Magnetic suspension bearing assembly, control method and system

Abstract

The invention provides a magnetic suspension bearing assembly and a control method and system. The magnetic suspension bearing assembly comprises a hollow base, a rotating shaft arranged in the center of the base, a radial magnetic suspension bearing and an axial magnetic suspension bearing, wherein the radial magnetic suspension bearing and the axial magnetic suspension bearing are arranged on the base; a rotor is arranged on the rotating shaft, the radial magnetic suspension bearing comprises a first radial magnetic suspension bearing and a second radial magnetic suspension bearing which are used for providing radial force for the rotor, and the first radial magnetic suspension bearing and the second radial magnetic suspension bearing are arranged on the two sides of the rotor respectively; a disc-shaped part protruding out of the surface of the rotating shaft is formed on the side, away from the first radial magnetic suspension bearing, of the second radial magnetic suspension bearing, the axial magnetic suspension bearing and the disc-shaped part are arranged correspondingly, and axial force is provided for the disc-shaped part. And the working flexibility is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic bearings, and in particular to a magnetic suspension bearing assembly, a control method and a system. Background Art

[0002] Magnetic bearings are mainly composed of components such as electromagnets, displacement sensors, controllers, and power amplifiers. Magnetic bearings use electromagnets mounted on the stator assembly to generate electromagnetic force on the rotor, allowing the rotor to stably levitate and rotate without contact with the bearing. Furthermore, the magnitude of the control current input to the electromagnet can be controlled through a feedback control loop to control the electromagnetic force supporting the rotor in the magnetic bearing. Therefore, the dynamic characteristics of the rotor can be adjusted in real time through the feedback control loop, resulting in better dynamic characteristics for the magnetic bearing. In the prior art, there is no complete redundant fault-tolerant design solution for magnetic bearing systems. At the same time, the redundant design and control solution of existing radial magnetic bearings are limited by the differential drive working mode, making it difficult to simultaneously achieve fault tolerance in two orthogonal directions of the bearing plane. Summary of the Invention

[0003] One object of the present invention is to provide a magnetic bearing assembly that improves the redundant fault tolerance of the magnetic bearing and enhances its operational flexibility. Another object of the present invention is to provide a control method for the magnetic bearing assembly. Another object of the present invention is to provide a magnetic bearing control system. Another object of the present invention is to provide a computer device. Another object of the present invention is to provide a readable medium.

[0004] In order to achieve the above objectives, the present invention discloses a magnetic bearing assembly, comprising a hollow base, a rotating shaft arranged in the center of the base, and a radial magnetic bearing and an axial magnetic bearing arranged on the base;

[0005] A rotor is provided on the rotating shaft, and the radial magnetic bearing includes a first radial magnetic bearing and a second radial magnetic bearing for providing radial force for the rotor, wherein the first radial magnetic bearing and the second radial magnetic bearing are respectively provided on both sides of the rotor;

[0006] The rotating shaft is located on a side of the second radial magnetic bearing away from the first radial magnetic bearing and is formed with a disc-shaped portion protruding from the surface of the rotating shaft. The axial magnetic bearing is arranged corresponding to the disc-shaped portion to provide axial force to the disc-shaped portion.

[0007] Optionally, the axial magnetic bearing includes a first axial magnetic bearing and a second axial magnetic bearing;

[0008] The first axial magnetic suspension bearing and the second axial magnetic suspension bearing are respectively arranged on both sides of the disc-shaped portion.

[0009] Optionally, the first axial magnetic bearing is located between the second radial magnetic bearing and the disc-shaped portion, and a first protective bearing is provided on the inner surface of the first axial magnetic bearing, and the inner diameter of the first protective bearing is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

[0010] Optionally, a second protective bearing is provided on the side of the first radial magnetic bearing facing away from the second radial magnetic bearing, and the inner diameter of the second protective bearing is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

[0011] Optionally, a motor stator is provided on the base in an area corresponding to the rotor.

