Magnetic suspension bearing inner rotor position calibration method, device, system, equipment and medium

Abstract

The invention discloses a magnetic suspension bearing inner rotor position calibration method, device, system and equipment and a medium. The magnetic suspension bearing comprises magnetic pole pairs in different radial directions, coils wound on the magnetic pole pairs and a rotor; the method comprises the following steps: outputting a first current signal to a first coil in any radial direction so as to enable a rotor to be adsorbed to the first coil; wherein the first current signal is a signal which is gradually increased from 0 to a preset threshold current; acquiring a displacement signal of the current rotor as a first displacement signal; outputting a second current signal to the first coil and outputting a third current signal to the second coil in the radial direction so as to enable the rotor to be adsorbed to the second coil; wherein the second current signal is a signal of which the current is gradually reduced from a preset threshold value to 0; the third current signal is a signal which is gradually increased from 0 to a preset threshold current; acquiring a displacement signal of the current rotor as a second displacement signal; and setting a rotor center position calibration value according to the first displacement signal and the second displacement signal.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of magnetic levitation motors, and in particular to a method, device, system, equipment, and medium for calibrating the position of a rotor in a magnetic levitation bearing. Background Art

[0002] The high-speed rotation of a magnetic levitation motor relies on the rotor's stable suspension at its physical center within the magnetic bearing. However, due to factors such as temperature fluctuations and mechanical shock, the rotor position measured by the displacement sensor may shift. Therefore, to ensure that the rotor remains suspended at the physical center, the sensor must be calibrated before each system operation.

[0003] The existing method for calibrating the position of the rotor within a magnetic bearing involves assembling the rotor and applying linear current to two coils on the same degree of freedom, causing the rotor to attract to one side of each coil. Analog signals are then acquired from two sensors on the same degree of freedom. A controller processes the analog signals and converts them into electrical signals, which are then used to determine the rotor's position within the magnetic bearing. Directly applying current to the two coils on the same degree of freedom can cause shock during the calibration process, reducing sensor measurement accuracy and shortening the life of the magnetic bearing. Summary of the Invention

[0004] The present invention provides a method, device, system, equipment and medium for calibrating the rotor position in a magnetic bearing, thereby avoiding impact on the bearing during the calibration of the rotor position, thereby shortening the bearing service life; and also avoiding a decrease in the measurement accuracy of the sensor in the bearing.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a method for calibrating the position of a rotor in a magnetic bearing, wherein the magnetic bearing includes magnetic pole pairs in different radial directions, coils wound around the magnetic pole pairs, and a rotor; the method includes:

[0006] Outputting a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current;

[0007] Acquire the current rotor displacement signal as the first displacement signal;

[0008] outputting a second current signal to the first coil and a third current signal to the second coil in the radial direction so that the rotor is attracted to the second coil; wherein the second current signal is a signal that gradually decreases from the preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to the preset threshold current;

[0009] Acquire the current rotor displacement signal as the second displacement signal;

[0010] The first displacement signal and the second displacement signal are used as a calibration value of the rotor center position.

[0011] Optionally, the first current signal is a first step current signal; wherein the number of steps of the first step current signal n≥2;

[0012] The second current signal is a second-step current signal, wherein the number of steps of the second-step current signal n≥2; the third current signal is a third-step current signal, wherein the number of steps of the third-step current signal n≥2.

[0013] Optionally, the maximum value of the number of steps n of the first step current signal is determined according to a calibration time parameter and an impact threshold parameter of the first displacement signal;

[0014] The maximum value of the number of steps n of the second step current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter; the maximum value of the number of steps N of the third step current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter.

[0015] Optionally, the step currents of the first step current signal are the same, or the step current signals of the first step current signal are different;

[0016] The step currents of the second step current signal are the same, or the step current signals of the second step current signal are different; the step currents of the third step current signal are the same, or the step current signals of the third step current signal are different.

[0017] Optionally, the first current signal is a first linear current signal; wherein the duration of the first linear current signal is at least greater than or equal to 10 ms;

[0018] The second current signal is a second linear current signal, wherein the duration of the second linear current signal is at least greater than or equal to 10 ms; the third current signal is a third linear current signal, wherein the duration of the third linear current signal is at least greater than or equal to 10 ms.

