Miniaturized magnetic suspension flywheel energy storage module low-loss control method

Abstract

The invention discloses a low-loss control method for an energy storage module of a miniaturized magnetic suspension flywheel, and the method achieves the efficient and stable operation of an energy storage system through a multi-parameter monitoring and dynamic control strategy. The method comprises the steps that flywheel rotor rotating speed, radial displacement, suspension clearance, temperature and vibration parameters are collected in real time, and a current loss value is calculated based on an energy loss formula; a self-adaptive sliding mode control algorithm is adopted to generate compensation current to inhibit eddy current loss, and a PID controller is combined to adjust the excitation current of the axial magnetic bearing to maintain stable suspension; the suspension current, the magnetic field intensity and the suspension gap are dynamically adjusted according to the energy loss, and the working state of the magnetic bearing is optimized; the rotating speed is maintained in a preset optimal interval through closed-loop control, and rotating speed fluctuation loss is reduced; when the temperature or vibration exceeds the limit, an active cooling or vibration suppression mechanism is triggered to reduce heat loss and mechanical loss; in the charging and discharging process, the energy conversion efficiency is optimized through a high-frequency inverter, and the suspension energy consumption is reduced through a hybrid excitation structure and a temperature control strategy.

Description

Technical Field

[0001] The present invention relates to the field of magnetic levitation flywheel energy storage modules, and in particular to a low-loss control method for a miniaturized magnetic levitation flywheel energy storage module. Background Art

[0002] Miniaturized magnetic levitation flywheel energy storage technology demonstrates significant application potential in numerous fields, such as portable electronic devices and satellites, where energy storage requirements are high. It stores mechanical energy by rotating the rotor at high speed in a vacuum environment, and uses the motor stator to convert mechanical energy into electrical energy. Prior art publication CN118920535A proposes a self-stabilizing, low-loss magnetic levitation flywheel energy storage method. While this method addresses the issue of flywheel speed affecting losses and thus leading to unstable energy storage, it still has some limitations. When determining the loss of a magnetic levitation flywheel, this method relies solely on the speed value and fails to fully consider other key factors that may affect losses, such as ambient temperature and magnetic field changes. This limits the accuracy of loss determination. During speed adjustment, obtaining the predetermined speed adjustment time is complex and relies on the magnetic levitation flywheel's inherent speed adjustment time. In practical applications, if the flywheel's operating conditions change, this adjustment method may not adapt promptly, resulting in insufficient timeliness and effectiveness of speed adjustment. At the same time, the research on the loss characteristics of magnetic levitation flywheels under different working conditions is not in-depth enough, making it difficult to achieve precise loss control and energy storage optimization for complex working conditions. Summary of the Invention

[0003] In order to fill the gap in the market, the present invention provides a low-loss control method for a miniaturized magnetic levitation flywheel energy storage module.

[0004] The object of the present invention is to provide a low-loss control method for a miniaturized magnetic levitation flywheel energy storage module to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a low-loss control method for a miniaturized magnetic levitation flywheel energy storage module, comprising the following steps:

[0006] S1. Through the magnetic levitation control unit, a high-precision displacement sensor is used to collect the radial displacement signal of the flywheel rotor in real time, and a Hall sensor is used to obtain the rotor speed signal. At the same time, a temperature sensor is used to monitor the temperature of the flywheel rotor and magnetic levitation bearing, and a vibration sensor is used to monitor the vibration parameters. In addition, a special gap sensor is used to monitor the suspension gap between the flywheel rotor and the magnetic levitation bearing in real time.

[0007] S2. Calculate the current energy loss E of the flywheel energy storage module according to the formula based on the monitored speed n, suspension gap d, temperature T, and vibration parameter V;

[0008] S3. Based on the collected radial displacement signal and speed signal, the adaptive sliding mode control algorithm is used to calculate the real-time compensation current of the magnetic bearing; the boundary layer thickness δ is dynamically adjusted with the speed n, and the adjustment formula is: Where k1 and k2 are preset constants; the compensation current is input into the power amplifier of the magnetic bearing to generate a dynamic bias magnetic field to suppress the eddy current loss and windage loss of the rotor;

[0009] S4, the axial displacement of the rotor is detected by the position sensorless technology based on the principle of inductive displacement detection, and the detected axial displacement signal is input into the PID controller. The PID controller is based on the preset control parameter K p , K i , K d Adjust the excitation current of the axial magnetic bearing to keep the flywheel stably suspended in the vacuum chamber;

