High-reliability magnetic suspension bearing position detection method and implementation device

Abstract

The invention relates to a high-reliability magnetic suspension bearing position detection method and an implementation device, and belongs to the technical field of magnetic suspension bearings. The method comprises the steps that displacement signals in the X / Y-axis direction are collected; whether the position sensor a / b in the X / Y-axis direction breaks down or not is judged based on the displacement signal change rate in the X / Y-axis direction; when the position sensor a in the X-axis direction breaks down, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into a magnetic suspension bearing controller; or when the position sensor b in the Y-axis direction breaks down, the displacement signal in the Y-axis direction is predicted based on the displacement signal in the X-axis direction, and the predicted value of the displacement signal in the Y-axis direction is input into the magnetic suspension bearing controller. When the position sensor breaks down, the magnetic suspension bearing can still provide appropriate electromagnetic force, stable suspension of the rotor is maintained, it is guaranteed that the magnetic suspension motor normally works under important working conditions, and early warning processing time is reserved.

Description

Technical Field

[0001] The invention relates to a high-reliability magnetic suspension bearing position detection method and an implementation device, belonging to the technical field of magnetic suspension bearings. Background Art

[0002] With the development of magnetic bearing technology, magnetic levitation motors have gradually occupied the traditional motor market with their advantages of no friction, low noise, high speed and high energy efficiency. Figure 1 As shown, the system of the magnetic levitation motor is mainly composed of a position sensor, a sensor demodulation circuit 1, a magnetic levitation bearing controller 2, a power amplifier 3, a magnetic levitation bearing 4, a rotor 5 and a protective bearing 6, wherein the position sensor detects the position signal of the rotor in real time, which is processed by the sensor demodulation circuit and transmitted to the controller, and then outputs a control signal after being processed by the control algorithm. The control signal controls the power amplifier to provide a suitable current for the magnetic bearing, thereby generating a real-time adjusted electromagnetic force to maintain the stable suspension of the rotor.

[0003] In the magnetic levitation motor system, the position sensor, as a main component, will be in harsh working conditions such as high temperature, high humidity, severe corrosive gas, and severe vibration for a long time. Therefore, during the entire life cycle of the magnetic levitation motor, there will be faults such as position sensor damage and failure.

[0004] The failure of the position sensor will cause the following problems: first, it will cause the magnetic levitation motor to shut down, causing great economic losses in important production process links; second, it will cause the rotor to fall and hit the protective bearing. If it is under heavy load, the protective bearing may fail, thereby hitting key components such as the magnetic bearing.

[0005] Currently, the mainstream way to avoid the above problems is to adopt multiple sets of sensor redundancy technology. However, this technology increases the number of sensors and the structure and complexity of the control circuit, which brings about the problems of increased volume and cost.

[0006] Therefore, there is an urgent need for a magnetic bearing position sensor detection method so that the magnetic bearing motor can operate stably when the position sensor fails. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention proposes a high-reliability magnetic bearing position detection method, which only requires a minimum number of basic position sensors. When the position sensor fails, the magnetic bearing can still provide appropriate electromagnetic force to maintain stable suspension of the rotor, ensuring the normal operation of the magnetic levitation motor under important working conditions and leaving time for early warning processing.

[0008] The technical solution of the present invention is: A high-reliability magnetic bearing position detection method, wherein a position sensor a is arranged in the X-axis direction of the radial magnetic bearing, and a position sensor b is arranged in the Y-axis direction, and the waveforms of the displacement signal in the X-axis direction detected by the position sensor a and the displacement signal in the Y-axis direction detected by the position sensor b differ by a phase difference of 1 / 4 cycle (T / 4), that is, a phase difference of 90 degrees; The method includes: Collect displacement signals in the X-axis direction and the Y-axis direction; Based on the rate of change of the displacement signal in the X / Y axis direction, determine whether the position sensor a / b in the X / Y axis direction is faulty; When the position sensor a in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into the magnetic bearing controller; Or when the position sensor b in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input into the magnetic bearing controller.