[0019] Optionally, the rate of change of the first linear current signal is determined according to a calibration time parameter and an impact threshold parameter of the first displacement signal;

[0020] The change rate of the second linear current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter; the change rate of the third linear current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter.

[0021] In a second aspect, an embodiment of the present invention further provides a device for calibrating the position of a rotor in a magnetic bearing, the device comprising:

[0022] a first output module, configured to output a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current;

[0023] A first acquisition module, configured to acquire a current rotor displacement signal as a first displacement signal;

[0024] a second output module, configured to output a second current signal to the first coil and a third current signal to a radially opposite second coil so that the rotor is attracted to the second coil; wherein the second current signal is a signal that gradually decreases from the preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to the preset threshold current;

[0025] A second acquisition module, configured to acquire a current rotor displacement signal as a second displacement signal;

[0026] A calibration module is used to calibrate a rotor center position value according to the first displacement signal and the second displacement signal.

[0027] In a third aspect, an embodiment of the present invention further provides a system for calibrating the position of a rotor in a magnetic bearing, the system comprising: a magnetic bearing, a control module for executing the method for calibrating the position of a rotor in a magnetic bearing described in the first aspect above, and at least one displacement detection module; the displacement detection module is arranged corresponding to each pair of magnetic poles in different radial directions on the magnetic bearing; the displacement detection module is used to detect the analog displacement signal of the rotor when the rotor is adsorbed onto the coil.

[0028] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0029] at least one processor; and

[0030] a memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for calibrating the position of the rotor in the magnetic bearing described in the first aspect.

[0032] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for calibrating the position of the rotor in the magnetic bearing described in the first aspect when executed.

[0033] In an embodiment of the present invention, a first current signal is output to a first coil in any radial direction so that the rotor is adsorbed onto the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current; a displacement signal of the current rotor is obtained as a first displacement signal; a second current signal is output to the first coil and a third current signal is output to the second coil in the radial direction so that the rotor is adsorbed onto the second coil; wherein the second current signal is a signal that gradually decreases from a preset threshold current to 0; the third current signal is a signal that gradually increases from 0 to a preset threshold current; a displacement signal of the current rotor is obtained as a second displacement signal; the rotor center position is calibrated according to the first displacement signal and the second displacement signal, so that since the first current signal and the third current signal gradually increase and the second current signal gradually decreases, the impact on the bearing during the calibration of the rotor position is avoided, thereby shortening the bearing service life; and the measurement accuracy of the sensor in the bearing is avoided from decreasing.

[0034] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0036] Figure 1 1 is a flow chart of a method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention;

[0037] Figure 2 This is a schematic structural diagram of a magnetic bearing inner rotor position calibration system provided by an embodiment of the present invention;

[0038] Figure 3 This is a diagram showing the position of the inner rotor of the magnetic bearing provided by an embodiment of the present invention when it is close to the first coil;

[0039] Figure 4 This is a diagram showing the position of the first coil adsorbed by the inner rotor of the magnetic bearing provided by the embodiment of the present invention.

[0040] Figure 5 This is a diagram showing the position state of the inner rotor of the magnetic bearing close to the second coil provided by an embodiment of the present invention;

[0041] Figure 6 This is a position state diagram of the inner rotor of the magnetic bearing provided by an embodiment of the present invention being attracted to the second coil;

[0042] Figure 7 1 is a flow chart of another method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention;

[0043] Figure 8 is a schematic diagram of a first-step current signal provided by an embodiment of the present invention;

[0044] Figure 9 is a schematic diagram of a second-step current signal provided by an embodiment of the present invention;

[0045] Figure 10 1 is a flow chart of another method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention;

[0046] Figure 11 1 is a schematic structural diagram of a device for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention;

[0047] Figure 12 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described 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 any creative work should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0050] Figure 1 This is a flow chart of a method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention. This method is applicable to calibrating the center position of a rotor in a magnetic bearing. This method can be executed by software or hardware, such as Figure 1 As shown, the method specifically includes the following steps:

[0051] S110 , outputting a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current.