[0012] Optionally, it further includes a radial sensor and an axial sensor, which are used to detect the radial displacement and axial displacement of the rotating shaft respectively.

[0013] Optionally, the first radial magnetic bearing and / or the second radial magnetic bearing includes a first group of radial magnetic bearings and a second group of radial magnetic bearings, the first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged apart.

[0014] Optionally, the first axial magnetic bearing and / or the second axial magnetic bearing includes a first group of axial bearings and a second group of axial bearings arranged inside and outside.

[0015] The present application also discloses a control method for the magnetic bearing assembly as described above, the method comprising:

[0016] determining an expected axial bearing force according to the axial displacement of the rotor, determining a first control signal for the axial magnetic bearing according to the expected axial bearing force, generating a first drive signal through a drive circuit based on the first control signal, and inputting the first drive signal into an electromagnet of a corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor;

[0017] The expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing is determined according to the radial displacement of the rotor, and a second control signal of the first radial magnetic bearing and the second radial magnetic bearing is determined according to the expected radial magnetic bearing force. A second drive signal is formed by a drive circuit based on the second control signal, and the second drive signal is input into the corresponding electromagnets of the first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

[0018] Optionally, the first radial magnetic bearing and the second radial magnetic bearing include three-phase magnets;

[0019] The determining of second control signals of the first and second radial magnetic bearings according to the expected radial magnetic bearing force comprises:

[0020] An expected radial magnetic bearing force is determined based on the radial displacement of the rotor corresponding to the magnetic bearing, a bias component and a symmetric three-phase component are determined based on the expected radial magnetic bearing force, a magnetic flux vector of the three-phase magnet is obtained based on the bias component and the symmetric three-phase component, and a second control signal of the three-phase magnet is formed based on the magnetic flux vector.

[0021] The present application also discloses a magnetic bearing control system, comprising the magnetic bearing assembly, a control device and a drive circuit as described above;

[0022] The control device is used to determine the expected axial bearing force according to the axial displacement of the rotor, determine the first control signal of the axial magnetic bearing according to the expected axial bearing force, form a first drive signal through a drive circuit based on the first control signal, input the first drive signal into the electromagnet of the corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor; determine the expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing according to the radial displacement of the rotor, determine the second control signal of the first radial magnetic bearing and the second radial magnetic bearing according to the expected radial magnetic bearing force, form a second drive signal through the drive circuit based on the second control signal, input the second drive signal into the electromagnet of the corresponding first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

[0023] Optionally, the first radial magnetic bearing and the second radial magnetic bearing include a first group of radial magnetic bearings and a second group of radial magnetic bearings, the first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged separately; the axial magnetic bearing includes the first axial magnetic bearing and the second axial magnetic bearing, and the first axial magnetic bearing and the second axial magnetic bearing include a first group of axial bearings and a second group of axial bearings arranged inside and outside;

[0024] The system further includes a first control box and a second control box, the control device includes a controller electrically corresponding to each magnet of the first radial magnetic bearing, the second radial magnetic bearing, and the axial magnetic bearing;

[0025] The first control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing and the second radial magnetic bearing, the first group of radial magnetic bearings and the first group of axial bearings;

[0026] The second control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing, the second group of radial magnetic bearings of the second radial magnetic bearing, and the second group of axial bearings.

[0027] The present invention also discloses a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the method described above is implemented when the processor executes the program.

[0028] The present invention also discloses a computer-readable medium on which a computer program is stored. When the program is executed by a processor, the method described above is implemented.