[0009] Preferably, according to the present invention, judging whether the position sensor a / b in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction comprises: If the displacement signal change rate in the X-axis direction is R X <M X , then the position sensor a in the X-axis direction is judged to be normal; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), where X(t) is the X-axis displacement signal detected by position sensor a at the current time t; X(tT) is the X-axis displacement signal detected by position sensor a in the cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value ranges from 5% to 20%; If the displacement signal change rate in the X-axis direction is R X ≥M X , it is judged that the position sensor a in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b in the Y-axis direction is judged to be normal; the displacement signal change rate R in the Y-axis direction Y=[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by position sensor b at the current time t; Y(tT) is the Y-axis displacement signal detected by position sensor b in the cycle before the current time t; M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%; If the Y-axis displacement signal change rate R Y ≥M Y , that is, it is determined that the position sensor b in the Y-axis direction is faulty.

[0010] Preferably, according to the present invention, when the position sensor b in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input into the magnetic bearing controller, including: If the rotor rotates counterclockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller.

[0011] Preferably, according to the present invention, when the position sensor a in the X-axis direction fails, the X-axis direction displacement signal is predicted based on the Y-axis direction displacement signal, and the predicted value of the X-axis direction displacement signal is input into the magnetic bearing controller; comprising: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller.

[0012] Preferably, according to the present invention, when the position sensor a in the X-axis direction fails, the X-axis direction displacement signal is predicted based on the Y-axis direction displacement signal, and the predicted value of the X-axis direction displacement signal is input into the magnetic bearing controller; comprising: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =2S ref -Y(tT / 4), X(t) e =2S ref-Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to the magnetic bearing controller.

[0013] Preferably, according to the present invention, when the position sensor b in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input into the magnetic bearing controller, including: If the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(t-3T / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller.

[0014] Alternatively, if the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =2S ref -X(tT / 4), Y(t) e =2S ref -X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by position sensor a 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to the magnetic bearing controller.

[0015] Preferably, according to the present invention, when the position sensor a in the X-axis direction fails, the X-axis direction displacement signal is predicted based on the Y-axis direction displacement signal, and the predicted value of the X-axis direction displacement signal is input into the magnetic bearing controller; comprising: If the rotor rotates clockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(tT / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller.

[0016] Preferably according to the present invention, the detection method further comprises: if position sensor a in the X-axis direction or position sensor b in the Y-axis direction fails, a reminder message indicating that position sensor a or position sensor b has failed is issued.

[0017] A device for implementing a high-reliability magnetic bearing position detection method, comprising: A signal acquisition unit, used for acquiring displacement signals in the X-axis direction and the Y-axis direction; A fault judgment unit, used for judging whether a position sensor a / b in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; An estimation unit is used for predicting the displacement signal in the X-axis direction based on the displacement signal in the Y-axis direction when the position sensor a in the X-axis direction fails, and inputting the predicted value of the displacement signal in the X-axis direction into the magnetic bearing controller; The estimation unit is also used to predict the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b in the Y-axis direction fails, and input the predicted value of the Y-axis displacement signal into the magnetic bearing controller.

[0018] Preferably, according to the present invention, a fault judgment unit is used to judge whether a position sensor a / b in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; comprising: If the displacement signal change rate in the X-axis direction is R X <M X , then the position sensor a in the X-axis direction is judged to be normal; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), where X(t) is the X-axis displacement signal detected by position sensor a at the current time t; X(tT) is the X-axis displacement signal detected by position sensor a in the cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value ranges from 5% to 20%; If the displacement signal change rate in the X-axis direction is R X ≥M X , it is judged that the position sensor a in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b in the Y-axis direction is judged to be normal; the displacement signal change rate R in the Y-axis direction Y=[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by position sensor b at the current time t; Y(tT) is the Y-axis displacement signal detected by position sensor b in the cycle before the current time t; M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%; If the Y-axis displacement signal change rate R Y ≥M Y , that is, it is determined that the position sensor b in the Y-axis direction is faulty.

[0019] Preferably, according to the present invention, when the position sensor a in the X-axis direction fails, the estimation unit predicts the X-axis direction displacement signal based on the Y-axis direction displacement signal, and inputs the predicted value of the X-axis direction displacement signal into the magnetic bearing controller; comprising: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller; or, when the position sensor a in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =2S ref -Y(tT / 4), X(t) e =2S ref -Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to the magnetic bearing controller; If the rotor rotates clockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(tT / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller; The estimation unit is also used for predicting the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b in the Y-axis direction fails, and inputting the predicted value of the Y-axis displacement signal into the magnetic bearing controller, including: If the rotor rotates counterclockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller.

[0020] If the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(t-3T / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller; or, when the position sensor b in the Y-axis direction fails, the predicted value Y(t) of the displacement signal in the Y-axis direction is e =2S ref -X(tT / 4), Y(t) e =2S ref -X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by position sensor a 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to the magnetic bearing controller.

