient matrix of the system respectively; is the acceleration vector; is the velocity vector; For A and B end radial AMBs x and y The electromagnetic force vector generated in the direction; is the generalized imbalance vector acting on the system.

[0031] Among them, the generalized mass matrix and gyro matrix of the rotor system are ,

[0032] in, is the rotor mass; and The rotor winding z Shaft and winding x Axis or y The moment of inertia of the shaft.

[0033] The arm coefficient matrix of the rotor system and the generalized unbalance vector acting on the system are

[0034]

[0035] in, and is the force arm coefficient; and are the unbalanced mass and the eccentricity respectively.

[0036] A and B end radial AMBs x and y The electromagnetic force vector generated in the direction is

[0037] in, Two AMBs are respectively x and yDirectional electromagnetic force.

[0038] The linearized electromagnetic force of AMBs in differential driving mode can be expressed as Formula 3 In formula 3, is the current stiffness coefficient matrix of AMBs; is the displacement stiffness coefficient matrix of AMBs; is the displacement vector at the sensor position; is the electromagnetic force matrix when the rotor is in equilibrium position; To control the current vector; the control current vector will be determined by the control strategy.

[0039] Step 2: Analyze the influence of fuzzy PID controller on the stability of rotor system, analyze the working principle of fuzzy PID controller in active electromagnetic bearing-high-speed motor and electromagnetic bearing system, and design fuzzy control of electromagnetic bearing-rigid rotor system.

[0040] The AMBs-high-speed motor and electromagnetic bearing system itself is an unstable strong nonlinear system, and its mathematical model is not easy to obtain accurately. Therefore, fuzzy control, as a classic nonlinear control method, can be used to realize the active control of the AMBs-high-speed motor and electromagnetic bearing system.

[0041] The realization of fuzzy control mainly includes fuzzification, knowledge base, logical judgment and defuzzification. Its working principle in AMBs-high-speed motor and electromagnetic bearing system is: take the rotor vibration information and vibration change rate as input signals, fuzzify them to obtain fuzzy quantities, obtain fuzzy sets through fuzzy reasoning, and then defuzzify them into clear quantities to control the power amplifier current, thereby realizing the active control of AMBs-high-speed motor and electromagnetic bearing system, such as Figure 1 shown.

[0042] At present, the control strategies of AMBs-rigid rotor system are simply divided into two types: one is the traditional fixed parameter PID controller, the most common of which is PID control; the other is a variable parameter controller with strong robustness, including fuzzy PID control, sliding mode control, Robust controller.

[0043] Firstly, the selection range of PID parameters under stable operation of the system is studied.

[0044] The transfer function of the controlled object of the AMBs-rigid rotor system is expressed as:

[0045] in, Transfer function to the controlled object; is the rotor mass; is the current stiffness coefficient, is the displacement stiffness coefficient.

[0046] The closed-loop transfer function of the AMBs-rigid rotor system under PID control is:

[0047] in, is the closed-loop controller transfer function; Transfer function to the controlled object; is the rotor mass; is the current stiffness coefficient, is the displacement stiffness coefficient; , , are the coefficients of proportional, integral and differential links respectively.

[0048] Therefore, the characteristic equation of the system is:

[0049] in, is the rotor mass; , , The points are proportional, integral and differential link coefficients respectively; is the current stiffness coefficient, is the displacement stiffness coefficient; According to Routh criterion, the necessary and sufficient conditions for system stability are:

[0050] in, is the rotor mass; , , The points are proportional, integral and differential link coefficients respectively; is the current stiffness coefficient, is the displacement stiffness coefficient; The PID parameter selection range that makes the AMBs-rigid rotor system stable is obtained.

[0051] Step 3, study the selection range of fuzzy PID parameters under stable operation of AMBs-rigid rotor system, and then study the system stability under fixed PID parameter control; Design steps of fuzzy control in AMBs – high-speed motor and electromagnetic bearing system: 1) Select the input variables and output variables of the fuzzy controller.

[0052] For the active electromagnetic bearing-rigid rotor system, the input variable of the fuzzy controller is the rotor vibration signal collected by the eddy current displacement sensor. x a and its rate of change, the output variable is the power amplifier control signal.

[0053] 2) Fuzzify the input variables and output variables to determine the quantization factor, basic domain and fuzzy domain. According to the output voltage variation range of the eddy current displacement sensor corresponding to the rotor vibration displacement variation range, determine the basic domain and corresponding quantization factor of the rotor vibration signal and the rotor vibration variation rate.

[0054] Select the input variable ( E and R ) and output variables U The fuzzy domain of is [-6,6].

[0055] In the actual active electromagnetic bearing-rigid rotor system, the rotor vibration signal x a The variation range is ±0.3mm, and the variation range of the output voltage of the eddy current displacement sensor is 6V, so choose x a The basic domain of is [-0.003, 0.003], and the corresponding quantization factor is k 1 =2000; rotor vibration change rate r xa The basic domain of is [-0.003, 0.003], and its corresponding quantization factor is k 2 =2000; the output variable is the power amplifier current, and its fuzzy variable domain is selected as [-6,6].