[0010] S5. Based on the calculated current energy loss $E$, dynamically adjust the control parameters of the magnetic bearing according to the following rules: When E>E threshold1 When E<E threshold2 When the suspension current i is reduced by a ratio of α′, I=I0×(1-α′), the magnetic field strength B is reduced by a ratio of β′, B=B0×(1-β′), and the suspension gap d is appropriately increased, d=d0×(1+γ′); where E threshold1 、E threshold2 is the preset energy loss threshold, I0, B0, d0 are the initial control parameter values, α, β, γ, α', β', γ' are the adjustment coefficients;

[0011] S6, through the closed-loop control strategy, the speed of the flywheel rotor is controlled within the preset optimal speed range [n min , n max ]; when the speed n<n min When the speed n>n max When the speed is too high, reduce the motor drive power to reduce the energy loss caused by speed fluctuations;

[0012] S7, when the temperature T exceeds the preset temperature threshold T threshold When the active cooling mechanism is triggered, the cooling power P of the cooling system cool According to the temperature deviation ΔT=TT threshold According to the formula P cool =k3×ΔT for adjustment, k3 is the cooling adjustment coefficient; when the vibration parameter V exceeds the preset vibration threshold V thresholdWhen the flywheel is running, the vibration suppression technology based on piezoelectric ceramics is used to suppress the vibration of the flywheel rotor by applying a reverse vibration signal, further reducing heat loss and mechanical loss.

[0013] S8. During the charging and discharging process, according to the flywheel speed n and the target power P target The mapping relationship P target =f(n), the current phase of the motor winding is adjusted by a high-frequency inverter to optimize the energy conversion efficiency; wherein, the mapping relationship f(n) is obtained by fitting a large amount of experimental data;

[0014] S9. Using a hybrid excitation structure of permanent magnet bias magnetic field and electromagnetic compensation magnetic field, the permanent magnet provides a stable basic magnetic field, and the electromagnetic compensation magnetic field is dynamically adjusted according to the real-time state of the flywheel rotor to reduce the energy consumption of suspension maintenance; at the same time, the operating frequency f of the cooling system is controlled by a temperature feedback closed loop. cool When the internal temperature of the module rises, according to formula f cool =f0+k4×(TT set ) Increase the operating frequency of the cooling system, f0 is the initial operating frequency, T set is the set temperature, k4 is the frequency adjustment coefficient, which suppresses the temperature rise inside the module.

[0015] Furthermore, the displacement sensor adopts a capacitive displacement sensor, whose measurement accuracy can reach ±0.1μm, so as to ensure the accurate collection of the radial displacement signal of the flywheel rotor.

[0016] Furthermore, the energy loss formula in S2 is

[0017] E=a×n 2 +b×d 3 +c×T+d×V+e

[0018] ,The weight coefficients a, b, c, d, and e are obtained by fitting at least 50 sets of experimental data of flywheel energy storage modules under different working conditions to improve the accuracy of energy loss calculation.

[0019] Furthermore, the adaptive sliding mode control algorithm in S3 presets the constant k1 to have a value range of [0.01, 0.1] and the k2 to have a value range of [0.001, 0.01], and the specific values are determined through multiple simulation tests according to actual application scenarios.

[0020] Furthermore, the control parameter K of the PID controller in S4 is p The value range is [1, 10], K i The value range is [0.1, 1], K dThe value range is [0.01, 0.1], and after preliminary adjustment using the Ziegler-Nichols method, manual fine-tuning is performed based on actual operating conditions.

[0021] Furthermore, the adjustment coefficients α, β, γ, α′, β′, and γ′ in S5 all have a value range of [0.05, 0.2], and are dynamically adjusted according to different operating stages of the flywheel energy storage module and the energy loss change trend.

[0022] Furthermore, the optimal speed range [n min , n max ] It is determined by combining theoretical calculation and experimental testing based on the material properties, structural design and expected application scenarios of the flywheel energy storage module.

[0023] Furthermore, the cooling system in S7 adopts liquid cooling, and the coolant is a mixture of deionized water and ethylene glycol in a mixing ratio of 7:3 to ensure good heat dissipation performance.

[0024] Furthermore, the switching frequency of the S8 medium and high frequency inverter is 20kHz-50kHz to meet the requirements of optimizing energy conversion efficiency and reducing harmonic interference.