[0029] The magnetic bearing assembly disclosed in the present invention includes a hollow base, a rotating shaft arranged in the center of the base, and a radial magnetic bearing and an axial magnetic bearing arranged on the base; a rotor is arranged on the rotating shaft, and the radial magnetic bearing includes a first radial magnetic bearing and a second radial magnetic bearing that provide radial force to the rotor, and the first radial magnetic bearing and the second radial magnetic bearing are respectively arranged on both sides of the rotor; the rotating shaft is located on the side of the second radial magnetic bearing away from the first radial magnetic bearing, and a disc-shaped portion protruding from the surface of the rotating shaft is formed, and the axial magnetic bearing is arranged corresponding to the disc-shaped portion to provide axial force to the disc-shaped portion. The present invention proposes a new fault-tolerant solution for radial magnetic bearings, and provides a complete redundant fault-tolerant design solution and electrical control box layout solution for the magnetic bearing system, which effectively improves the reliability of the magnetic bearing system and improves the redundant fault-tolerant capability and working flexibility of the magnetic bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A structural diagram showing a specific embodiment of a magnetic bearing in the prior art is shown;

[0032] Figure 2 A cross-sectional view showing a specific embodiment of a magnetic bearing assembly of the present invention;

[0033] Figure 3a A schematic diagram showing a radial magnetic bearing, a specific embodiment of a magnetic bearing assembly according to the present invention;

[0034] Figure 3b and Figure 3c A schematic diagram showing an axial magnetic bearing according to a specific embodiment of a magnetic bearing assembly of the present invention;

[0035] Figure 4a A schematic diagram showing two sets of radial magnetic bearings in a specific embodiment of a magnetic bearing assembly according to the present invention;

[0036] Figure 4b A schematic diagram showing two sets of axial magnetic bearings in a specific embodiment of a magnetic bearing assembly according to the present invention;

[0037] Figure 4c A schematic diagram showing a control box of a specific embodiment of a magnetic bearing assembly of the present invention;

[0038] Figure 5 A schematic diagram showing the structure of a computer device suitable for implementing an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0039] 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.

[0040] In the prior art, such as Figure 1 As shown, the magnetic bearing mainly includes components such as a stator, a magnetically suspended rotor, a displacement sensor, a controller, and a power amplifier. The stator is equipped with an electromagnet. Feedback control of magnetic bearings generally uses differential control with a steady bias current. In a differential magnetic bearing with a bias current, the smallest control unit is a differential group consisting of two electromagnets on the same straight line. During control, a control signal from the displacement sensor corresponding to the position offset of the rotor from the center of the magnetic bearing is input into the controller. The controller calculates the control current for each differential group and then calculates the actual control current for each electromagnet coil by summing / differentialing the signal with the steady bias current. This current is then input into the power amplifier, generating a corresponding current in the coil to form a bearing force to adjust the rotor position and keep the rotor in the center of the magnetic bearing.

[0041] Specifically, in the differential control method, taking a horseshoe electromagnet as an example, the bearing force generated by a single electromagnet can be written as:

[0042]

[0043] Among them, f mag ,i,s are the corresponding bearing force, coil current, and distance between the rotor and the electromagnet, respectively, and k represents the structural coefficient of the electromagnet. In fact, formula (1) is applicable not only to horseshoe-shaped electromagnets, but also to electromagnets of other shapes such as the "Yan" shape and monopole electromagnets (electromagnets with the same polarity in the stator poles of a rotating plane).

[0044] To address the nonlinearity of bearing forces, the most common approach is to introduce a differential structure group. Each differential group requires joint control of two electromagnets on the same line. In this joint control, a constant bias current i0 is introduced, and then constraints are introduced between the currents of the two electromagnets in the differential group:

[0045] i1+i2=2i0 (2)

[0046] The subscripts 1 and 2 here represent the numbers of the two electromagnets in the same differential group. Correspondingly, the difference between the two currents can be written as:

[0047] i1-i2=2i c (3)

[0048] Usually, i c It is called the control current and is also the output signal of the controller in differential control.