[0052] Among them, this method is applied to the magnetic bearing rotor position calibration system; Figure 2 FIG. 1 is a structural diagram of a magnetic bearing rotor position calibration system provided by an embodiment of the present invention; FIG. Figure 2 As shown, the magnetic bearing rotor position calibration system includes a magnetic bearing 01 and a control module 02; the magnetic bearing 01 includes magnetic pole pairs 10 in different radial directions (such as: a+ magnetic field pair and a- magnetic field pair in the first radial direction; b+ magnetic field pair and b- magnetic field pair in the second radial direction), coils 20 wound on the magnetic pole pairs (such as a+ coil, a- coil, b+ coil, b- coil) and a rotor 30;

[0053] In this embodiment, the control module 03 can output a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; any radial direction may include the first radial direction and / or the second radial direction; it can be understood that when any radial direction includes the first radial direction, the first coil is an a+ coil or an a- coil; when any radial direction may include the second radial direction, the first coil is a b+ coil or a b- coil; this embodiment does not specifically limit the first coil.

[0054] Figure 3 This is a diagram showing the position of the inner rotor of the magnetic bearing provided by an embodiment of the present invention when it is close to the first coil; Figure 4: is a position state diagram of the rotor adsorbing the first coil in the magnetic bearing provided by an embodiment of the present invention; in this embodiment, the first current signal is a signal that gradually increases from 0 to a preset threshold current. When the first current signal acts on the first coil (that is, the first coil is powered on, and the coil in the other radial direction corresponding to the default initial calibration is powered off), the rotor 30 can be moved from the initial position (see Figure 2 ) to the first coil (see Figure 3 ) until it is finally adsorbed onto the first coil (see Figure 4 ), so that the distance between the rotor and the first coil is shortened through the first current signal to reduce the accumulated speed, thereby reducing the impact on the bearing, avoiding the direct output of the preset threshold current on the first coil, causing the rotor 30 to be instantly directly adsorbed to the first coil and causing impact on the bearing; wherein, the preset threshold current is the maximum current signal to ensure that the rotor 30 is adsorbed to the first coil; the preset threshold current can be determined according to the distance parameters between the magnetic pole pairs 10 in different radial directions in the magnetic bearing 01 and the mass parameters of the rotor; it can be understood that when the structure of the magnetic bearing 01 is determined, the preset threshold current can be determined.

[0055] S120 , obtaining a current rotor displacement signal as a first displacement signal.

[0056] Among them, continue to refer to Figure 3 The magnetic bearing rotor position calibration system also includes at least one displacement detection module 03; the displacement detection module 03 is arranged corresponding to each magnetic pole pair in different radial directions on the magnetic bearing; the displacement detection module 03 is used to detect the displacement signal of the rotor 30 when the rotor 30 is adsorbed onto the coil 20.

[0057] In this embodiment, the control module 02 can obtain the displacement signal detected by the displacement detection module 03 when the rotor 30 is attached to the first coil. Specifically, the at least one displacement detection module 02 can include an a+ displacement detection module and an a- displacement detection module in the first radial direction; and a b+ displacement detection module and a b- displacement detection module in the second radial direction. When the first coil is the a+ coil, the control module 02 can obtain the displacement signal of the rotor 30 detected by the a+ displacement detection module after being attached to the a+ coil, or obtain the displacement signal of the rotor 30 detected by the a- displacement detection module after being attached to the a+ coil. When the first coil is the b+ coil, the control module 02 can obtain the displacement signal of the rotor 30 detected by the b+ displacement detection module after being attached to the b+ coil, or obtain the displacement signal of the rotor 30 detected by the b- displacement detection module after being attached to the b+ coil.

[0058] S130, output a second current signal to the first coil and output a third current signal to the second coil in the radial direction so that the rotor is adsorbed onto the second coil; wherein the second current signal is a signal that gradually decreases from a preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to a preset threshold current.

[0059] Among them, the second coil is another coil corresponding to the first coil in any radial direction; for example, when any radial direction can include the first radial direction, the first coil is an a+ coil or an a- coil; then the second coil can be an a- coil or an a+ coil; when any radial direction can include the second radial direction, the first coil is a b+ coil or a b- coil; then the second coil can be a b- coil or a b+ coil; this embodiment does not make any specific limitation on the second coil.

