Control method, device and system for starting and floating of air suspension bearing and storage medium

Abstract

The invention provides an air suspension bearing start floating control method, device and system, a storage medium and a computer program product, and the method comprises the steps: obtaining the current information of an input air suspension motor, the load information of an air suspension bearing, and the DC bus voltage of an input inversion unit, and the inversion unit is used for providing electric energy for the air suspension motor; according to the load information, determining whether to carry out start floating control or not; and in the process of starting and floating control, according to the corresponding relation information of the starting and floating frequency and the control time of the air suspension bearing, the current information, the voltage of the direct current bus and the expected voltage of the direct current bus, a control signal of the inverter unit is generated. According to the invention, the rotating speed of the motor can be adjusted in the starting process, the voltage of the direct-current bus is controlled to be constant, faults such as power step and voltage flicker are avoided, the control capability of the starting of the air-suspending bearing can be improved, and the reliability of the starting of the air-suspending bearing is improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a method, device, system, storage medium and computer program product for controlling the start and end of an air suspension bearing. Background Art

[0002] Permanent magnet synchronous motor (PMSM) is a synchronous motor that uses permanent magnets to establish an excitation magnetic field. Its stator generates a rotating magnetic field, and the rotor is made of permanent magnetic material. The permanent magnet synchronous motor using gas suspension bearings is smaller than conventional motors, and has the advantages of no friction, no need for lubricating oil, high efficiency, long life, wide speed regulation range, and its rated speed can reach tens of thousands or even hundreds of thousands of revolutions per minute. Therefore, it has been widely used and promoted in the fields of centrifugal refrigerators, precision machining, medical machinery, aerospace, etc. At present, the air suspension bearing is usually based on a preset fixed floating frequency for floating control, and the floating speed is fast. The air suspension bearing has a small inertia, high speed, and uneven suspension gap. If the floating speed is fast, the electromagnetic force of the motor during the floating period will increase sharply, and it is easy to have faults such as inverter DC bus power step and bus voltage flicker, resulting in fault protection shutdown, making it difficult to float the air suspension bearing, and affecting the reliability of the air suspension bearing. Summary of the invention

[0003] The present invention provides a control method, device, system, storage medium and computer program product for starting and flotation of an air suspension bearing, which can perform starting and flotation control according to the corresponding relationship between the starting and flotation frequency and the control time, the current information of the input air suspension motor, the DC bus voltage and the expected voltage, and can adjust the speed of the motor, control the DC bus voltage to be constant, avoid power step, voltage flicker and other faults, and improve the reliability of starting and flotation of the air suspension bearing.

[0004] According to a first aspect of the present disclosure, a method for controlling the start of floating of an air suspension bearing is provided, comprising: obtaining current information input to an air suspension motor, load information of an air suspension bearing, and a DC bus voltage input to an inverter unit, wherein the inverter unit is used to provide electrical energy to the air suspension motor; determining whether to perform a floating control according to the load information; and in the process of performing the floating control, generating a control signal of the inverter unit according to information on a correspondence between a floating frequency and a control time of the air suspension bearing, the current information, the DC bus voltage, and an expected voltage of the DC bus.

[0005] Optionally, generating the control signal of the inverter unit according to the correspondence information between the starting frequency and the control time of the air suspension bearing, the current information, the DC bus voltage and the expected DC voltage of the DC bus includes: performing a first current compensation control process; wherein the first current compensation control process includes: using the correspondence information and the current information to compensate for the quadrature-axis component current and the direct-axis component current of the current information, and generating the control signal based on the obtained quadrature-axis component compensation current and the first direct-axis component compensation current.

[0006] Optionally, generating the control signal of the inverter unit according to the correspondence information between the starting frequency and control time of the air suspension bearing, the current information, the DC bus voltage and the expected DC voltage of the DC bus includes: performing a second current compensation control process; wherein the second current compensation control process includes: compensating the direct-axis component current of the current information using the DC bus voltage and the expected voltage, and generating the control signal based on the obtained second direct-axis component compensation current and the quadrature-axis component compensation current.

[0007] Optionally, using the corresponding relationship information and the current information to compensate for the quadrature-axis component current and the direct-axis component current of the current information includes: determining the actual rotational speed of the air suspension motor according to the current information; determining the expected rotational speed of the air suspension motor using the corresponding relationship information; and compensating for the quadrature-axis component current and the direct-axis component current of the current information using the actual rotational speed and the expected rotational speed to obtain the quadrature-axis component compensation current and the first direct-axis component compensation current.

[0008] Optionally, the use of the actual speed and the expected speed to compensate the cross-axis component current and the direct-axis component current of the current information to obtain the cross-axis component compensation current and the first direct-axis component compensation current includes: determining first difference information between the actual speed and the expected speed; performing proportional integral operation on the first difference information to obtain a cross-axis component reference value and a first direct-axis component reference value; determining second difference information between the cross-axis component current and the cross-axis component reference value to obtain the cross-axis component compensation current; and determining third difference information between the direct-axis component current and the first direct-axis component reference value to obtain the first direct-axis component compensation current.

[0009] Optionally, generating the control signal based on the obtained first direct-axis component compensation current and the quadrature-axis component compensation current includes: performing proportional-integral operation processing on the quadrature-axis component compensation current to obtain a first quadrature-axis voltage; performing proportional-integral operation processing on the first direct-axis component compensation current to obtain a first direct-axis voltage; and generating the control signal based on the first quadrature-axis voltage and the first direct-axis voltage.

[0010] Optionally, the use of the DC bus voltage and the expected voltage to compensate for the direct-axis component current of the current information includes: determining fourth difference information between the DC bus voltage and the expected voltage; performing proportional-integral operation on the fourth difference information to obtain a second direct-axis component reference value; and determining fifth difference information between the direct-axis component current and the second direct-axis component reference value to obtain the second direct-axis component compensation current.

[0011] Optionally, generating the control signal based on the obtained second direct-axis component compensation current and the quadrature-axis component compensation current includes: performing proportional-integral operation on the quadrature-axis component compensation current to obtain a second quadrature-axis voltage; performing proportional-integral operation on the second direct-axis component compensation current to obtain a second direct-axis voltage; and generating the control signal based on the second quadrature-axis voltage and the second direct-axis voltage.

[0012] Optionally, at least one control period and period start-floating frequency information corresponding to the control period are determined according to the corresponding relationship information; and within the control period, the start-floating control is performed according to the corresponding period start-floating frequency information.

[0013] Optionally, the control period includes a first acceleration period, and the method includes: determining a first acceleration and a first floating frequency based on the period floating frequency information corresponding to the first acceleration period; within the first acceleration period, starting with a zero floating frequency, controlling the air suspension motor to accelerate to the first floating frequency with a first acceleration, and performing the first current compensation control process.

[0014] Optionally, the control period includes a second acceleration period after the first acceleration period, and the method includes: determining a second acceleration and a second floating frequency based on the period floating frequency information corresponding to the second acceleration period; within the second acceleration period, controlling the air suspension motor to accelerate to the second floating frequency with the second acceleration, and performing the first current compensation control processing and the second current compensation control processing.