[0056] 3) Define fuzzy subsets and membership functions in the fuzzy domain of input variables and output variables.

[0057] Seven fuzzy subsets of input variables and output variables are selected, namely PB (positive large), PM (positive middle), PS (positive small), ZO (zero), NS (negative small), NM (negative middle) and NB (negative large), and triangular membership function is used to define them.

[0058] 4) Fuzzy control rules Formulating appropriate fuzzy control rules determines the control performance of the active electromagnetic bearing-rigid rotor system. Based on expert experience and theoretical analysis, the relationship between the input variables and output variables of the fuzzy controller is known. For example: when the rotor vibrates x a Much smaller than the reference position r xa WhenE is PB (positive), the control variable corresponds to the maximum value to ensure that the rotor position quickly approaches the reference position; when the rotor vibrates x a Much larger than the reference position r a When , the control variable corresponds to the minimum value. As the rotor vibration decreases, the vibration error signal E =PS (positive small). At this time, in order to accelerate the rotor to stabilize the speed, the output should not be too large, so the output variable is PS (positive small). The fuzzy rules in other control processes can be obtained according to the above method to obtain the control rule table shown in Table 1. In addition, Figure 3 and Figure 4 The membership function diagrams of input and output variables and their characteristic surface diagrams are given.

[0059] Table 1

[0060] In Table 1, E is the rotor vibration error, R is the rotor vibration error change rate, PB, PM, PS, ZO, NS, NM, and NB describe the state levels of the input and output variables of the fuzzy controller, which respectively represent positive large, positive medium, positive small, zero, negative small, negative medium, and negative large.

[0061] 5) Fuzzy reasoning and defuzzification Using Mamdani inference type fuzzy controller, such as rotor vibration error E and its rate of change R The fuzzy quantities of are 3 and -3 respectively, E and R belong to (PS, PM) and (NM, NS) respectively, so from Table 1 we can see that the fuzzy rules of these two input variables are: Rule 1: If E Is PS and R is NM, then U o YesNS Rule 2: If E Is PS and R is NS, then U o It's ZO Rule 3: If E Is a PM and R is NM, then U o It's ZO Rule 4: If E Is a PM and R is NS, then U o It's PM Using Mamdani reasoning, we can calculate U The fuzzy value of U1 for: Formula 4 Formula 5 in," "and" " respectively represent the minimum and maximum values; Representation Rules i middle U fuzzy value; U is the input and output variables; U1 is the fuzzy output value of U.

[0062] Take Rule 1 as an example to explain Formula (6). E =3, according to E From the membership function of , we can know that the membership degree of the fuzzy linguistic variable PS is 0.5, that is, Formula 6 when R = -3, combined R From the membership function of , we can know that the membership degree of the fuzzy linguistic variable NM is also 0.5, that is, Formula 7 Combining equations (4), (6) and (7), we can see that under the condition of rule 1, the fuzzy output U The fuzzy value of is: Formula 8 The accurate control value of the power amplifier current is obtained by defuzzification using the centroid method.

[0063] Example 2 like Figure 1 The figure shows the high-speed motor and electromagnetic bearing system used in this embodiment, and the error E, error change rate R and output Δ of the fuzzy controller are calculated in the fuzzy controller. k p , Δ k d , Δ k i To fuzzify.

[0064] According to the established fuzzy control rule table, the fuzzy input variables E and R are solved by fuzzy reasoning with small operations to obtain the fuzzy output quantity Ui of the system. The fuzzy output quantity of the system is defuzzified by the weighted average method and converted into an accurate output quantity within the output fuzzy domain. The accurate output quantity within the output fuzzy domain is then converted into the actual output control quantity through scale transformation to act on the controlled object; the actual output control quantity is converted into a control current through a power amplifier, and the current size of the coil on the electromagnet is adjusted in real time to achieve stable suspension of the rotor.

[0065] This embodiment verifies the characteristics of the rotor system under fuzzy PID control through simulation, and verifies the influence of the stability of the AMBs-high-speed motor and electromagnetic bearing system.

[0066] The system is dynamically simulated using MATLAB / Simulink functions to study the effects of the fuzzy PID controller on the translational and conical modes of the active electromagnetic bearing (AMBs)-rotor system and verify the feasibility of the algorithm. In the simulink environment, a fuzzy PID controller is built. The rotor vibration information and vibration change rate are used as input signals, which are fuzzified to obtain fuzzy quantities. Fuzzy sets are obtained through fuzzy reasoning, and then the defuzzification is converted into accurate control quantities to adjust the proportional value Δ k p , integral adjustment value Δ k i and the differential adjustment value Δ k d As the system output, active control of the AMBs-high-speed motor and electromagnetic bearing system is realized to verify the optimization effect of the control algorithm.