[0060] Figure 5 This is a diagram showing the position state of the inner rotor of the magnetic bearing close to the second coil provided by an embodiment of the present invention; Figure 6 : is a diagram showing the position state of the rotor in the magnetic bearing provided by an embodiment of the present invention being adsorbed to the second coil; a second current signal is output to the first coil, the second current signal being a signal that gradually decreases from a preset threshold current to 0, and then a third current signal is output to the second coil in the radial direction (i.e., the first coil is powered off and the second coil is powered on), so that the rotor 30 is moved from the first coil position (see Figure 4 ) to the second coil (see Figure 5 ) until it is adsorbed to the second coil (see Figure 6 ); In this way, the distance between the rotor and the second coil is shortened by the second current signal and the third current signal to reduce the accumulated speed, thereby reducing the impact on the bearing and avoiding directly outputting the preset threshold current to the second coil. In this way, the preset threshold current can be prevented from directly acting on the second coil, causing the rotor 30 to be instantly directly adsorbed onto the second coil and causing impact on the bearing.

[0061] S140 , obtaining a current rotor displacement signal as a second displacement signal.

[0062] Specifically, when the first coil is the a+ coil, when the control module 02 obtains the first displacement signal of the rotor 30 after being adsorbed to the a+ coil detected by the a+ displacement detection module, it can obtain the second displacement signal of the rotor 30 after being adsorbed to the a- coil detected by the same a+ displacement detection module; when the first coil is the a+ coil, when the control module 02 obtains the first displacement signal of the rotor 30 after being adsorbed to the a+ coil detected by the a- displacement detection module, it can obtain the second displacement signal of the rotor 30 after being adsorbed to the a- coil detected by the same a- displacement detection module; that is, in the same calibration process, the first displacement signal and the second displacement signal detected by the same displacement detection module can be used.

[0063] Of course, it is understandable that when the first coil is a b+ coil, when the control module 02 obtains the first displacement signal of the rotor 30 after being adsorbed to the b+ coil detected by the b+ displacement detection module, it can obtain the second displacement signal of the rotor 30 after being adsorbed to the b- coil detected by the same b+ displacement detection module; when the first coil is a b+ coil, when the control module 02 obtains the first displacement signal of the rotor 30 after being adsorbed to the b+ coil detected by the b- displacement detection module, it can obtain the second displacement signal of the rotor 30 after being adsorbed to the b- coil detected by the same b- displacement detection module.

[0064] S150 , calibrating a rotor center position value according to the first displacement signal and the second displacement signal.

[0065] Specifically, the rotor center position calibration value may be determined according to the average of the sum of the first displacement signal and the second displacement signal.

[0066] In the embodiment of the present invention, since the first current signal and the third current signal gradually increase and the second current signal gradually decreases, this avoids the impact on the bearing during the calibration of the rotor position, thereby shortening the service life of the bearing; and also avoids the reduction of the measurement accuracy of the sensor in the bearing.

[0067] Optionally, the following embodiments describe specific methods for each current signal. Figure 7 FIG. 1 is a flow chart of a method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention. Figure 7 As shown, Figure 7 As shown, the method specifically includes the following steps:

[0068] S210. Output a first step current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first step current signal is a signal that gradually increases from 0 to a preset threshold current; and the number of steps of the first step current signal n ≥ 2.

[0069] Among them, the first step current signal is specifically:

[0070]

[0071] Where i m (m=ax+,ax-,ay+,ay-) is the output first step current signal, k n (n≥2) is the gain coefficient; a n (n≥2) is the time, that is, keep i m The time during which the output current remains constant; k n C max That is equal to the preset threshold current I max .

[0072] Optional, Figure 8 is a schematic diagram of a first-step current signal provided by an embodiment of the present invention; Figure 8 As shown, in some embodiments, the step currents of the first step current signal are the same; in other embodiments, the step current signals of the first step current signal are different; this is not specifically limited.

[0073] Likewise, in some embodiments, the step times of the first step current signal are the same; in other embodiments, the step times of the first step current signal are different; this is not specifically limited.