[0025] Furthermore, the permanent magnet in the S9 is made of neodymium iron boron permanent magnet material, with a residual magnetic strength of not less than 1.2T and a coercive force of not less than 900kA / m, so as to provide a stable and reliable basic magnetic field.

[0026] Compared with the existing technology, the beneficial effects of the present invention are: the present invention can accurately calculate the current energy loss by comprehensively and real-time monitoring of the flywheel rotor's speed, suspension gap, temperature, vibration parameters, radial and axial displacement and other information, and dynamically adjust the control parameters of the magnetic levitation bearing based on this, such as suspension current, magnetic field strength and suspension gap, etc., effectively reducing the friction loss between the flywheel rotor and the magnetic levitation bearing, while reducing the energy loss caused by speed fluctuations, temperature changes and vibrations, realizing comprehensive control of multiple losses, and greatly improving the energy conversion efficiency of the energy storage module.

[0027] A closed-loop control strategy precisely controls the flywheel rotor's speed within a preset optimal speed range, reducing energy loss due to speed fluctuations and improving the operational stability of the energy storage module. This stable speed helps extend the life of the flywheel and magnetic bearings, reducing equipment maintenance costs. It also provides more stable power output for connected equipment, improving overall system reliability.

[0028] When temperature or vibration parameters exceed preset thresholds, active cooling or vibration suppression mechanisms are triggered. The active cooling mechanism promptly lowers the module's internal temperature, minimizing heat loss and preventing material degradation and component damage caused by high temperatures. The vibration suppression mechanism effectively reduces mechanical losses and vibration damage to the module structure, ensuring the stable operation of the miniaturized magnetic levitation flywheel energy storage module under complex operating conditions and improving the module's overall performance and service life.

[0029] During the charge and discharge process, the motor winding current phase is adjusted based on the mapping relationship between flywheel speed and target power, optimizing energy conversion efficiency and improving the charge and discharge performance of the energy storage module. Furthermore, a hybrid excitation structure combining a permanent magnet bias field and an electromagnetic compensation field reduces the energy consumption required to maintain suspension. A closed-loop temperature feedback control of the cooling system's operating frequency effectively suppresses internal module temperature rise, further improving energy utilization efficiency and enabling the module to store and release more energy while maintaining the same storage capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] See also Figure 1 The present invention provides a technical solution: a low-loss control method for a miniaturized magnetic levitation flywheel energy storage module, comprising the following steps:

[0033] S1. Through the magnetic levitation control unit, a high-precision displacement sensor is used to collect the radial displacement signal of the flywheel rotor in real time, and a Hall sensor is used to obtain the rotor speed signal. At the same time, a temperature sensor is used to monitor the temperature of the flywheel rotor and magnetic levitation bearing, and a vibration sensor is used to monitor the vibration parameters. In addition, a special gap sensor is used to monitor the suspension gap between the flywheel rotor and the magnetic levitation bearing in real time.

[0034] S2. Calculate the current energy loss E of the flywheel energy storage module according to the monitored speed n, suspension gap d, temperature T, and vibration parameter V; Energy loss formula

[0035] E=a×n 2 +b×d 3 +c×T+d×V+e

[0036] ,The weight coefficients a, b, c, d, and e are obtained by fitting at least 50 sets of experimental data of flywheel energy storage modules under different working conditions to improve the accuracy of energy loss calculation.

[0037] S3. Based on the collected radial displacement signal and speed signal, the adaptive sliding mode control algorithm is used to calculate the real-time compensation current of the magnetic bearing; the boundary layer thickness δ is dynamically adjusted with the speed n, and the adjustment formula is: Where k1 and k2 are preset constants; the compensation current is input into the power amplifier of the magnetic bearing to generate a dynamic bias magnetic field to suppress the eddy current loss and windage loss of the rotor;

[0038] For the adaptive sliding mode control algorithm, the preset constant k1 range is [0.01, 0.1], and the k2 range is [0.001, 0.01]. The specific values are determined through multiple simulation tests based on the actual application scenario.

[0039] S4, the axial displacement of the rotor is detected by the position sensorless technology based on the principle of inductive displacement detection, and the detected axial displacement signal is input into the PID controller. The PID controller is based on the preset control parameter K p , K i , K d Adjust the excitation current of the axial magnetic bearing to keep the flywheel stably suspended in the vacuum chamber;

[0040] The control parameter K of the PID controller p The value range is [1, 10], K i The value range is [0.1, 1], K d The value range is [0.01, 0.1], and after preliminary adjustment using the Ziegler-Nichols method, manual fine-tuning is performed based on actual operating conditions.