[0021] The beneficial effects of the present invention are: The present invention combines a sensor fault detection algorithm with a signal prediction mechanism to achieve redundant fault-tolerant control under position sensor failure without the need for redundant position sensor settings. It does not require a complex sensor control circuit, achieves redundant control of the magnetic bearing, and improves the reliability of the magnetic bearing. It can avoid the problem of rotor falling and magnetic motor shutdown caused by position sensor failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of the magnetic levitation motor system.

[0023] Figure 2 It is a schematic diagram of the structure of the position sensor and the rotor on the X-axis and Y-axis.

[0024] Figure 3 Schematic diagram of displacement signals detected by position sensors in the X-axis and Y-axis directions.

[0025] Figure 4 for Figure 3 The operating status diagram of the rotor at time t0.

[0026] Figure 5for Figure 3 The operating status diagram of the rotor at time t1.

[0027] Figure 6 for Figure 3 The operating status diagram of the rotor at time t2.

[0028] Figure 7 for Figure 3 The operating status diagram of the rotor at time t3.

[0029] Figure 8 This is the rotor displacement detection signal diagram when position sensor b fails.

[0030] Fig. 9 This is the predicted displacement signal diagram in the Y-axis direction when position sensor b fails.

[0031] Fig.10 This is the displacement signal detection diagram when position sensor a fails.

[0032] Fig.11 This is the mirror image of the Y-axis displacement signal when position sensor a fails.

[0033] Fig.12 This is the prediction diagram of the X-axis displacement signal when position sensor a fails.

[0034] Fig.13 A process schematic diagram of a high-reliability magnetic bearing position sensor detection system provided by the present invention.

[0035] Fig.14 Schematic diagram of periodic signals of position sensors in the X-axis direction and the Y-axis direction.

[0036] Fig.15 This is another X-axis displacement signal prediction diagram when position sensor a fails.

[0037] 1. Sensor demodulation circuit, 2. Magnetic bearing controller, 3. Power amplifier, 4. Magnetic bearing, 5. Rotor, 6. Protective bearing, 7. Position sensor a, 8. Position sensor b, 9. Rotor imbalance. DETAILED DESCRIPTION

[0038] Several embodiments of the present application will be disclosed below with diagrams to clearly and completely describe the technical solution of the present application, which constitute a part of the present application. The drawings in the specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0039] Example 1 This embodiment provides a high-reliability magnetic bearing position detection method. Figure 2 As shown, a position sensor a7 is provided in the X-axis direction of the radial magnetic bearing, and a position sensor b8 is provided in the Y-axis direction. Figure 3 As shown, due to the existence of the rotor imbalance 9, the rotor 5 will always shift to one side of the imbalance during rotation. The waveform of the X-axis displacement signal detected by the position sensor a7 and the waveform of the Y-axis displacement signal detected by the position sensor b8 differ by 1 / 4 period T. Both clockwise and counterclockwise rotation of the rotor 5 conform to this rule.

[0040] like Figure 3 As shown, at time t0, the displacement signal in the X-axis direction detected by the position sensor a7 reaches the minimum value S min Therefore, the rotor unbalance 9 rotates to the positive direction of the X axis. The running state diagram of the rotor 5 at time t0 is as follows Figure 4 As shown, at this time, the rotor 5 is closest to the positive direction of the X-axis, that is, closest to the sensor a7.

[0041] At time t1, the Y-axis displacement signal detected by the position sensor b8 reaches the minimum value S min Therefore, the rotor unbalance 9 rotates to the positive direction of the Y axis. The running state diagram of the rotor 5 at time t1 is as follows Figure 5 As shown, at this time, the rotor 5 is closest to the positive direction of the Y axis, that is, closest to the sensor b8.

[0042] At time t2, the displacement signal in the X-axis direction detected by position sensor a7 reaches the maximum value S max Therefore, the rotor unbalance 9 rotates to the negative direction of the X axis. The running state of the rotor 5 at time t2 is as shown in the figure Figure 6 As shown, at this time, the rotor 5 is closest to the negative direction of the X-axis, that is, farthest from the sensor a7.

[0043] At time t3, the Y-axis displacement signal detected by the position sensor b8 reaches the maximum value S max Therefore, the rotor unbalance 9 rotates to the negative direction of the Y axis. The running state diagram of the rotor 5 at time t3 is as follows Figure 7 As shown, at this time, the rotor 5 is closest to the negative direction of the Y axis, that is, farthest from the sensor b8.