[0074] Optionally, the maximum value of the number of steps n of the first step current signal is determined based on the first displacement signal calibration time parameter and the impact threshold parameter. Generally, a greater number of steps n results in less impact on the bearing, but this increases the first displacement signal calibration time. Therefore, the number of steps n of the first step current signal can be ultimately determined based on the first displacement signal calibration time parameter and the impact threshold parameter.

[0075] S220 , obtaining a current rotor displacement signal as a first displacement signal.

[0076] S230, output a second step current signal to the first coil and output a third step current signal to the second coil in the radial direction so that the rotor is adsorbed onto the second coil; wherein the second step current signal is a signal that gradually decreases from a preset threshold current to 0; the number of steps of the second step current signal n≥2; the third step current signal is a signal that gradually increases from 0 to a preset threshold current; the number of steps of the third step current signal n≥2.

[0077] Among them, the second-step current signal is specifically:

[0078]

[0079] Where i m (m=ax+,ax-,ay+,ay-) is the output second step current signal, k n (n≥2) is the gain coefficient; a n (n≥2) is the time, that is, keep i m The time during which the output current remains constant; k n C max That is equal to the preset threshold current I max .

[0080] Optional, Figure 9 is a schematic diagram of a second-step current signal provided by an embodiment of the present invention; Figure 9As shown, in some embodiments, the step currents of the second step current signal are the same; in other embodiments, the step current signals of the second step current signal are different; this is not specifically limited.

[0081] Likewise, in some embodiments, the step times of the second step current signal are the same; in other embodiments, the step times of the second step current signal are different; this is not specifically limited.

[0082] Optionally, the maximum value of the number of steps n of the second step current signal is determined based on the second displacement signal calibration time parameter and the impact threshold parameter. Generally, a greater number of steps n results in less impact on the bearing, but this increases the second displacement signal calibration time. Therefore, the number of steps n of the second step current signal can be ultimately determined based on the second displacement signal calibration time parameter and the impact threshold parameter.

[0083] The third-step current signal is applied in the same manner as the first-step current signal, specifically:

[0084]

[0085] Where i m (m=ax+,ax-,ay+,ay-) is the output third-step current signal, k n (n≥2) is the gain coefficient; a n (n≥2) is the time, that is, keep i m The time during which the output current remains constant; k n C max That is equal to the preset threshold current I max .

[0086] Optional, continue to refer to Figure 8 The third step current signal is applied in the same manner as the first step current signal. In some embodiments, the step currents of the third step current signal are the same; in other embodiments, the step current signals of the third step current signal are different; there is no specific limitation on this.

[0087] Likewise, in some embodiments, the step times of the third step current signal are the same; in other embodiments, the step times of the third step current signal are different; this is not specifically limited.

[0088] Optionally, the maximum value of the number of steps n of the third step current signal is determined based on the second displacement signal calibration time parameter and the impact threshold parameter. Generally, a greater number of steps n results in less impact on the bearing, but this increases the second displacement signal calibration time. Therefore, the number of steps n of the third step current signal can be ultimately determined based on the second displacement signal calibration time parameter and the impact threshold parameter.

[0089] S240: Acquire a current rotor displacement signal as a second displacement signal.

[0090] S250 , calibrating the rotor center position according to the first displacement signal and the second displacement signal.

[0091] In the embodiment of the present invention, the first current signal, the second current signal and the third current signal are respectively described as a first step current signal, a second step current signal and a third step current signal. Since the first step current signal and the third step current signal gradually increase and the second step current signal gradually decreases, this avoids the impact on the bearing during the calibration of the rotor position, thereby shortening the service life of the bearing; it also avoids the reduction of measurement accuracy of the sensor in the bearing.

[0092] Optionally, the following embodiment describes another specific method of each current signal. Figure 10 FIG. 1 is a flow chart of another method for calibrating the position of a rotor in a magnetic bearing provided by an embodiment of the present invention. Figure 10 As shown, the method specifically includes the following steps:

[0093] S310: Output a first linear current signal to the first coil in any radial direction to cause the rotor to adsorb to the first coil; wherein the first linear current signal is a signal that gradually increases from 0 to a preset threshold current. The duration of the first linear current signal is at least greater than or equal to 10 ms.