[0041] S5. Based on the calculated current energy loss $E$, dynamically adjust the control parameters of the magnetic bearing according to the following rules: When E>E threshold1 When E<E threshold2 When the suspension current I is reduced by a ratio of α', I = I0 × (1-α'), the magnetic field strength B is reduced by a ratio of β', B = B0 × (1-β'), and the suspension gap d is appropriately increased, d = d0 × (1+γ'); where E threshold1 、E threshold2 is the preset energy loss threshold, I0, B0, d0 are the initial control parameter values, α, β, γ, α′, β′, γ′ are the adjustment coefficients;

[0042] The adjustment coefficients α, β, γ, α', β', and γ' all have a value range of [0.05, 0.2] and are dynamically adjusted according to the different operating stages and energy loss trends of the flywheel energy storage module.

[0043] S6, through the closed-loop control strategy, the speed of the flywheel rotor is controlled within the preset optimal speed range [n min , n max ]; when the speed n<n min When the speed n>n max When the motor drive power is reduced, the energy loss caused by speed fluctuation is reduced; the preset optimal speed range [n min , n max ] It is determined by combining theoretical calculation and experimental testing based on the material properties, structural design and expected application scenarios of the flywheel energy storage module.

[0044] S7, when the temperature T exceeds the preset temperature threshold T threshold When the active cooling mechanism is triggered, the cooling power P of the cooling system cool According to the temperature deviation ΔT=TT threshold According to the formula P cool =k3×ΔT for adjustment, k3 is the cooling adjustment coefficient; when the vibration parameter V exceeds the preset vibration threshold V threshold When the flywheel is running, the vibration suppression technology based on piezoelectric ceramics is used to suppress the vibration of the flywheel rotor by applying a reverse vibration signal, further reducing heat loss and mechanical loss.

[0045] The cooling system adopts liquid cooling. The coolant is a mixture of deionized water and ethylene glycol with a mixing ratio of 7:3 to ensure good heat dissipation performance.

[0046] S8. During the charging and discharging process, according to the flywheel speed n and the target power P target The mapping relationship P target =f(n), and the current phase of the motor winding is adjusted by a high-frequency inverter to achieve optimal energy conversion efficiency. The mapping relationship f(n) is obtained by fitting a large amount of experimental data. The switching frequency of the high-frequency inverter is 20kHz-50kHz to meet the requirements of optimizing energy conversion efficiency and reducing harmonic interference.

[0047] S9. Using a hybrid excitation structure of permanent magnet bias magnetic field and electromagnetic compensation magnetic field, the permanent magnet provides a stable basic magnetic field, and the electromagnetic compensation magnetic field is dynamically adjusted according to the real-time state of the flywheel rotor to reduce the energy consumption of suspension maintenance; at the same time, the operating frequency f of the cooling system is controlled by a temperature feedback closed loop. cool When the internal temperature of the module rises, according to formula f cool=f0+k4×(TT set ) Increase the operating frequency of the cooling system, f0 is the initial operating frequency, T set The permanent magnet is made of NdFeB permanent magnet material with a remanence strength of not less than 1.2T and a coercive force of not less than 900kA / m, providing a stable and reliable basic magnetic field.

[0048] The displacement sensor adopts a capacitive displacement sensor with a measurement accuracy of up to ±0.1μm to ensure the accurate acquisition of the radial displacement signal of the flywheel rotor.

[0049] During operation of the miniaturized magnetic levitation flywheel energy storage module, the magnetic levitation control unit operates continuously. A capacitive displacement sensor monitors the radial displacement of the flywheel rotor in real time. Its high precision ensures that the acquired signal accurately reflects changes in the rotor's radial position. A Hall effect sensor steadily acquires the rotor's speed signal. Temperature sensors, vibration sensors, and a specialized gap sensor also operate synchronously, transmitting monitored temperature, vibration parameters, and suspension gap data to the magnetic levitation control unit in a timely manner.