[0049] At this time, the electromagnetic force generated by a pair of differential groups is:

[0050]

[0051] Where s0 is the average air gap between the rotor and the bearing when the rotor is at the center of the bearing, and x represents the displacement of the rotor in the direction of the differential group. Combining formula (2) and formula (4), the bearing force at i c =0, and performing Taylor expansion at x=0 yields:

[0052]

[0053] In order to design a linear controller, when designing a controller under this differential control method, all high-order terms in formula (5) are usually ignored, and the linearized controlled object is obtained:

[0054] f b =k i i c +k s x (6)

[0055] in, They can all be considered as known constants. Furthermore, the design of the rotor feedback control device can be carried out with formula (6) as the controlled object.

[0056] Obviously, the simplification from formula (5) to formula (6) not only ignores the high-order terms of displacement, but also ignores the control current i c The square term of i cThe square term of appears in the negative stiffness term of the bearing force, so this simplification has a more ideal estimate of the instability of the magnetic bearing system, but cannot strictly guarantee the stability of the actual system. Not only that, the bias current introduced by the differential control is generally half of the maximum current, which will cause a certain amount of waste in the bearing capacity of the overall magnetic bearing system. The bias current will also cause additional coil heating. If the heat generation is higher than the normal natural convection heat dissipation, the magnetic bearing system will also need to introduce additional cooling to ensure a safe working environment, further causing energy waste. The bias current may cause magnetic saturation to arrive prematurely, resulting in the bearing capacity of the magnetic bearing not being fully utilized. In summary, in the prior art, there is no complete redundant fault-tolerant design solution for the magnetic bearing system. At the same time, the redundant design and control solution of the existing radial magnetic bearing are limited by the differential drive working mode, and it is difficult to achieve fault tolerance in two orthogonal directions of the bearing plane at the same time.

[0057] Based on this, according to one aspect of the present invention, this embodiment discloses a magnetic bearing assembly. Figure 2 As shown, the magnetic bearing assembly includes a hollow base 1, a rotating shaft 2 arranged in the center of the base 1, and a radial magnetic bearing and an axial magnetic bearing arranged on the base 1.

[0058] A rotor 21 is provided on the rotating shaft 2, and the radial magnetic bearing includes a first radial magnetic bearing 31 and a second radial magnetic bearing 32 for providing radial force to the rotor 21, and the first radial magnetic bearing 31 and the second radial magnetic bearing 32 are respectively arranged on both sides of the rotor 21; the rotating shaft 2 is located on the side of the second radial magnetic bearing 32 away from the first radial magnetic bearing 31 and is formed with a disc-shaped portion 22 protruding from the surface of the rotating shaft 2, and the axial magnetic bearing is arranged corresponding to the disc-shaped portion 22 to provide axial force to the disc-shaped portion 22.

[0059] By designing the shape of rotating shaft 2 and arranging radial and axial magnetic bearings in the axial direction of base 1, the present invention enables the radial magnetic bearing on base 1 to provide radial force, and the axial magnetic bearing to provide axial force via the disc-shaped portion 22 on rotating shaft 2, thereby achieving radial and axial position adjustment of rotating shaft 2. Thus, the present application proposes a new fault-tolerant solution for radial magnetic bearings, effectively improving the reliability of the magnetic bearing system, and enhancing the redundant fault-tolerant capability and operational flexibility of the magnetic bearings.

[0060] In an optional embodiment, the axial magnetic bearing includes a first axial magnetic bearing 41 and a second axial magnetic bearing 42 ; the first axial magnetic bearing 41 and the second axial magnetic bearing 42 are respectively arranged on both sides of the disc-shaped portion 22 .

[0061] Specifically, a disc-shaped portion 22 is provided on the rotating shaft 2, and a first axial magnetic bearing 41 and a second axial magnetic bearing 42 are respectively provided on both sides of the disc-shaped portion 22. The bearing force provided by the first axial magnetic bearing 41 and the second axial magnetic bearing 42 to the disc-shaped portion 22 can be controlled to push the position of the disc-shaped portion 22 to move so as to realize the overall axial position adjustment of the rotating shaft 2.