[0015] Optionally, performing the first current compensation control processing and the second current compensation control processing includes: performing the second current compensation control processing at the starting time point of the second acceleration period; performing the second current compensation control processing at the ending time point of the second acceleration period; between the starting time point and the ending time point, performing the first current compensation control processing according to the DC bus voltage and a preset voltage threshold, or performing the first current compensation control processing and the second current compensation control processing.

[0016] Optionally, the first current compensation control processing is performed according to the DC bus voltage and a preset voltage threshold, or the first current compensation control processing and the second current compensation control processing include: when the DC bus voltage is less than the voltage threshold, the first current compensation control processing is performed; when the DC bus voltage is greater than or equal to the voltage threshold, the first current compensation control processing and the second current compensation control processing are alternately performed based on a preset time interval.

[0017] Optionally, the control period includes: a third acceleration period after the second acceleration period, and the method includes: determining a third acceleration and a third floating frequency based on the period floating frequency information corresponding to the third acceleration period; and within the third acceleration period, controlling the air suspension motor to accelerate to the third floating frequency at the third acceleration.

[0018] Optionally, the control period includes a stationary period before the first acceleration period, and the method includes: controlling the air suspension motor to be in a stationary state during the stationary period.

[0019] Optionally, determining whether to perform floating control according to the load information includes: determining to perform floating control when it is determined according to the load information that the air suspension bearing is in a stationary state.

[0020] According to a second aspect of the present disclosure, a control device for starting a floating air bearing is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the control method for starting a floating air bearing as described above based on instructions stored in the memory.

[0021] According to a third aspect of the present disclosure, a control device for starting the floating of an air suspension bearing is provided, comprising: a module for executing the control method for starting the floating of an air suspension bearing as described above.

[0022] According to a fourth aspect of the present disclosure, a control system for starting an air suspension bearing is provided, comprising: a current sampling unit for collecting current information input to an air suspension motor; a load sampling unit for collecting load information of the air suspension bearing; a bus sampling circuit for collecting a DC bus voltage input to an inverter unit; and a control device for starting an air suspension bearing as described above.

[0023] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the control method for starting levitation of an air suspension bearing as described above is implemented.

[0024] According to a sixth aspect of the present disclosure, a computer program product is provided, wherein the computer program product stores computer instructions, and when the computer instructions are executed by a processor, the control method for starting the levitation of an air suspension bearing as described above is implemented.

[0025] The control method, device, system, storage medium and computer program product for starting and flotation of an air suspension bearing disclosed in the present invention can adjust the rotation speed of a motor and control the DC bus voltage to be constant during the starting and flotation process, thereby avoiding faults such as power step and voltage flicker, and can reduce the dry friction time of the air suspension bearing, thereby improving the control capability for starting and flotation of the air suspension bearing, solving the problem of control difficulties in starting and flotation of the air suspension bearing, and improving the reliability of starting and flotation of the air suspension bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present disclosure will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. The above and other purposes and advantages of the present disclosure will be further described below in conjunction with specific embodiments and with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding technical features or components will be represented by the same or corresponding figure marks.

[0027] Figure 1 Schematic diagrams of some embodiments of a control system for starting and stopping air suspension bearings according to the present disclosure;

[0028] Figure 2 It is a flowchart of some embodiments of the control method for starting the air suspension bearing according to the present disclosure;

[0029] Figure 3 It is a schematic diagram of a flow chart of current compensation in some embodiments of the control method for starting levitation of an air suspension bearing according to the present disclosure;

[0030] Figure 4It is a schematic diagram of the control principle of flotation control in some embodiments of the air suspension bearing flotation control method disclosed in the present invention;

[0031] Figure 5 It is a schematic diagram of a flow chart of obtaining compensation currents of the quadrature axis and the direct axis in some embodiments of the control method for starting the levitation of an air suspension bearing according to the present disclosure;

[0032] Figure 6 It is a schematic diagram of a flow chart of obtaining a compensation current in other embodiments of the control method for starting levitation of an air suspension bearing according to the present disclosure;

[0033] Figure 7 It is a schematic diagram of a flow chart of flotation control in some embodiments of the flotation control method of an air suspension bearing disclosed in the present invention;

[0034] Figure 8 Schematic diagram of a flotation start-up trajectory curve in some embodiments of the air suspension bearing flotation start-up control method disclosed in the present invention;

[0035] Fig. 9 Schematic diagram of modules of some embodiments of the control device for starting and stopping the air suspension bearing according to the present disclosure;

[0036] Fig.10 Schematic diagram of a flotation control module in some embodiments of the air suspension bearing flotation control device according to the present disclosure;

[0037] Fig.11 Schematic diagrams of modules of some further embodiments of the air suspension bearing levitation control device according to the present disclosure. DETAILED DESCRIPTION

[0038] Exemplary embodiments of the present disclosure will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the embodiments are described in the specification. However, it should be understood that many implementation-specific settings must be made in the process of implementing the embodiments in order to achieve the specific goals of the developer, for example, to meet those restrictions related to the device and the service, and these restrictions may vary depending on the implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the content of this disclosure.

[0039] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0040] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0041] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0042] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0043] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0044] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0045] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0046] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0047] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0048] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] In addition, in order to avoid obscuring the present disclosure due to unnecessary details, only the processing steps and / or device structures closely related to at least the scheme according to the present disclosure are shown in the drawings, and other details that are not closely related to the present disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it does not need to be discussed again for subsequent drawings.

[0050] In some embodiments, the present disclosure provides a control system for air suspension bearing levitation, such as Figure 1 As shown, the control system for starting the air suspension bearing includes: a control device 130, a current sampling unit 140, a load sampling unit 150, a bus sampling circuit 170, etc. The control device 130 is a control device for starting the air suspension bearing disclosed in the present invention.

[0051] The inverter unit 160 provides electric energy for the air suspension motor 110. A current sampling unit 140 is provided between the output end of the inverter unit 160 and the air suspension motor 110. The current sampling unit 140 collects the U, V, and W three-phase currents input to the air suspension motor 110. The load sampling unit 150 collects the load information of the air suspension bearing 120. The bus sampling circuit 170 collects the DC bus voltage input to the inverter unit 160.

[0052] A rectifier unit or other device may provide a direct current to the inverter unit 160, and the inverter unit 160 converts the direct current into an alternating current and provides it to the air suspension motor 110. The inverter unit 160 may be implemented in a variety of ways, for example, the inverter unit 160 is a three-phase inverter bridge unit, which inverts the direct current into a three-phase alternating current with an adjustable frequency and voltage.

[0053] The inverter unit 160 includes six IGBTs (Insulated Gate Bipolar Transistors), and the control device 130 can output PWM (Pulse Width Modulation) control signals to the IGBTs. The control signals include PWM1-PWM6, which are used to control the six IGBTs so that the inverter unit 160 outputs a three-phase current UVW. Resistors R1 and R2 are connected in parallel to the DC bus that inputs DC current to the inverter unit 160, and R1 and R2 are connected in series; a capacitor C1 is also connected in parallel to the DC bus for filtering.