[0044] At time t4, the displacement signal in the X-axis direction detected by position sensor a7 reaches the minimum value S min At this time, the rotor 5 returns to the operating state at time t0. Therefore, the time period from t0 to t4 is the period T of one rotation of the rotor 5, where the intervals from t0 to t1, t1 to t2, etc. are all T / 4.

[0045] The method includes: Collect displacement signals in the X-axis direction and the Y-axis direction; Determine whether position sensor a7 or position sensor b8 in the X / Y axis direction is faulty based on the rate of change of displacement signal in the X / Y axis direction; When the position sensor a7 in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input to the magnetic bearing controller 2; Or when the position sensor b8 in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input into the magnetic bearing controller 2.

[0046] Example 2 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: Determine whether the position sensor a7 or the position sensor b8 in the X / Y axis direction is faulty based on the change rate of the displacement signal in the X / Y axis direction; including: If the displacement signal change rate in the X-axis direction is R X <M X , it is judged that the position sensor a7 in the X-axis direction is normal, and the fault judgment is suspended; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), such as Fig.14 As shown in the formula, X(t) is the X-axis displacement signal detected by the position sensor a7 at the current time t; X(tT) is the X-axis displacement signal detected by the position sensor a7 in the cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value ranges from 5% to 20%; If the displacement signal change rate in the X-axis direction is R X ≥M X , it is determined that the position sensor a7 in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b8 in the Y-axis direction is judged to be normal, and the fault judgment is suspended; the displacement signal change rate R in the Y-axis direction Y=[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by the position sensor b8 at the current time t; Y(tT) is the Y-axis displacement signal detected by the position sensor b8 in the cycle before the current time t; If the Y-axis displacement signal change rate R Y ≥M Y , that is, it is judged that the position sensor b8 in the Y-axis direction is faulty, M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%.

[0047] Example 3 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: In this embodiment, Fig.13 As shown, when the position sensor b8 in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input to the magnetic bearing controller 2, including: If the rotor 5 rotates counterclockwise, when the position sensor b8 in the Y-axis direction fails, the rotor 5 displacement detection signal is as follows Figure 8 As shown, t=t p Take this as an example to illustrate. At this time, the Y-axis displacement signal detected by the position sensor b8 suddenly drops to 0. The actual output signal under fault conditions is more complicated. In order to avoid the instability of the magnetic suspension motor system, the X-axis displacement signal and the Y-axis displacement signal differ by 1 / 4 cycle and have basically the same amplitude. The predicted value of the Y-axis displacement signal Y(t) is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller 2. Fig. 9 As shown, t=t p Take the position sensor a7 as an example to illustrate that the current t p The X-axis displacement signal X(t p -T / 4) as position sensor b8 at current t p The predicted value Y(t p ) e .

[0048] Example 4 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: When the position sensor a7 in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input to the magnetic bearing controller 2; including: If the rotor 5 rotates counterclockwise, when the position sensor a7 in the X-axis direction fails, the rotor 5 displacement detection signal is as follows Fig.10 As shown, t=t p For example, the X-axis displacement signal detected by position sensor a7 suddenly drops to 0. To prevent the magnetic suspension motor system from becoming unstable, based on the fact that the X-axis displacement signal and the Y-axis displacement signal differ by 1 / 4 cycle and have basically the same amplitude, the predicted value of the X-axis displacement X(t) is e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller 2. Fig.15 As shown, t=t p Take the position sensor b8 as an example to illustrate that p The Y-axis displacement signal Y(t p = -3T / 4) as the predicted value X(t) of the X-axis displacement signal detected by the position sensor a7 at the current time t p ) e .

[0049] Example 5 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: like Fig.13 As shown, when the position sensor a7 in the X-axis direction fails, the X-axis direction displacement signal is predicted based on the Y-axis direction displacement signal, and the predicted value of the X-axis direction displacement signal is input to the magnetic bearing controller 2; including: If the rotor 5 rotates counterclockwise, Fig.10 As shown in FIG. 1 , when the position sensor a7 in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =2S ref -Y(tT / 4), X(t) e =2S ref -Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b8 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) eInput to the magnetic bearing controller 2. Among them, the displacement signal detected by the position sensor b8 in the Y-axis direction is relative to the reference signal S ref Mirror image Fig.11 As shown in the figure, the X-axis displacement signal prediction diagram when the position sensor a7 fails is as follows Fig.12 As shown. ref It is the reference value of the displacement signal in the Y / X axis direction, usually set to the displacement corresponding to the balance position of rotor 5, mirror value = 2S ref -Original value.