[0062] In an optional embodiment, the first axial magnetic bearing 41 is located between the second radial magnetic bearing 32 and the disc-shaped portion 22, and a first protective bearing 51 is provided on the inner surface of the first axial magnetic bearing 41. The inner diameter of the first protective bearing 51 is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

[0063] Among them, the first protective bearing 51 is arranged on the inner surface of the first axial magnetic bearing 41, which is closer to the rotating shaft 2 than the radial magnetic bearing. The first protective bearing 51 serves as a bearing to protect the rotating shaft 2. If the rotating shaft 2 deviates too much in the radial direction, the radial displacement of the rotating shaft 2 can be limited by the supporting function of the first protective bearing 51, thereby preventing the problem of excessive radial deviation of the rotating shaft 2 and realizing the protection function of the rotating shaft 2.

[0064] In an optional embodiment, a second protective bearing 52 is provided on the side of the first radial magnetic bearing 31 away from the second radial magnetic bearing 32 of the base 1, and the inner diameter of the second protective bearing 52 is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

[0065] The inner diameter of the second protective bearing 52 is smaller than that of the radial magnetic bearing and the axial magnetic bearing, and is closer to the rotating shaft 2 than the radial magnetic bearing. Therefore, the second protective bearing 52 serves as a bearing to protect the rotating shaft 2. If the rotating shaft 2 deviates too much in the radial direction, the second protective bearing 52 can provide support to limit the radial displacement of the rotating shaft 2, preventing the problem of excessive radial deviation of the rotating shaft 2 and thus protecting the rotating shaft 2. Furthermore, the inner diameters of the first protective bearing 51 and the second protective bearing 52 are preferably the same, so that the first protective bearing 51 and the second protective bearing 52 can simultaneously protect the rotating shaft 2 from both ends, maintaining balance at both ends of the rotating shaft 2. In an optional embodiment, a motor stator 11 is provided on the base 1 in an area corresponding to the rotor 21, so that the stator 11 can provide a force to the rotor 21 on the rotating shaft 2.

[0066] In an optional embodiment, the magnetic bearing assembly further includes a radial sensor and an axial sensor, which are respectively used to detect the radial displacement and axial displacement of the rotating shaft 2, and the position of the rotating shaft 2 is determined by the detection results of the radial displacement and the axial displacement to control the position of the rotating shaft 2.

[0067] In an optional embodiment, if Figure 3a and Figure 4a As shown, the first radial magnetic bearing 31 and / or the second radial magnetic bearing 32 include a first group of radial magnetic bearings and a second group of radial magnetic bearings, the first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged apart.

[0068] Specifically, the first radial magnetic bearing 31 and / or the second radial magnetic bearing 32 include a first group of radial magnetic bearings and a second group of radial magnetic bearings. The safety of the bearing system is improved by the backup function of the two groups of radial magnetic bearings, and three electromagnets are arranged in each group of bearings to provide force in any direction on the radial plane to the rotating shaft 2.

[0069] In an optional embodiment, if Figure 3b 、 Figure 3c and Figure 4b As shown, the first axial magnetic bearing 41 and / or the second axial magnetic bearing 42 includes a first group of axial bearings and a second group of axial bearings arranged inside and outside.

[0070] Specifically, the first axial magnetic bearing 41 and / or the second axial magnetic bearing 42 includes a first group of axial bearings and a second group of axial bearings arranged inside and outside, and the safety of the bearing system is improved by the backup function of the two groups of axial bearings.