[0054] The current sampling unit 140 is used to collect current information of the input air suspension motor and send it to the control device 130. The current sampling unit 140 can be a variety of sampling circuits, and three sampling circuits can be configured to collect U, V, and W three-phase currents respectively; the current sampling unit 140 can also be configured with two sampling circuits to collect two-phase currents of the three-phase current respectively; the control device 130 obtains the third phase current by calculation based on the principle that the sum of the three-phase currents is 0.

[0055] The bus sampling circuit 170 can be a variety of sampling circuits for collecting the DC bus voltage. The resistor R2 is a voltage dividing resistor, and the bus sampling circuit 170 can be configured with a calculation unit for determining the DC bus voltage based on the voltage value collected by the resistor R2 and the resistance information of R1 and R2. The control device 130 can also be used to determine the DC bus voltage based on the voltage value collected by the resistor R2 and the resistance information of R1 and R2.

[0056] The air suspension motor 110 can be installed in equipment such as a centrifugal air conditioner, and the air suspension motor 110 can be a variety of motors such as a permanent magnet synchronous motor, and the air suspension bearing 120 can be used as a connector between the load such as the air conditioner and the air suspension motor 110. The load sampling unit 150 sends the collected load information to the control device 103, and the load sampling unit 150 can be implemented in a variety of ways to collect various load information of the air suspension bearing 120.

[0057] The air suspension bearing 120 may be an air suspension bearing, etc., or a sliding bearing with gas as the medium. The load information of the air suspension bearing 120 may include suction pressure, exhaust pressure, and pneumatic pressure, etc. The pneumatic pressure of the air suspension bearing refers to the pressure generated by the gas film (air film) inside the bearing; the suction pressure refers to the gas pressure at the bearing inlet when the gas supply system injects gas into the bearing space through the nozzle; the exhaust pressure refers to the gas pressure at the bearing outlet when the gas exhaust system exhausts gas from the bearing space through the exhaust hole.

[0058] The air suspension bearing buoyancy control method disclosed in the present invention is applied to Figure 1 The control device 130 in. Figure 2 FIG. 1 is a flow chart of some embodiments of the air suspension bearing levitation control method according to the present disclosure. Figure 2 As shown, the control method for starting the air suspension bearing includes steps S201-S203.

[0059] Step S201, obtaining current information of the input air suspension motor, load information of the air suspension bearing, and DC bus voltage of the input inverter unit.

[0060] Step S202: Determine whether to start floating control according to the load information of the air suspension bearing.

[0061] Step S203, during the flotation control process, a control signal of the inverter unit is generated according to the correspondence information between the flotation frequency and the control time of the air bearing, the current information, the DC bus voltage and the expected voltage of the DC bus.

[0062] The start-up process of the air suspension bearing is the start-up process of the air suspension bearing from a stationary state to a suspended state, and the start-up frequency of the air suspension bearing is the frequency of the air suspension bearing from a stationary state to a suspended state. The start-up frequency of the air suspension bearing can adopt a variety of frequencies, for example, the start-up frequency can be a motor rotor frequency, etc. The motor rotor frequency is the frequency generated by the rotor speed of the motor, also known as the rotor rotation frequency, usually in Hertz (Hz).

[0063] The corresponding relationship information between the air suspension bearing's floating frequency and control time can be various, such as the floating operation trajectory curve corresponding to the floating frequency and control time. The expected voltage of the DC bus is the expected voltage of the DC bus voltage input to the inverter unit, which can be set according to the specific system.

[0064] The control method for starting the floating of an air suspension bearing disclosed in the present invention determines whether to perform the floating control by collecting load information, and generates a control signal of the inverter unit according to the corresponding relationship between the floating frequency and the control time, the current information of the input air suspension motor, the DC bus voltage and the expected voltage during the floating process. The motor speed can be adjusted during the floating process, the DC bus voltage can be controlled to be constant, the DC bus voltage power can be stabilized, and power step, voltage flicker and other faults can be avoided. The control ability of the starting of the air suspension bearing can be improved, and the control difficulty of the starting of the air suspension bearing can be solved. The dry friction time of the air suspension bearing can be reduced, and the reliability of the starting of the air suspension bearing can be improved.

[0065] In some embodiments, during the floating control process, a first current compensation control process and / or a second current compensation control process may be performed. The first current compensation control process may be a variety of control processes. For example, the first current compensation control process includes: using the corresponding relationship information between the floating frequency and the control time and the current information of the input air suspension motor, compensating the quadrature axis (Q axis) component current and the direct axis (D axis) component current of the current information, and generating a control signal based on the obtained quadrature axis component compensation current and the first direct axis component compensation current.

[0066] By using the first current compensation control process, during the floating control process, the speed and current closed loop can be used to adjust the quadrature-axis component and direct-axis component current of the current information to generate a control signal to adjust the speed of the motor. The motor can be controlled to run at a specified high speed, which can enable the air suspension bearing to start floating at a high speed, reduce the dry friction time of the air suspension bearing, and improve the reliability of the air suspension bearing start floating.

[0067] The second current compensation control process may be a variety of control processes. For example, the second current compensation control process includes: using the collected DC bus voltage and the expected voltage of the DC bus to compensate the direct-axis component current of the current information of the input air suspension motor, and generating a control signal based on the obtained second direct-axis component compensation current and quadrature-axis component compensation current.

[0068] By using the second current compensation control process, the voltage and current closed-loop can be used to adjust the cross-axis component current of the current information in the floating control, and a control signal can be generated to adjust the voltage of the DC bus to be constant during the floating process. The rapid increase of electromagnetic force during the floating period, which may cause the DC bus power step and bus voltage flicker, can be suppressed, the DC bus voltage and power can be stabilized, and faults such as power step and voltage flicker can be avoided, thereby improving the reliability of the floating of the air suspension bearing.

[0069] Figure 3 FIG. 1 is a flow chart of current compensation in some embodiments of the air suspension bearing levitation control method disclosed in the present invention, such as Figure 3 As shown:

[0070] Step S301, determining the actual rotation speed of the air suspension motor according to the current information input to the air suspension motor.

[0071] There are several ways to determine the actual speed of an air suspension motor. Figure 4 As shown, the current sampling unit collects the three-phase current i of the input air suspension motor a 、i b 、i c The two-phase current i a 、i c , we can use the existing method according to i a 、i c The position observer 410 and the load planning trajectory calculation unit 420 use the motor model to estimate the rotor running position and determine the actual speed of the air suspension motor. The actual speed of the air suspension motor can be the angular velocity of the air suspension motor.

[0072] Step S302, using the corresponding relationship information between the floating start frequency and the control time, determine the expected speed of the air suspension motor.