[0050] like Fig.10 As shown, at t p At the moment, if we want to predict the displacement signal in the X-axis direction, compared with the method t p The Y-axis displacement signal of the first 3 / 4 cycle is detected around the reference signal S ref By mirroring, we can get Fig.11 The Y-axis displacement signal mirror diagram is shown. The time span of this scheme is small and the prediction accuracy is relatively high.

[0051] Example 6 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: In this embodiment, when the position sensor b8 in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input to the magnetic bearing controller 2, including: If the rotor 5 rotates clockwise, when the position sensor b8 in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =X(t-3T / 4), put the position sensor a7 at the current t p The X-axis displacement signal X(t-3T / 4) detected 3 / 4 cycles before the moment is used as the predicted value Y(t) of the Y-axis displacement signal detected by the position sensor b8 at the current moment t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to magnetic bearing controller 2.

[0052] Alternatively, if the rotor 5 rotates clockwise, when the position sensor b8 in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =2S ref -X(tT / 4), Y(t) e =2S ref-X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by the position sensor a7 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal. ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to magnetic bearing controller 2.

[0053] Example 7 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: When the position sensor a7 in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input to the magnetic bearing controller 2; including: If the rotor 5 rotates clockwise, when the position sensor a7 in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =Y(tT / 4), that is, the Y-axis displacement signal Y(tT / 4) detected by the position sensor b8 1 / 4 cycle before the current time t is regarded as the predicted value X(t) of the X-axis displacement signal detected by the position sensor a7 at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to magnetic bearing controller 2.

[0054] Example 8 This embodiment provides a high-reliability magnetic bearing position detection method, which is different from Embodiment 1 in that: The detection method further includes: if the position sensor a7 in the X-axis direction or the position sensor b8 in the Y-axis direction fails, a reminder message indicating that the position sensor a7 or the position sensor b8 fails is issued.

[0055] Example 9 This embodiment provides a device for implementing a high-reliability magnetic bearing position detection method, including: A signal acquisition unit, used for acquiring displacement signals in the X-axis direction and the Y-axis direction; A fault judgment unit, used for judging whether the position sensor a7 or the position sensor b8 in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; An estimation unit, used for predicting the displacement signal in the X-axis direction based on the displacement signal in the Y-axis direction when the position sensor a7 in the X-axis direction fails, and inputting the predicted value of the displacement signal in the X-axis direction into the magnetic bearing controller 2; The estimation unit is also used to predict the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b8 in the Y-axis direction fails, and input the predicted value of the Y-axis displacement signal into the magnetic bearing controller 2.

[0056] Example 10 This embodiment provides a device for implementing a high-reliability magnetic bearing position detection method, which differs from Embodiment 9 in that: A fault judgment unit is used to judge whether the position sensor a7 or the position sensor b8 in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; it includes: If the displacement signal change rate in the X-axis direction is R X <M X , it is judged that the position sensor a7 in the X-axis direction is normal; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), where X(t) is the X-axis displacement signal detected by position sensor a7 at the current time t; X(tT) is the X-axis displacement signal detected by position sensor a7 one cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value is between 5% and 20%; if the displacement signal change rate R X ≥M X , it is determined that the position sensor a7 in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b8 in the Y-axis direction is judged to be normal; the displacement signal change rate R in the Y-axis direction Y =[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by the position sensor b8 at the current time t; Y(tT) is the Y-axis displacement signal detected by the position sensor b8 in the previous cycle before the current time t; if the Y-axis displacement signal change rate R Y ≥M Y , that is, it is judged that the position sensor b8 in the Y-axis direction is faulty, M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%.