[0071] In the specific example, Figure 4c The layout of the electric control box of the magnetic bearing assembly is shown. Figure 4a and Figure 4b In the diagram, ABCD represent two radial magnetic bearings and two axial magnetic bearings respectively. The numbers 1-6 in the radial magnetic bearing A (or B) represent the coils of the corresponding electromagnets. Similarly, the numbers 1-2 in the inner (outer) lobes C (or D) of the axial magnetic bearing also represent the coils of the corresponding electromagnets. Figure 4c As can be seen from the figure, the present invention places the A1, A3, A5, B1, B3, B5, C1, D1 coil control panels and power amplifiers in the magnetic bearing in an electric control box (i.e. Figure 4c The electric control box on the left side is named as the electric control box 左 ), and the electric control box has an independent DC power supply and heat dissipation device. At the same time, the A2, A4, A6, B2, B4, B6, C2, D2 coil control board and power amplifier are placed in another electric control box (i.e. Figure 4c The electric control box on the right side is named as the electric control box 右). In this arrangement, the electric control box 左 The entire magnetic bearing system can be driven independently, and the overall magnetic bearing-rotor system can be stably suspended and operated normally. The technicians in this field can set the control mode of the radial magnetic bearing according to the requirements to provide the bearing force. 右 The control method can be combined with the electric control box 左 Exactly the same as the electric control box 左 Backup device, when the electric control box 左 When the corresponding coil is damaged or fails, the electric control box can be started urgently 右 , to ensure the safety of equipment operation. Furthermore, if the damage occurs in the electric control box 左 Internally, the entire system can be maintained without shutting down.

[0072] Figure 4c A bearing structure design and electrical control box layout for a magnetic bearing system with two independent working groups are presented. A radial magnetic bearing uses three electromagnet coils as a minimum control unit, while an axial magnetic bearing uses two opposing electromagnet coils. The six electromagnet coils of the two radial magnetic bearings and the two opposing electromagnet coils of the axial magnetic bearing form a working group, placed in a single electrical control box. This working group enables the rotor to levitate with five degrees of freedom and operate normally. By analogy, a redundant and fault-tolerant layout method for magnetic bearing systems with three or more working groups can be derived.

[0073] Based on the same principle, this embodiment also discloses a control method for the magnetic bearing assembly as described above. The method includes:

[0074] S100: Determine an expected axial bearing force based on the axial displacement of the rotor, determine a first control signal for the axial magnetic bearing based on the expected axial bearing force, form a first drive signal through a drive circuit based on the first control signal, and input the first drive signal into the electromagnet of the corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor.

[0075] S200: Determine the expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing based on the radial displacement of the rotor, determine a second control signal of the first radial magnetic bearing and the second radial magnetic bearing based on the expected radial magnetic bearing force, form a second drive signal through a drive circuit based on the second control signal, and input the second drive signal into the corresponding electromagnets of the first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

[0076] In an optional embodiment, the first radial magnetic bearing and the second radial magnetic bearing include three-phase magnets;

[0077] The determining of second control signals of the first and second radial magnetic bearings according to the expected radial magnetic bearing force comprises:

[0078] An expected radial magnetic bearing force is determined based on the radial displacement of the rotor corresponding to the magnetic bearing, a bias component and a symmetric three-phase component are determined based on the expected radial magnetic bearing force, a magnetic flux vector of the three-phase magnet is obtained based on the bias component and the symmetric three-phase component, and a second control signal of the three-phase magnet is formed based on the magnetic flux vector.

[0079] Since the principle of solving the problem by this method is similar to that of the above components, the implementation of this method can refer to the implementation of the components and will not be repeated here.

[0080] Based on the same principle, this embodiment also discloses a magnetic bearing control system, which includes the magnetic bearing assembly, control device and drive circuit as described in this embodiment.