[0073] A variety of methods can be used to determine the expected speed of the air suspension motor. For example, the load planning trajectory calculation unit 420 pre-stores the corresponding relationship information between the floating frequency and the control time, and the corresponding relationship information between the floating frequency and the control time can be a floating operation trajectory curve. The load planning trajectory calculation unit 420 obtains the floating frequency corresponding to the control time according to the floating operation trajectory curve, and calculates the expected speed of the air suspension motor based on the floating frequency. The expected speed of the air suspension motor can be the expected angular velocity ω of the air suspension motor. r *,ω r *=2π*floating frequency f.

[0074] Step S303 , using the actual speed of the air suspension motor and the expected speed of the air suspension motor, the quadrature axis component current and the direct axis component current of the current information input to the air suspension motor are compensated to obtain a quadrature axis component compensation current and a first direct axis component compensation current.

[0075] By compensating the quadrature-axis current and the direct-axis current based on the expected speed and actual speed of the air suspension motor, the speed and current closed-loop are used to adjust the quadrature-axis current and the direct-axis current to control the motor to run at a specified speed. The high-speed floating operation of the air suspension bearing can be adjusted during the floating process, thereby improving the reliability of the high-altitude floating of the air suspension bearing.

[0076] Various methods can be used to obtain the quadrature-axis component compensation current and the first straight-axis component compensation current. Figure 5 FIG. 1 is a flow chart of obtaining the compensation current of the quadrature axis and the direct axis in some embodiments of the control method for starting the levitation of the air suspension bearing according to the present disclosure, such as Figure 5 As shown:

[0077] Step S501 : determining first difference information between an actual rotation speed of the air suspension motor and an expected rotation speed of the air suspension motor.

[0078] Step S502: Perform proportional integral operation on the first difference information to obtain a quadrature-axis component reference value and a first straight-axis component reference value.

[0079] Step S503 , determining second difference information between the quadrature-axis component current and the quadrature-axis component reference value to obtain a quadrature-axis component compensation current.

[0080] Step S504 , determining third difference information between the direct-axis component current and the first direct-axis component reference value, so as to obtain the first direct-axis component compensation current.

[0081] By performing proportional-integral calculation on the difference between the actual speed and the expected speed of the suspension motor, a reference value is obtained, and the difference information between the component current and the reference value is determined to obtain the component compensation current, so as to realize the closed-loop regulation of the quadrature-axis component current and the direct-axis component current of the speed and current. The motor can be accurately controlled to run at a specified speed, the high-speed floating operation of the air suspension bearing can be adjusted, and the reliability of the high-speed floating of the air suspension bearing can be improved.

[0082] In some embodiments, Figure 4 As shown, the actual speed of the air suspension motor is the angular velocity of the air suspension motor. The expected speed of the air suspension motor is the expected angular velocity ωr* of the air suspension motor; calculate and ωr*, and input the first difference information into the speed PI (Proportional Integral) controller 441, perform proportional integral operation on the first difference information, obtain the quadrature axis component reference value iq* and the first straight axis component reference value id*1, and realize speed loop control.

[0083] The current information collected by the current sampling unit is the three-phase current i of the input air suspension motor. a 、i b 、i c The two-phase current i a 、i c , where i b We can use the formula i a +i b +i c = 0. The current information collected by the current sampling unit is transformed by Clark transformation and Park transformation in turn to obtain the quadrature axis component current iq and the direct axis component current id.

[0084] like Figure 4 As shown, S is a switch unit. When S is closed at the 2nd terminal, the second difference between the quadrature axis component current iq and the quadrature axis component reference value iq* is determined as the quadrature axis component compensation current iq 补 ; Determine the third difference information between the first straight-axis component reference value id*1 and the direct-axis component current id as the first straight-axis component compensation current id 补1 , current loop control can be realized.

[0085] A variety of methods can be used to generate a control signal based on the first direct-axis component compensation current and the quadrature-axis component compensation current. For example, a proportional-integral operation is performed on the quadrature-axis component compensation current to obtain a first quadrature-axis voltage; a proportional-integral operation is performed on the first direct-axis component compensation current to obtain a first direct-axis voltage; and a control signal is generated based on the first quadrature-axis voltage and the first direct-axis voltage.

[0086] By performing proportional integral operation on the quadrature-axis component compensation current and the first straight-axis component compensation current to generate a control signal, the motor can be accurately controlled to run at a specified high speed, thereby ensuring the reliability of the high-speed start-up of the air suspension bearing.

[0087] In some embodiments, Figure 4 As shown, the quadrature axis component compensation current iq is compensated by the current PI controller 443. 补 Perform proportional-integral operation to obtain the first quadrature-axis voltage Uq; use the current PI controller 444 to compensate the first straight-axis component current id 补1 Proportional-integral operation is performed to obtain the first straight-axis voltage Uq; Uq and Ud are subjected to I-Park transformation (inverse Park transformation) to obtain Vα and Vβ; Vα and Vβ are processed by SVPWM (Space Vector Pulse Width Modulation) to obtain six PWM signals, and the six PWM signals are used to control the high-speed floating operation of the air suspension motor.

[0088] There are many ways to use the DC bus voltage and the desired voltage to compensate for the direct-axis component current of the current information. Figure 6 FIG. 1 is a flow chart of obtaining a compensation current in another embodiment of the air suspension bearing levitation control method disclosed in the present invention. Figure 6 As shown:

[0089] Step S601, determining fourth difference information between the DC bus voltage and the expected voltage.

[0090] Step S602: Perform proportional integral operation on the fourth difference information to obtain a second direct-axis component reference value.

[0091] Step S603 , determining fifth difference information between the direct-axis component current and the second direct-axis component reference value to obtain the second direct-axis component compensation current.

[0092] By performing proportional integral operation on the difference between the actual voltage and the expected voltage of the DC bus voltage, the second direct-axis component reference value is obtained to determine the second direct-axis component compensation current; the quadrature-axis component current of the current information is adjusted by a voltage and current closed-loop, so that the voltage of the DC bus can be accurately adjusted to be constant during the floating process, and the DC bus power step and bus voltage flicker during the floating period can be suppressed, so that the DC bus voltage and power are stable, and faults such as power step and voltage flicker are avoided, thereby improving the reliability of the air suspension bearing floating.

[0093] In some embodiments, Figure 4As shown, the DC bus voltage Vdc is collected by the bus acquisition circuit to obtain the preset DC bus expected voltage Vdc*, which can be set according to different systems. The fourth difference information between the DC bus voltage Vdc and the expected voltage Vdc* is determined, and the voltage PI controller 442 is used to perform proportional integral operation on the fourth difference information to obtain the second direct axis component reference value id*2, so as to realize voltage loop control.

[0094] When the switch unit S is closed to the 1 end, the fifth difference information between the second direct-axis component reference value id*2 and the direct-axis component current id is determined as the second direct-axis component compensation current id 补2 , current loop control can be realized.

[0095] A variety of methods can be used to generate a control signal based on the second direct-axis component compensation current and the quadrature-axis component compensation current. For example, a proportional-integral operation is performed on the quadrature-axis component compensation current to obtain a second quadrature-axis voltage; a proportional-integral operation is performed on the second direct-axis component compensation current to obtain a second axis voltage; and a control signal is generated based on the second quadrature-axis voltage and the second direct-axis voltage.