[0057] Embodiment 11 This embodiment provides a device for implementing a high-reliability magnetic bearing position detection method, which differs from Embodiment 9 in that: The estimation unit predicts the displacement signal in the X-axis direction based on the displacement signal in the Y-axis direction when the position sensor a7 in the X-axis direction fails, and inputs the predicted value of the displacement signal in the X-axis direction into the magnetic bearing controller 2; comprising: If the rotor 5 rotates counterclockwise, when the position sensor a7 in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller 2; or, when the position sensor a7 in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is set e =2S ref -Y(tT / 4), X(t) e =2S ref -Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b8 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to magnetic bearing controller 2; If the rotor 5 rotates clockwise, when the position sensor a7 in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =Y(tT / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to magnetic bearing controller 2; The estimation unit is also used for predicting the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b8 in the Y-axis direction fails, and inputting the predicted value of the Y-axis displacement signal into the magnetic bearing controller 2, including: If the rotor 5 rotates counterclockwise, when the position sensor b8 in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to magnetic bearing controller 2.

[0058] If the rotor 5 rotates clockwise, when the position sensor b8 in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =X(t-3T / 4), then the predicted value Y(t) of the Y-axis displacement signal is eInput to the magnetic bearing controller 2; or, when the position sensor b8 in the Y-axis direction fails, the predicted value Y(t) of the displacement signal in the Y-axis direction is set e =2S ref -X(tT / 4), Y(t) e =2S ref -X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by the position sensor a7 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal. ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to magnetic bearing controller 2.

[0059] The above description shows and describes the preferred implementation of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other implementations, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the object concept of this article through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A high-reliability magnetic bearing position detection method, characterized in that: A position sensor a is arranged in the X-axis direction of the radial magnetic bearing, and a position sensor b is arranged in the Y-axis direction. The waveform of the displacement signal in the X-axis direction detected by the position sensor a and the displacement signal in the Y-axis direction detected by the position sensor b differ by a phase difference of 1 / 4 cycle (T / 4). The method comprises: Collect displacement signals in the X-axis direction and the Y-axis direction; Based on the rate of change of the displacement signal in the X / Y axis direction, determine whether the position sensor a / b in the X / Y axis direction is faulty; When the position sensor a in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into the magnetic bearing controller; Or when the position sensor b in the Y-axis direction fails, the Y-axis direction displacement signal is predicted based on the X-axis direction displacement signal, and the predicted value of the Y-axis direction displacement signal is input into the magnetic bearing controller.

2. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: Determine whether position sensor a / b in the X / Y axis direction is faulty based on the change rate of displacement signal in the X / Y axis direction; including: If the displacement signal change rate in the X-axis direction is R X <M X , then the position sensor a in the X-axis direction is judged to be normal; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), where X(t) is the X-axis displacement signal detected by position sensor a at the current time t; X(tT) is the X-axis displacement signal detected by position sensor a in the cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value ranges from 5% to 20%; If the displacement signal change rate in the X-axis direction is R X ≥M X , it is judged that the position sensor a in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b in the Y-axis direction is judged to be normal; the displacement signal change rate R in the Y-axis direction Y =[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by position sensor b at the current time t; Y(tT) is the Y-axis displacement signal detected by position sensor b in the cycle before the current time t; M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%; If the Y-axis displacement signal change rate R Y ≥M Y , that is, it is determined that the position sensor b in the Y-axis direction is faulty.

3. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: When the position sensor b in the Y-axis direction fails, the displacement signal in the Y-axis direction is predicted based on the displacement signal in the X-axis direction, and the predicted value of the displacement signal in the Y-axis direction is input into the magnetic bearing controller, including: If the rotor rotates counterclockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller.

4. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: When the position sensor a in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into the magnetic bearing controller; including: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller.

5. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: When the position sensor a in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into the magnetic bearing controller; including: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =2S ref -Y(tT / 4),X(t) e =2S ref -Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to the magnetic bearing controller.

6. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: When the position sensor b in the Y-axis direction fails, the displacement signal in the Y-axis direction is predicted based on the displacement signal in the X-axis direction, and the predicted value of the displacement signal in the Y-axis direction is input into the magnetic bearing controller, including: If the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(t-3T / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller; Alternatively, if the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value Y(t) of the Y-axis displacement signal is e =2S ref -X(tT / 4), Y(t) e =2S ref -X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by position sensor a 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to the magnetic bearing controller.

7. A high reliability magnetic bearing position detection method according to claim 1, characterized in that: When the position sensor a in the X-axis direction fails, the displacement signal in the X-axis direction is predicted based on the displacement signal in the Y-axis direction, and the predicted value of the displacement signal in the X-axis direction is input into the magnetic bearing controller; including: If the rotor rotates clockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(tT / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller.