[0081] The control device is used to determine the expected axial bearing force according to the axial displacement of the rotor, determine the first control signal of the axial magnetic bearing according to the expected axial bearing force, form a first drive signal through a drive circuit based on the first control signal, input the first drive signal into the electromagnet of the corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor; determine the expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing according to the radial displacement of the rotor, determine the second control signal of the first radial magnetic bearing and the second radial magnetic bearing according to the expected radial magnetic bearing force, form a second drive signal through the drive circuit based on the second control signal, input the second drive signal into the electromagnet of the corresponding first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

[0082] In an optional embodiment, the first radial magnetic bearing and the second radial magnetic bearing include a first group of radial magnetic bearings and a second group of radial magnetic bearings, the first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged separately; the axial magnetic bearing includes the first axial magnetic bearing and the second axial magnetic bearing, and the first axial magnetic bearing and the second axial magnetic bearing include a first group of axial bearings and a second group of axial bearings arranged inside and outside;

[0083] The system further includes a first control box and a second control box, the control device includes a controller electrically corresponding to each magnet of the first radial magnetic bearing, the second radial magnetic bearing, and the axial magnetic bearing;

[0084] The first control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing and the second radial magnetic bearing, the first group of radial magnetic bearings and the first group of axial bearings;

[0085] The second control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing, the second group of radial magnetic bearings of the second radial magnetic bearing, and the second group of axial bearings.

[0086] Since the principle of solving the problem of this system is similar to that of the above components, the implementation of this system can refer to the implementation of the components and will not be repeated here.

[0087] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer device. Specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0088] In a typical example, a computer device specifically includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method executed by the client as described above is implemented, or when the processor executes the program, the method executed by the server as described above is implemented.

[0089] Reference below Figure 5 , which shows a structural diagram of a computer device 600 suitable for implementing an embodiment of the present application.

[0090] like Figure 5 As shown, the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate tasks and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage portion 608 into a random access memory (RAM) 603. Various programs and data required for the operation of the computer device 600 are also stored in the RAM 603. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0091] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including devices such as a hard disk; and a communication section 609 including a network interface card such as a LAN card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read therefrom can be installed in the storage section 608 as needed.

[0092] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program including program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication portion 609 and / or installed from removable media 611.

[0093] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory, read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0094] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0095] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0099] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0101] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0102] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A magnetic bearing assembly, characterized in that: It includes a hollow base, a rotating shaft arranged in the center of the base, and a radial magnetic suspension bearing and an axial magnetic suspension bearing arranged on the base; A rotor is provided on the rotating shaft, and the radial magnetic bearing includes a first radial magnetic bearing and a second radial magnetic bearing for providing radial force for the rotor, wherein the first radial magnetic bearing and the second radial magnetic bearing are respectively provided on both sides of the rotor; The rotating shaft is located on a side of the second radial magnetic bearing away from the first radial magnetic bearing and is formed with a disc-shaped portion protruding from the surface of the rotating shaft. The axial magnetic bearing is arranged corresponding to the disc-shaped portion to provide axial force to the disc-shaped portion.

2. The magnetic bearing assembly according to claim 1, characterized in that: The axial magnetic suspension bearing comprises a first axial magnetic suspension bearing and a second axial magnetic suspension bearing; The first axial magnetic suspension bearing and the second axial magnetic suspension bearing are respectively arranged on both sides of the disc-shaped portion.

3. The magnetic bearing assembly according to claim 2, characterized in that: The first axial magnetic bearing is located between the second radial magnetic bearing and the disc-shaped portion. A first protective bearing is provided on the inner surface of the first axial magnetic bearing. The inner diameter of the first protective bearing is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

4. The magnetic bearing assembly according to claim 1, characterized in that: The base is provided with a second protection bearing on a side of the first radial magnetic bearing away from the second radial magnetic bearing. The inner diameter of the second protection bearing is smaller than that of the radial magnetic bearing and the axial magnetic bearing.

5. The magnetic bearing assembly according to claim 1, characterized in that: A motor stator is arranged on the base in an area corresponding to the rotor.

6. The magnetic bearing assembly according to claim 1, characterized in that: It further includes a radial sensor and an axial sensor, which are used to detect the radial displacement and axial displacement of the rotating shaft respectively.