[0096] By performing proportional integral operation on the quadrature-axis component compensation current and the second direct-axis component compensation current to generate a control signal, the voltage of the DC bus can be accurately controlled to be constant, the voltage power of the DC bus can be stabilized, and the reliability of the high floating of the air suspension bearing can be improved.

[0097] In some embodiments, Figure 4 As shown, the quadrature axis component compensation current iq is compensated by the current PI controller 443. 补 Perform proportional-integral operation to obtain the second quadrature-axis voltage Uq; use the current PI controller 444 to compensate the second direct-axis component current id 补2 Proportional-integral operation is performed to obtain the second direct-axis voltage Uq; Uq and Ud are subjected to I-Park transformation (inverse Park transformation) to obtain Vα and Vβ; Vα and Vβ are processed by SVPWM to obtain six PWM signals, and the six PWM signals are used to control the high-speed floating operation of the air suspension motor.

[0098] A variety of methods can be used to determine whether to start the floating control. For example, when it is determined that the air suspension bearing is in a stationary state according to the load information of the air suspension bearing, it is determined to start the floating control; when it is determined that the air suspension bearing is not in a stationary state according to the load information of the air suspension bearing, it is determined not to start the floating control. The load information of the air suspension bearing may include the suction pressure, the exhaust pressure, etc. When it is determined that the pressure difference between the suction pressure and the exhaust pressure is 0, it can be determined that the air suspension bearing is in a stationary state, and it is determined to start the floating control.

[0099] By determining that the air suspension bearing is in a stationary state based on the load information of the air suspension bearing, the floating start control is performed, which can ensure the accuracy of the speed and busbar adjustment of the air suspension bearing and improve the control stability and reliability of the air suspension bearing floating start.

[0100] Figure 7 FIG. 1 is a flow chart of flotation control in some embodiments of the air suspension bearing flotation control method disclosed in the present invention. Figure 7 As shown:

[0101] Step S701: Determine at least one control period and the period float start frequency information corresponding to the control period according to the corresponding relationship information between the float start frequency and the control time.

[0102] The corresponding relationship information between the floating start frequency and the control time can be a floating start operation trajectory curve, etc. Figure 8 As shown, a flotation operation trajectory curve can be generated according to the test, and the flotation operation trajectory curve represents the corresponding relationship between the control time and the flotation frequency. According to the flotation operation trajectory curve, the control period and the period flotation frequency information corresponding to the control period can be determined. The period flotation frequency information is a section of the flotation operation trajectory curve corresponding to the control period.

[0103] Step S702: During the control period, flotation control is performed according to the flotation frequency information of the corresponding period.

[0104] By using the correspondence information between the start-floating frequency and the control time, the control period and the corresponding start-floating frequency information can be determined. Within the control period, the start-floating control can be performed according to the set start-floating frequency information during the period. This can ensure the accuracy of the speed and bus voltage regulation of the air suspension bearing, improve the control ability of the start-floating of the air suspension bearing, and improve the control stability and reliability of the start-floating of the air suspension bearing.

[0105] In some embodiments, Figure 8 As shown, multiple control time periods are determined according to the flotation operation trajectory curve, which are respectively a static time period, a first acceleration time period, a second acceleration time period and a third acceleration time period, etc., and t1, t2, t3, and t4 can be set according to the test, for example, t1 is 0.3s, t2 is 0.4s, t3 is 0.7s, and t4 is 1s. The time period flotation frequency information corresponding to the static time period, the first acceleration time period, the second acceleration time period and the third acceleration time period is respectively a section of the flotation operation trajectory curve corresponding to the intervals t0-t1, t1-t2, t2-t3, and t3-t4.

[0106] During the static period, the air suspension motor is controlled to be in a static state. Setting the static period at the beginning of the floating control and controlling the air suspension motor to be in a static state during the static period can ensure the accuracy of the speed and bus voltage regulation of the air suspension bearing, and can improve the control stability and reliability of the air suspension bearing floating.

[0107] like Figure 8 As shown, the control time corresponding to the static period is t0~t1. At t0, if the air suspension bearing is determined to be in a static state according to the load information of the air suspension bearing, it is determined to perform the floating control and start the floating control; within t0~t1, the floating frequency corresponding to the static period is 0, and the air suspension motor is controlled to be in a static state; the buoyancy moment T0 can be determined, 0 <T0<100N.m。

[0108] Based on the floating frequency information of the period corresponding to the first acceleration period, the first acceleration and the first floating frequency are determined; in the first acceleration period, starting with zero floating frequency, the air suspension motor is controlled to run at the first acceleration to increase the floating frequency to the first floating frequency, and the first current compensation control process is performed.

[0109] By controlling the air suspension motor to run at the first acceleration and performing the first current compensation control process at zero starting frequency during the first acceleration period, the actual speed of the motor can be adjusted to be the same as the expected speed corresponding to the starting frequency, the motor can be controlled to run at a specified high speed, the air suspension bearing can be started and operated at a high speed, the dry friction time of the air suspension bearing can be reduced, and the reliability of the starting of the air suspension bearing is improved.

[0110] like Figure 8 As shown, the control time corresponding to the first acceleration period is t1-t2, and the first acceleration V0 and the first floating frequency f0 are determined. V0 and f0 can be set according to experiments, for example, V0<200Hz / s, f0<500Hz. During t1-t2, starting with zero floating frequency, the air suspension motor is controlled to run at the first acceleration V0, and quickly accelerates to the first floating frequency V0, and the first current compensation control process is performed during the first acceleration period.

[0111] The first current compensation control process in any of the above embodiments may be performed. Figure 4 As shown, switch S is switched to terminal 2, and the calculation and ωr*, and uses the speed PI controller 441 to perform proportional integral operation on the first difference information to obtain the quadrature-axis component reference value iq* and the first direct-axis component reference value id*1.

[0112] Determine the second difference between the quadrature-axis component current iq and the quadrature-axis component reference value iq* as the quadrature-axis component compensation current iq 补; Determine the third difference information between the first straight-axis component reference value id*1 and the direct-axis component current id as the first straight-axis component compensation current id 补1 .

[0113] The quadrature axis component compensation current iq is controlled by the current PI controller 443. 补 Perform proportional-integral operation to obtain the first quadrature-axis voltage Uq; use the current PI controller 444 to compensate the first straight-axis component current id 补1 Proportional-integral operation is performed to obtain the first straight-axis voltage Uq; Uq and Ud are transformed by I-Park to obtain Vα and Vβ, and then six PWM signals are obtained through SVPWM operation. These six PWM signals are used to control the high-speed floating operation of the air suspension motor.

[0114] Based on the floating frequency information of the period corresponding to the second acceleration period, the second acceleration and the second floating frequency are determined; during the second acceleration period, the air suspension motor is controlled to operate at the second acceleration to increase the floating frequency to the second floating frequency, and the first current compensation control processing and the second current compensation control processing are performed.