8. A device for implementing a high-reliability magnetic bearing position detection method, used to implement the detection method according to any one of claims 1 to 7, characterized in that: include: A signal acquisition unit, used for acquiring displacement signals in the X-axis direction and the Y-axis direction; A fault judgment unit, used for judging whether a position sensor a / b in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; An estimation unit, used for predicting the displacement signal in the X-axis direction based on the displacement signal in the Y-axis direction when the position sensor a in the X-axis direction fails, and inputting the predicted value of the displacement signal in the X-axis direction into the magnetic bearing controller; The estimation unit is also used to predict the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b in the Y-axis direction fails, and input the predicted value of the Y-axis displacement signal into the magnetic bearing controller.

9. The implementation device according to claim 8, characterized in that: A fault judgment unit is used to judge whether a position sensor a / b in the X / Y axis direction fails based on the change rate of the displacement signal in the X / Y axis direction; it includes: If the displacement signal change rate in the X-axis direction is R X <M X , then the position sensor a in the X-axis direction is judged to be normal; the displacement signal change rate R in the X-axis direction X =[X(t)-X(tT)] / X(tT), where X(t) is the X-axis displacement signal detected by position sensor a at the current time t; X(tT) is the X-axis displacement signal detected by position sensor a in the cycle before the current time t; M X Indicates the displacement signal change rate threshold in the X-axis direction, M X The value of M is determined according to the specific working conditions. X The value ranges from 5% to 20%; If the displacement signal change rate in the X-axis direction is R X ≥M X , it is judged that the position sensor a in the X-axis direction is faulty; Or, if the Y-axis displacement signal change rate R Y <M Y , that is, the position sensor b in the Y-axis direction is judged to be normal; the displacement signal change rate R in the Y-axis direction Y =[Y(t)-Y(tT)] / Y(tT), where Y(t) is the Y-axis displacement signal detected by position sensor b at the current time t; Y(tT) is the Y-axis displacement signal detected by position sensor b in the cycle before the current time t; M Y Indicates the Y-axis displacement signal change rate threshold, M Y The value of M is determined according to the specific working conditions. Y The value ranges from 5% to 20%; If the Y-axis displacement signal change rate R Y ≥M Y , that is, it is determined that the position sensor b in the Y-axis direction is faulty.

10. The implementation device according to claim 8, characterized in that: The estimation unit predicts the displacement signal in the X-axis direction based on the displacement signal in the Y-axis direction when the position sensor a in the X-axis direction fails, and inputs the predicted value of the displacement signal in the X-axis direction into the magnetic bearing controller; comprising: If the rotor rotates counterclockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(t-3T / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller; or, when the position sensor a in the X-axis direction fails, the predicted value X(t) of the displacement in the X-axis direction is e =2S ref -Y(tT / 4), X(t) e =2S ref -Y(tT / 4) represents the Y-axis displacement signal Y(tT / 4) detected by the position sensor b 1 / 4 cycle before the current time t with respect to the reference signal S of the Y-axis displacement signal ref After mirroring, it is used as the predicted value X(t) of the displacement signal in the X-axis direction at the current time t. e , and then the predicted value of the displacement in the X-axis direction X(t) e Input to the magnetic bearing controller; If the rotor rotates clockwise, when the position sensor a in the X-axis direction fails, the predicted value of the displacement in the X-axis direction is X(t) e =Y(tT / 4), then the predicted value of displacement in the X-axis direction is X(t) e Input to the magnetic bearing controller; The estimation unit is also used for predicting the Y-axis displacement signal based on the X-axis displacement signal when the position sensor b in the Y-axis direction fails, and inputting the predicted value of the Y-axis displacement signal into the magnetic bearing controller, including: If the rotor rotates counterclockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(tT / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller; If the rotor rotates clockwise, when the position sensor b in the Y-axis direction fails, the predicted value of the Y-axis displacement signal Y(t) is e =X(t-3T / 4), then the predicted value Y(t) of the Y-axis displacement signal is e Input to the magnetic bearing controller; or, when the position sensor b in the Y-axis direction fails, the predicted value Y(t) of the displacement signal in the Y-axis direction is e =2S ref -X(tT / 4), Y(t) e =2S ref -X(tT / 4) represents the X-axis displacement signal X(tT / 4) detected by position sensor a 1 / 4 cycle before the current time t with respect to the reference signal S of the X-axis displacement signal ref After mirroring, it is used as the predicted value Y(t) of the Y-axis displacement signal at the current time t. e , and then the predicted value Y(t) of the Y-axis displacement signal e Input to the magnetic bearing controller.

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