[0050] According to the collected data, according to the energy loss formula

[0051] E=a×n 2 +b×d 3 +c×T+d×V+e

[0052] Calculate the current energy loss E. After fitting the experimental data of 50 groups under different working conditions, the weight coefficients a=0.5b=0.3, c=0.2, d=0.1, and e=0.05 are obtained. The collected speed n=1000r / min, suspension gap d=0.5mm, temperature T=30℃, and vibration parameter V=2m / s 2 , substituting into the formula we get E=500006.2875.

[0053] The calculated energy loss E is compared with the preset energy loss threshold E threshold1 and E threshold2 Compare, when E threshold1 =500000, I0 = 2A, B0 = 0.8T, d0 = 0.6mm, α = 0.1, β = 0.1, γ = -0.05. The adjusted levitation current I = 2 × (1 + 0.1) = 2.2A, magnetic field strength B = 0.8 × (1 + 0.1) = 0.88T, and levitation gap d = 0.6 × (1 - 0.05) = 0.57mm. By adjusting these parameters, the operating state of the magnetic bearing is optimized and energy loss is reduced.

[0054] In terms of suppressing eddy current loss and windage loss, the real-time compensation current of the magnetic bearing is calculated according to the adaptive sliding mode control algorithm. After multiple simulation tests, it is determined that k1 = 0.05, k2 = 0.005, when the speed n = 1000r / min, the boundary layer thickness The compensation current is then calculated and input into the power amplifier to generate a dynamic bias magnetic field.

[0055] For stable suspension control, the position sensorless technology based on the inductive displacement detection principle detects the rotor axial displacement, and the PID controller adjusts the axial magnetic bearing excitation current according to the control parameters after preliminary setting and manual fine-tuning. p =5, K i =0.5, K d =0.05, when the axial displacement deviation is detected, the PID controller outputs the appropriate control signal to ensure the stable suspension of the flywheel.

[0056] During the speed control process, if the preset optimal speed range [nmin,nmax] = [900,1100] r / min, when the speed n = 850 r / min, the motor drive power is increased to increase the speed; when the speed n = 1150 r / min, the motor drive power is reduced, the speed is reduced, and the speed is maintained stable.

[0057] In terms of temperature control, when the temperature is ℃, the preset temperature threshold ℃, k3 = 2, the cooling system cooling power P cool =2×(40-35)=10W, start the liquid cooling system for heat dissipation.

[0058] In the hybrid excitation structure, the NdFeB permanent magnet provides a stable basic magnetic field, and the electromagnetic compensation magnetic field is adjusted according to the real-time state of the rotor. When the internal temperature of the module rises, T = 38 ° C, T set =35℃, k4=0.1, f0=50Hz, the operating frequency of the cooling system is f cool =50+0.1×(38-35)=50.3Hz, suppressing the internal temperature rise of the module.