[0115] By controlling the air suspension motor to run at the second acceleration during the second acceleration period and performing the first and second current compensation control processes, the speed and current closed-loop control motor can be used to run at a specified high speed, and the voltage and current closed-loop control DC bus voltage can be used to keep constant, so that the air suspension bearing can be started and operated at a high speed, and the step of DC bus power and bus voltage flicker during the start-up period can be suppressed, thereby improving the reliability of the high-altitude start-up of the air suspension bearing.

[0116] A variety of methods can be used to perform the first current compensation control process and the second current compensation control process in the second acceleration period. For example, the second current compensation control process is performed at the start time point of the second acceleration period; the second current compensation control process is performed at the end time point of the second acceleration period; between the start time point and the end time point, the first current compensation control process is performed, or the first current compensation control process and the second current compensation control process are performed according to the DC bus voltage and a preset voltage threshold.

[0117] By performing the second current compensation control process at the start time point and the end time point of the second acceleration period, and performing the first and second current compensation control processes between the start time point and the end time point, the speed and current closed-loop control of the motor can be used to run at a specified speed, and the voltage and current closed-loop control of the DC bus voltage can be used to keep the voltage constant, so that the air suspension bearing can be started and operated at a high speed, and the step jump of the DC bus power and the bus voltage flicker during the start-up period can be suppressed, thereby improving the reliability of the high-altitude start-up of the air suspension bearing.

[0118] In some embodiments, Figure 8 As shown, the control time corresponding to the second acceleration period is t2-t3, and the second acceleration V1 and the second floating frequency f1 are determined. V1 and f1 can be set according to experiments, for example, V1<100Hz / s, f1<750Hz (500Hz+250Hz). At the starting time point t2 of the second acceleration period, the second current compensation control process is performed, and at the ending time point t3 of the second acceleration period, the second current compensation control process is performed.

[0119] During t2-t3, the air suspension motor is rapidly accelerated to the second floating frequency f1 at a rate V1. According to the DC bus voltage and a preset voltage threshold, a first current compensation control process is performed, or a first current compensation control process and a second current compensation control process are performed.

[0120] Between the start time point and the end time point of the second acceleration period, when the DC bus voltage is less than the voltage threshold, the first current compensation control process is performed; when the DC bus voltage is greater than or equal to the voltage threshold, the first current compensation control process and the second current compensation control process are performed alternately based on a preset time interval.

[0121] By performing the first current compensation control process according to the DC bus voltage and a preset voltage threshold between the start time point and the end time point of the second acceleration period, or alternately performing the first and second current compensation control processes, the speed and current closed-loop control motor can be used to run at a specified high speed, and the voltage and current closed-loop control DC bus voltage can be used to keep constant, so that the air suspension bearing can be started and operated at a high speed, and the step jump of the DC bus power and the bus voltage flicker during the start-up period can be suppressed, thereby improving the reliability of the high-altitude start-up of the air suspension bearing.

[0122] The second current compensation control process in any of the above embodiments may be performed. Figure 4 As shown, the DC bus voltage Vdc is collected by the bus acquisition circuit to obtain the expected voltage Vdc* of the preset DC bus; the switch S is switched to the 2 end to determine the fourth difference information between the DC bus voltage Vdc and the expected voltage Vdc*, and the voltage PI controller 442 is used to perform proportional integral operation on the fourth difference information to obtain the second direct-axis component reference value id*2; the fifth difference information between the second direct-axis component reference value id*2 and the direct-axis component current id is determined as the second direct-axis component compensation current id 补2 .

[0123] The quadrature axis component compensation current iq is controlled by the current PI controller 443. 补 Perform proportional-integral operation to obtain the second quadrature-axis voltage Uq; use the current PI controller 444 to compensate the second direct-axis component current id 补2Perform proportional-integral operation processing to obtain the second direct-axis voltage Ud; perform I-Park transformation (inverse Park transformation) processing on Uq and Ud to obtain Vα and Vβ; Vα and Vβ are processed by SVPWM to obtain six PWM signals, and the six PWM signals are used to control the high-speed start-up and floating operation of the air suspension motor.

[0124] The voltage threshold V0 can be set, and V0 can be slightly greater than the desired voltage of the DC bus voltage. During t2 - t3, when Vdc < V0, the switch S is closed to terminal 2 to implement the first current compensation control processing, and the motor is controlled to run at a specified high speed using speed and current closed-loop control. When Vdc >= V0, based on a preset time interval, the switch S is repeatedly controlled to alternately close to terminal 1 and terminal 2, alternately perform the first current compensation control processing and the second current compensation control processing, and alternately use speed and current closed-loop control to control the motor to run at a specified high speed and use voltage and current closed-loop to regulate the DC bus voltage to be constant.

[0125] The time interval can be set. For example, the time interval can be 25 us, etc. Under the condition of Vdc >= V0, the switch S is repeatedly controlled to alternately close to terminal 1 and terminal 2. For example, within a 25 us period, the switch S is closed to terminal 2 to perform the first current compensation control processing, and in the next 25 us, the switch S is closed to terminal 1 to perform the second current compensation control processing.

[0126] Based on the floating start frequency information corresponding to the third acceleration period, determine the third acceleration and the third floating start frequency; within the third acceleration period, control the air suspension motor to run at the third acceleration so that the floating start frequency increases to the third floating start frequency.

[0127] By controlling the air suspension motor to run at the third acceleration within the third acceleration period, the motor can be controlled to run at a specified speed, the suction pressure can be quickly established, and the stability and reliability of the high floating of the air suspension bearing can be improved.

[0128] In some embodiments, as Figure 8 shown, the control time corresponding to the third acceleration period is t3 - t4, determine the third acceleration V2 and the third floating start frequency f2, V3 and f3 can be set according to experiments. For example, V2 < 60 Hz / s, f2 < 900 Hz (750 Hz + 150 Hz). Within t3 - t4, control the air suspension motor to accelerate to the third floating start frequency f2 (f2 < 150 Hz) at the third acceleration rate V2 and run stably at the frequency f2 to quickly establish the suction pressure.

[0129] During the floating control process, when the time point t4 is reached, the floating control can be considered to be over. At t4 and later, the air suspension motor is controlled according to the load characteristics. After the suction and exhaust pressure is established, the operating frequency is planned to increase or decrease the speed of the air suspension motor according to the specific operating conditions of the air conditioner and other equipment.

[0130] Experiments were conducted based on the control method for starting and flotation of the air suspension bearing disclosed in the present invention. The speed of the motor can be accurately controlled during the flotation control, and the DC bus voltage can be controlled to be constant, so that the DC bus voltage power is stable and power step, voltage flicker and other faults are avoided. The problem of control difficulty in starting and flotation of the air suspension bearing is solved, and the reliability of starting and flotation of the air suspension bearing is improved.