[0067] Rotor vibration of a certain AMBs-rigid rotor system in this embodiment x A Directional displacement simulation diagram Figure 5 As shown in the figure, the maximum displacements under PID and fuzzy PID control are 1.5950 and 1.4333 respectively, and the rotor vibration y A Directional displacement simulation diagram Figure 6 As shown in the figure, the maximum displacements under PID and fuzzy PID control are 1.5925 and 1.4315 respectively, and the rotor vibration x B Directional displacement simulation diagram Figure 7 As shown in the figure, the maximum displacements under PID and fuzzy PID control are 1.6672 and 1.4870 respectively, and the rotor vibration y B Directional displacement simulation diagram Figure 8 As shown, the maximum displacements under PID and fuzzy PID control are 1.6699 and 1.4888 respectively. It can be seen that the effect of fuzzy PID control on optimizing rotor stability is very obvious.

[0068] Example 3 Based on the method of embodiment 1, a control system of a high-speed motor and an electromagnetic bearing system is disclosed, including: A range selection module is used to select the input variables and output variables of the fuzzy controller; The fuzzification processing module is used to fuzzify the input variables and output variables, determine the quantitative factors, basic domain and fuzzy domain; define fuzzy subsets and membership functions in the fuzzy domain of the input variables and output variables; A first calculation module, used for calculating the membership through the membership function; The second calculation module is used to substitute the membership degree into the fuzzy value formula to obtain the fuzzy value of the output variable, and obtain the precise control amount of the output variable through defuzzification; The output module is used to output the precise control amount of the output variable to the electromagnetic bearing model for control.

[0069] Example 4 The purpose of this embodiment is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the high-speed motor and electromagnetic bearing system when executing the computer program.

[0070] Example 5 The purpose of this embodiment is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the high-speed motor and electromagnetic bearing system is implemented.

[0071] Example 6 The purpose of this embodiment is to provide a computer program product including a computer-readable medium, on which a computer-readable program code is contained, and the program code executes the control method of the high-speed motor and electromagnetic bearing system.

[0072] The steps involved in the devices of the above embodiments 3, 4, 5 and 6 correspond to those of the method embodiment 1. For the specific implementation methods, please refer to the relevant description part of embodiment 1.

[0073] It should be understood by those skilled in the art that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes. These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] Unless otherwise specified, the working modes or control modes involved in the above embodiments are all conventional working modes or control modes in the art.

[0075] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application. Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A control method for a high-speed motor and an electromagnetic bearing system, characterized in that: The following steps are involved: Select the input variables and output variables of the fuzzy controller; Fuzzify input variables and output variables, determine quantitative factors, basic domains and fuzzy domains; Define fuzzy subsets and membership functions in the fuzzy domain of input and output variables; The membership is calculated by the membership function; Substitute the membership degree into the fuzzy value formula to get the fuzzy value of the output variable, and obtain the precise control value of the output variable through defuzzification; The precise control amount of the output variable is output to the electromagnetic bearing model for control.

2. The control method of a high-speed motor and electromagnetic bearing system according to claim 1, characterized in that: The input variables of the fuzzy controller are the rotor vibration signal and its change rate collected by the eddy current displacement sensor.

3. The control method of a high-speed motor and electromagnetic bearing system according to claim 1, characterized in that: The fuzzy domains of both input and output variables are [-6,6].

4. The control method of a high-speed motor and electromagnetic bearing system according to claim 1, characterized in that: Mamdani inference type fuzzy controller is used for fuzzy inference.

5. The control method of a high-speed motor and electromagnetic bearing system according to claim 1, characterized in that: The centroid method is used for defuzzification.

6. The control method of a high-speed motor and electromagnetic bearing system according to claim 1, characterized in that: The high-speed motor and electromagnetic bearing system comprises a high-speed magnetic suspension rotor model, the input end of the high-speed magnetic suspension rotor model is connected to the electromagnetic bearing model, the input end of the electromagnetic bearing model is connected to the power amplifier, and the output variable of the fuzzy controller is the power amplifier control signal.

7. A control system for a high-speed motor and electromagnetic bearing system, characterized in that: include: A range selection module is used to select the input variables and output variables of the fuzzy controller; The fuzzy processing module is used to fuzzify the input variables and output variables and determine the quantitative factors, basic domain and fuzzy domain; Define fuzzy subsets and membership functions in the fuzzy domain of input and output variables; A first calculation module, used for calculating the membership through the membership function; The second calculation module is used to substitute the membership degree into the fuzzy value formula to obtain the fuzzy value of the output variable, and obtain the precise control amount of the output variable through defuzzification; The output module is used to output the precise control amount of the output variable to the electromagnetic bearing model for control.

8. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the high-speed motor and electromagnetic bearing system as claimed in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the high-speed motor and electromagnetic bearing system according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer readable medium, characterized in that The computer-readable medium contains a computer-readable program code, and the program code executes the control method of the high-speed motor and electromagnetic bearing system according to any one of claims 1 to 6.

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