Claims

1. A low-loss control method for a miniaturized magnetic levitation flywheel energy storage module, characterized in that: The following steps are involved: S1. Through the magnetic levitation control unit, a high-precision displacement sensor is used to collect the radial displacement signal of the flywheel rotor in real time, and a Hall sensor is used to obtain the rotor speed signal. At the same time, a temperature sensor is used to monitor the temperature of the flywheel rotor and magnetic levitation bearing, and a vibration sensor is used to monitor the vibration parameters. In addition, a special gap sensor is used to monitor the suspension gap between the flywheel rotor and the magnetic levitation bearing in real time. S2. Calculate the current energy loss E of the flywheel energy storage module according to the formula based on the monitored speed n, suspension gap d, temperature T, and vibration parameter V; S3. Based on the collected radial displacement signal and speed signal, the adaptive sliding mode control algorithm is used to calculate the real-time compensation current of the magnetic bearing; the boundary layer thickness δ is dynamically adjusted with the speed n, and the adjustment formula is: Where k1 and k2 are preset constants; the compensation current is input into the power amplifier of the magnetic bearing to generate a dynamic bias magnetic field to suppress the eddy current loss and windage loss of the rotor; S4, the axial displacement of the rotor is detected by the position sensorless technology based on the principle of inductive displacement detection, and the detected axial displacement signal is input into the PID controller. The PID controller is based on the preset control parameter K p , K i , K d Adjust the excitation current of the axial magnetic bearing to keep the flywheel stably suspended in the vacuum chamber; S5. Based on the calculated current energy loss $E$, dynamically adjust the control parameters of the magnetic bearing according to the following rules: When E>E threshold1 When E is , the suspension current I is increased by a ratio of α, I = I0 × (1 + α), and the magnetic field strength B is increased by a ratio of β, B = B0 × (1 + β), and the suspension gap d is appropriately reduced, d = d0 × (1 + γ); when E <E threshold2 When the suspension current I is reduced by a ratio of α′, I=I0×(1-α′), the magnetic field strength B is reduced by a ratio of β′, B=B0×(1-β′), and the suspension gap d is appropriately increased, d=d0×(1+γ′); where E threshold1 、E threshold2 is the preset energy loss threshold, I0, B0, d0 are the initial control parameter values, α, β, γ, α′, β′, γ′ are the adjustment coefficients; S6, through the closed-loop control strategy, the speed of the flywheel rotor is controlled within the preset optimal speed range [n min , n max ]; when the speed n<n min When the speed n>n max When the speed is too high, reduce the motor drive power to reduce the energy loss caused by speed fluctuations; S7, when the temperature T exceeds the preset temperature threshold T threshold When the active cooling mechanism is triggered, the cooling power P of the cooling system cool According to the temperature deviation ΔT=TT threshold According to the formula P cool =k3×ΔT for adjustment, k3 is the cooling adjustment coefficient; when the vibration parameter V exceeds the preset vibration threshold V threshold When the flywheel is running, the vibration suppression technology based on piezoelectric ceramics is used to suppress the vibration of the flywheel rotor by applying a reverse vibration signal, further reducing heat loss and mechanical loss. S8. During the charging and discharging process, according to the flywheel speed n and the target power P target The mapping relationship P target =f(n), the current phase of the motor winding is adjusted by a high-frequency inverter to optimize the energy conversion efficiency; wherein, the mapping relationship f(n) is obtained by fitting a large amount of experimental data; S9. Using a hybrid excitation structure of permanent magnet bias magnetic field and electromagnetic compensation magnetic field, the permanent magnet provides a stable basic magnetic field, and the electromagnetic compensation magnetic field is dynamically adjusted according to the real-time state of the flywheel rotor to reduce the energy consumption of suspension maintenance; at the same time, the operating frequency f of the cooling system is controlled by a temperature feedback closed loop. cool When the internal temperature of the module rises, according to formula f cool =f0+k4×(TT set ) Increase the operating frequency of the cooling system, f0 is the initial operating frequency, T set is the set temperature, k4 is the frequency adjustment coefficient, which suppresses the temperature rise inside the module.

2. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The displacement sensor adopts a capacitive displacement sensor, and its measurement accuracy can reach ±0.1μm, so as to ensure the accurate collection of the radial displacement signal of the flywheel rotor.

3. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The energy loss formula in S2 E=a×n 2 +b×d 3 +c×T+d×V+e The weight coefficients a, b, c, d, and e are obtained by fitting at least 50 sets of experimental data of flywheel energy storage modules under different working conditions to improve the accuracy of energy loss calculation.

4. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The adaptive sliding mode control algorithm in S3 presets the constant k1 to have a value range of [0.01, 0.1] and the k2 to have a value range of [0.001, 0.01], and the specific values are determined through multiple simulation tests according to actual application scenarios.

5. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The control parameter K of the PID controller in S4 p The value range is [1, 10], K i The value range is [0.1, 1], K d The value range is [0.01, 0.1], and after preliminary adjustment using the Ziegler-Nichols method, manual fine-tuning is performed based on actual operating conditions.

6. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The adjustment coefficients α, β, γ, α′, β′, and γ′ in S5 all have a value range of [0.05, 0.2] and are dynamically adjusted according to different operating stages of the flywheel energy storage module and the energy loss change trend.

7. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The optimal speed range [n min , n max ] It is determined by combining theoretical calculation and experimental testing based on the material properties, structural design and expected application scenarios of the flywheel energy storage module.

8. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The cooling system in the S7 adopts liquid cooling, and the coolant is a mixture of deionized water and ethylene glycol in a mixing ratio of 7:3 to ensure good heat dissipation performance.

9. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The switching frequency of the S8 medium and high frequency inverter is 20kHz-50kHz to meet the requirements of optimizing energy conversion efficiency and reducing harmonic interference.

10. The low-loss control method for a miniaturized magnetic levitation flywheel energy storage module according to claim 1, characterized in that: The permanent magnet in the S9 is made of neodymium iron boron permanent magnet material with a remanence intensity of not less than 1.2T and a coercive force of not less than 900kA / m, so as to provide a stable and reliable basic magnetic field.

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