[0131] In some embodiments, Fig. 9 As shown, the present disclosure provides a control device 900 for starting the floating of an air suspension bearing, including an information acquisition module 901, a start judgment module 902, and a start control module 903. The information acquisition module 901 acquires the current information of the input air suspension motor, the load information of the air suspension bearing, and the DC bus voltage of the input inverter unit. The start judgment module 902 determines whether to perform the start control according to the load information. For example, when the start judgment module 902 determines that the air suspension bearing is in a stationary state according to the load information, it determines to perform the start control.

[0132] During the flotation control process, the flotation control module 903 generates a control signal for the inverter unit according to the correspondence information between the flotation frequency and the control time of the air suspension bearing, the current information, the DC bus voltage and the expected voltage of the DC bus.

[0133] During the process of floating control, the floating control module 903 performs a first current compensation control process; wherein, the first current compensation control process includes: using the corresponding relationship information and the current information to compensate for the quadrature-axis component current and the direct-axis component current of the current information, and generating a control signal based on the obtained quadrature-axis component compensation current and the first direct-axis component compensation current.

[0134] During the process of floating control, the floating control module 903 performs a second current compensation control process; wherein, the second current compensation control process includes: using the DC bus voltage and the DC desired voltage to compensate for the direct-axis component current of the current information, and generating a control signal based on the obtained second direct-axis component compensation current and the quadrature-axis component compensation current.

[0135] In some embodiments, Fig.10As shown, the floating control module 903 includes: a first control processing module 9031 and a second control processing module 9032. The first control processing module 9031 determines the actual speed of the air suspension motor according to the current information; the first control processing module 9031 determines the expected speed of the air suspension motor by using the corresponding relationship information; the first control processing module 9031 compensates the quadrature-axis component current and the direct-axis component current of the current information by using the actual speed and the expected speed, so as to obtain the quadrature-axis component compensation current and the first direct-axis component compensation current.

[0136] For example, the first control processing module 9031 can determine the first difference information between the actual speed and the expected speed, perform proportional integral operation on the first difference information, and obtain the cross-axis component reference value and the first straight-axis component reference value; the first control processing module 9031 determines the second difference information between the cross-axis component current and the cross-axis component reference value to obtain the cross-axis component compensation current; the first control processing module 9031 determines the third difference information between the direct-axis component current and the first straight-axis component reference value to obtain the first straight-axis component compensation current.

[0137] The first control processing module 9031 can perform proportional-integral operation on the quadrature-axis component compensation current to obtain a first quadrature-axis voltage, and perform proportional-integral operation on the first direct-axis component compensation current to obtain a first direct-axis voltage; the first control processing module 9031 generates a control signal based on the first quadrature-axis voltage and the first direct-axis voltage.

[0138] The second control processing module 9032 determines the fourth difference information between the DC bus voltage and the expected voltage, performs proportional integral operation on the fourth difference information, and obtains the second direct-axis component reference value; the second control processing module 9032 determines the fifth difference information between the direct-axis component current and the second direct-axis component reference value to obtain the second direct-axis component compensation current.

[0139] For example, the second control processing module 9032 performs proportional integral operation on the quadrature-axis component compensation current to obtain a second quadrature-axis voltage, and performs proportional integral operation on the second direct-axis component compensation current to obtain a second axis voltage; the second control processing module 9032 generates a control signal based on the second quadrature-axis voltage and the second direct-axis voltage.

[0140] In some embodiments, the flotation control module 903 determines at least one control period and the period flotation frequency information corresponding to the control period according to the corresponding relationship information; the flotation control module 903 performs flotation control according to the corresponding period flotation frequency information within the control period.

[0141] The floating control module 903 controls the air suspension motor to be in a static state during the static period. The floating control module 903 determines the first acceleration and the first floating frequency based on the floating frequency information of the period corresponding to the first acceleration period. The floating control module 903 starts with zero floating frequency during the first acceleration period, controls the air suspension motor to operate at the first acceleration, so that the floating frequency increases to the first floating frequency, and performs the first current compensation control process.

[0142] The floating control module 903 determines the second acceleration and the second floating frequency based on the floating frequency information of the period corresponding to the second acceleration period; the floating control module 903 controls the air suspension motor to operate at the second acceleration during the second acceleration period to increase the floating frequency to the second floating frequency, and performs the first current compensation control processing and the second current compensation control processing.

[0143] The floating control module 903 can perform the second current compensation control processing at the starting time point of the second acceleration period; the floating control module 903 can perform the second current compensation control processing at the ending time point of the second acceleration period; the floating control module 903 can perform the first current compensation control processing, or the first current compensation control processing and the second current compensation control processing, between the starting time point and the ending time point according to the DC bus voltage and the preset voltage threshold.

[0144] For example, when the DC bus voltage is less than the voltage threshold, the floating control module 903 performs the first current compensation control processing; when the DC bus voltage is greater than or equal to the voltage threshold, the floating control module 903 alternately performs the first current compensation control processing and the second current compensation control processing based on a preset time interval.

[0145] The flotation control module 903 determines the third acceleration and the third flotation frequency based on the flotation frequency information corresponding to the third acceleration period. The flotation control module 903 controls the air suspension motor to operate at the third acceleration during the third acceleration period to increase the flotation frequency to the third flotation frequency.

[0146] In some embodiments, Fig.11 As shown, the control device 110 for starting the air suspension bearing comprises: a memory 1110 and a processor 1120 coupled to the memory 1110, and the processor 1120 is configured to execute the control method for starting the air suspension bearing in each embodiment based on the instructions stored in the memory 1110. The specific implementation can refer to the above embodiments, which will not be repeated here.

[0147] The air bearing levitation control device 1100 may further include an input / output interface 1130 , a network interface 1140 , a storage interface 1150 , etc. These interfaces 1130 , 1140 , 1150 , the memory 1110 and the processor 1120 may be connected via a bus 1160 , for example.

[0148] The memory 1110 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0149] Among them, the processor 1120 can be implemented by discrete hardware components such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors.

[0150] Among them, the input and output interface 1130 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 1140 provides a connection interface for various networked devices. The storage interface 1150 provides a connection interface for external storage devices such as SD cards and USB flash drives. The bus 1160 can use any bus structure among a variety of bus structures. For example, the bus structure includes but is not limited to the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0151] In some embodiments, the present disclosure provides a computer-readable storage medium storing computer instructions. When the instructions are executed by a processor, a method for controlling the start of levitation of an air suspension bearing as described in any of the above embodiments is implemented.

[0152] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of readable storage media can include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0153] The embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0154] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0155] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0156] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0157] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0158] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0159] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative and do not limit the scope of the present disclosure. It will be appreciated by those skilled in the art that the above embodiments may be combined, modified or replaced without departing from the scope and essence of the present disclosure.

Claims

1. A method for controlling the start of floating of an air suspension bearing, comprising: Acquire current information of the air suspension motor, load information of the air suspension bearing, and a DC bus voltage of an input inverter unit, wherein the inverter unit is used to provide electric energy for the air suspension motor; Determining whether to perform float start control according to the load information; During the floating control, a control signal of the inverter unit is generated according to the corresponding relationship information between the floating frequency and the control time of the air suspension bearing, the current information, the DC bus voltage and the expected voltage of the DC bus.