7. The magnetic bearing assembly according to claim 1, characterized in that: The first radial magnetic bearing and / or the second radial magnetic bearing include a first group of radial magnetic bearings and a second group of radial magnetic bearings. The first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged separately.

8. The magnetic bearing assembly according to claim 2, characterized in that: The first axial magnetic bearing and / or the second axial magnetic bearing include a first group of axial bearings and a second group of axial bearings arranged inside and outside.

9. A control method for a magnetic bearing assembly according to any one of claims 1 to 8, characterized in that: The method comprises: determining an expected axial bearing force according to the axial displacement of the rotor, determining a first control signal for the axial magnetic bearing according to the expected axial bearing force, generating a first drive signal through a drive circuit based on the first control signal, and inputting the first drive signal into an electromagnet of a corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor; The expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing is determined according to the radial displacement of the rotor, and a second control signal of the first radial magnetic bearing and the second radial magnetic bearing is determined according to the expected radial magnetic bearing force. A second drive signal is formed by a drive circuit based on the second control signal, and the second drive signal is input into the corresponding electromagnets of the first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

10. The control method of the magnetic bearing assembly according to claim 9, characterized in that: The first radial magnetic bearing and the second radial magnetic bearing include three-phase magnets; The determining of second control signals of the first and second radial magnetic bearings according to the expected radial magnetic bearing force comprises: An expected radial magnetic bearing force is determined based on the radial displacement of the rotor corresponding to the magnetic bearing, a bias component and a symmetric three-phase component are determined based on the expected radial magnetic bearing force, a magnetic flux vector of the three-phase magnet is obtained based on the bias component and the symmetric three-phase component, and a second control signal of the three-phase magnet is formed based on the magnetic flux vector.

11. A magnetic bearing control system, characterized in that: comprising a magnetic bearing assembly, a control device, and a drive circuit according to any one of claims 1 to 8; The control device is used to determine the expected axial bearing force according to the axial displacement of the rotor, determine the first control signal of the axial magnetic bearing according to the expected axial bearing force, form a first drive signal through a drive circuit based on the first control signal, input the first drive signal into the electromagnet of the corresponding axial magnetic bearing so that the axial magnetic bearing provides the expected axial bearing force to the rotor; determine the expected radial magnetic bearing force of the first radial magnetic bearing and the second radial magnetic bearing according to the radial displacement of the rotor, determine the second control signal of the first radial magnetic bearing and the second radial magnetic bearing according to the expected radial magnetic bearing force, form a second drive signal through the drive circuit based on the second control signal, input the second drive signal into the electromagnet of the corresponding first radial magnetic bearing and the second radial magnetic bearing so that the first radial magnetic bearing and the second radial magnetic bearing provide the expected radial magnetic bearing force to the rotor.

12. The magnetic bearing control system according to claim 11, characterized in that: The first radial magnetic bearing and the second radial magnetic bearing include a first group of radial magnetic bearings and a second group of radial magnetic bearings, the first group of radial magnetic bearings and the second group of radial magnetic bearings respectively include three electromagnets, and the electromagnets of the first group of radial magnetic bearings and the second group of radial magnetic bearings are arranged separately; the axial magnetic bearing includes a first axial magnetic bearing and a second axial magnetic bearing, the first axial magnetic bearing and the second axial magnetic bearing include a first group of axial bearings and a second group of axial bearings arranged inside and outside; The system further includes a first control box and a second control box, the control device includes a controller electrically corresponding to each magnet of the first radial magnetic bearing, the second radial magnetic bearing, and the axial magnetic bearing; The first control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing and the second radial magnetic bearing, the first group of radial magnetic bearings and the first group of axial bearings; The second control box accommodates the controller and the drive circuit corresponding to the electromagnets of the first radial magnetic bearing, the second group of radial magnetic bearings of the second radial magnetic bearing, and the second group of axial bearings.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to claim 9 or 10 is implemented.

14. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to claim 9 or 10 is implemented.

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