2. The method of claim 1, wherein: The generating the control signal of the inverter unit according to the correspondence relationship information between the start-up frequency and the control time of the air suspension bearing, the current information, the DC bus voltage and the DC expected voltage of the DC bus includes: Perform a first current compensation control process; wherein, the first current compensation control process includes: using the corresponding relationship information and the current information to compensate for the quadrature-axis component current and the direct-axis component current of the current information, and generating the control signal based on the obtained quadrature-axis component compensation current and the first direct-axis component compensation current.

3. The method of claim 2, wherein: The generating the control signal of the inverter unit according to the correspondence relationship information between the start-up frequency and the control time of the air suspension bearing, the current information, the DC bus voltage and the DC expected voltage of the DC bus includes: Perform a second current compensation control process; wherein, the second current compensation control process includes: using the DC bus voltage and the expected voltage to compensate the direct-axis component current of the current information, and generating the control signal based on the obtained second direct-axis component compensation current and the quadrature-axis component compensation current.

4. The method of claim 3, wherein: The compensating the quadrature-axis component current and the direct-axis component current of the current information by using the corresponding relationship information and the current information comprises: Determining the actual rotation speed of the air suspension motor according to the current information; Determine the expected rotation speed of the air suspension motor by using the corresponding relationship information; The quadrature-axis component current and the direct-axis component current of the current information are compensated by using the actual rotation speed and the expected rotation speed to obtain the quadrature-axis component compensation current and the first direct-axis component compensation current.

5. The method of claim 4, wherein: The compensating the quadrature-axis component current and the direct-axis component current of the current information by using the actual speed and the expected speed to obtain the quadrature-axis component compensation current and the first direct-axis component compensation current comprises: Determine first difference information between the actual speed and the expected speed; Performing proportional integral operation on the first difference information to obtain a quadrature-axis component reference value and a first straight-axis component reference value; Determine second difference information between the quadrature-axis component current and the quadrature-axis component reference value to obtain the quadrature-axis component compensation current; Determine third difference information between the direct-axis component current and the first direct-axis component reference value to obtain the first direct-axis component compensation current.

6. The method of claim 3, wherein: The generating the control signal based on the obtained first direct-axis component compensation current and the quadrature-axis component compensation current comprises: Performing proportional-integral operation on the quadrature-axis component compensation current to obtain a first quadrature-axis voltage; Performing proportional-integral operation on the first direct-axis component compensation current to obtain a first direct-axis voltage; The control signal is generated according to the first quadrature-axis voltage and the first direct-axis voltage.

7. The method of claim 3, wherein: The compensating the direct-axis component current of the current information by using the direct-current bus voltage and the expected voltage comprises: Determining fourth difference information between the DC bus voltage and the expected voltage; Performing proportional integral operation on the fourth difference information to obtain a second direct-axis component reference value; A fifth difference information between the direct-axis component current and the second direct-axis component reference value is determined to obtain the second direct-axis component compensation current.

8. The method of claim 7, wherein: The generating the control signal based on the obtained second direct-axis component compensation current and the quadrature-axis component compensation current comprises: Performing proportional-integral operation on the quadrature-axis component compensation current to obtain a second quadrature-axis voltage; Performing proportional-integral operation on the second direct-axis component compensation current to obtain a second direct-axis voltage; The control signal is generated according to the second quadrature-axis voltage and the second direct-axis voltage.

9. The method according to any one of claims 3 to 8, comprising: Determine at least one control period and period start-floating frequency information corresponding to the control period according to the corresponding relationship information; In the control period, the floating control is performed according to the floating frequency information of the corresponding period.

10. The method of claim 9, wherein: The control period includes a first acceleration period, and the method includes: Determining a first acceleration and a first floating frequency based on the floating frequency information of the period corresponding to the first acceleration period; In the first acceleration period, starting from a zero floating frequency, the air suspension motor is controlled to accelerate to the first floating frequency at a first acceleration, and the first current compensation control process is performed.

11. The method of claim 10, wherein: The control period includes a second acceleration period after the first acceleration period, and the method includes: Determining a second acceleration and a second floating frequency based on the floating frequency information of the period corresponding to the second acceleration period; In the second acceleration period, the air suspension motor is controlled to accelerate to the second floating start frequency at the second acceleration, and the first current compensation control process and the second current compensation control process are performed.

12. The method of claim 11, wherein: The performing of the first current compensation control process and the second current compensation control process comprises: At the start time point of the second acceleration period, performing the second current compensation control process; At the end time point of the second acceleration period, performing the second current compensation control process; Between the starting time point and the ending time point, the first current compensation control process is performed, or the first current compensation control process and the second current compensation control process are performed according to the DC bus voltage and a preset voltage threshold.

13. The method of claim 12, wherein: The performing the first current compensation control process, or the performing the first current compensation control process and the second current compensation control process according to the DC bus voltage and a preset voltage threshold, includes: When the DC bus voltage is less than the voltage threshold, performing the first current compensation control process; When the DC bus voltage is greater than or equal to the voltage threshold, the first current compensation control process and the second current compensation control process are performed alternately based on a preset time interval.

14. The method of claim 11, wherein: The control period includes: a third acceleration period after the second acceleration period, and the method includes: Determining a third acceleration and a third floating start frequency based on the period floating start frequency information corresponding to the third acceleration period; In the third acceleration period, the air suspension motor is controlled to accelerate to the third levitation starting frequency at a third acceleration.

15. The method of claim 11, wherein: The control period includes a stationary period before the first acceleration period, and the method includes: During the static period, the air suspension motor is controlled to be in a static state.

16. The method of claim 1, wherein: The determining whether to perform floating control according to the load information includes: When it is determined according to the load information that the air bearing is in a stationary state, it is determined to perform floating control.

17. A control device for starting and stopping an air suspension bearing, comprising: Memory; and a processor coupled to the memory, wherein the processor is configured to execute the air suspension bearing levitation control method according to any one of claims 1 to 16 based on instructions stored in the memory.

18. A control device for starting and stopping a gas suspension bearing, comprising: A module for executing the control method for starting and stopping the air suspension bearing according to any one of claims 1 to 16.

19. A control system for starting a floating air bearing, comprising: A current sampling unit, used to collect current information input to the air suspension motor; A load sampling unit, used to collect load information of the air suspension bearing; A bus sampling circuit is used to collect the DC bus voltage of the input inverter unit; A control device for starting and stopping an air suspension bearing as claimed in claim 17 or 18.

20. A computer-readable storage medium storing computer instructions, wherein the instructions, when executed by a processor, implement the air bearing start-up control method according to any one of claims 1 to 16.

21. A computer program product, wherein the computer program product stores computer instructions, and when the computer instructions are executed by a processor, the method for controlling the start of levitation of an air suspension bearing according to any one of claims 1 to 16 is implemented.

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