[0094] Among them, the first linear current signal can be a current signal that gradually increases once, twice,... multiple times; the duration of the first linear current signal is at least greater than or equal to 10ms; this can shorten the distance between the rotor and the first coil to a certain extent, so as to reduce the accumulation of speed and thereby reduce the impact on the bearing.

[0095] Of course, it is understandable that the duration of the first linear current signal cannot be increased indefinitely. Optionally, the change rate of the first linear current signal is determined according to the first displacement signal calibration time parameter and the impact threshold parameter. Generally, the smaller the change rate of the first linear current signal, the smaller the impact on the bearing, but the calibration time of the first displacement signal will be increased. In this way, the change rate of the first linear current signal determined according to the first displacement signal calibration time parameter and the impact threshold parameter can balance the first displacement signal calibration time and the impact force.

[0096] S320: Acquire a current rotor displacement signal as a first displacement signal.

[0097] S330: Output a second linear current signal to the first coil and output a third linear current signal to the second coil in the radial direction so that the rotor is attracted to the second coil; wherein the second linear current signal is a signal that gradually decreases from a preset threshold current to 0; and the duration of the second linear current signal is at least greater than or equal to 10 ms; and the third linear current signal is a signal that gradually increases from 0 to a preset threshold current; and the duration of the third linear current signal is at least greater than or equal to 10 ms.

[0098] Among them, the second linear current signal can be a current signal that gradually decreases once, twice,... multiple times; the third linear current signal can be a current signal that gradually increases once, twice,... multiple times; the duration of the second linear current signal is at least greater than or equal to 10ms; the duration of the third linear current signal is at least greater than or equal to 10ms; this can shorten the distance between the rotor and the second coil to a certain extent, thereby reducing the accumulation of speed and thereby reducing the impact on the bearing.

[0099] Of course, it is understandable that the duration of the second linear current signal and the third linear current signal cannot be increased indefinitely. Optionally, the change rate of the second linear current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter; the change rate of the third linear current signal is determined according to the third displacement signal calibration time parameter and the impact threshold parameter. Generally, the smaller the change rate of the second linear current signal and the smaller the change rate of the third linear current signal, the smaller the impact on the bearing, but the calibration time of the second displacement signal will be increased. In this way, by determining the change rate of the second linear current signal and the change rate of the third linear current signal according to the second displacement signal calibration time parameter and the impact threshold parameter, the second displacement signal calibration time and the impact force can be balanced.

[0100] S340: Acquire a current rotor displacement signal as a second displacement signal.

[0101] S350 , calibrating the rotor center position according to the first displacement signal and the second displacement signal.

[0102] In the embodiment of the present invention, the first current signal, the second current signal, and the third current signal are respectively described as a first linear current signal, a second linear current signal, and a third linear current signal. Since the first linear current signal and the third linear current signal gradually increase, and the second linear current signal gradually decreases, this avoids impact on the bearing during the rotor position calibration process, thereby shortening the bearing service life. It also avoids a decrease in the measurement accuracy of the sensor in the bearing.

[0103] An embodiment of the present invention also provides a magnetic bearing inner rotor position calibration device; the magnetic bearing inner rotor position calibration device can execute the magnetic bearing inner rotor position calibration method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. Figure 11 Schematic diagram of the structure of a magnetic bearing rotor position calibration device provided by the present invention; Figure 11 As shown, the device includes:

[0104] The first output module 100 is configured to output a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current;

[0105] A first acquisition module 200 is configured to acquire a current rotor displacement signal as a first displacement signal;

[0106] The second output module 300 is configured to output a second current signal to the first coil and a third current signal to the second coil in the radial direction so that the rotor is attracted to the second coil; wherein the second current signal is a signal that gradually decreases from a preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to a preset threshold current;

[0107] A second acquisition module 400 is configured to acquire a current rotor displacement signal as a second displacement signal;

[0108] The calibration module 500 is configured to calibrate a rotor center position value according to the first displacement signal and the second displacement signal.

[0109] The embodiment of the present invention also provides a magnetic bearing inner rotor position calibration system, continue to refer to Figure 2 The correction system includes: a magnetic bearing 01, a control module 02 that executes the above-mentioned method for calibrating the rotor position in the magnetic bearing, and at least one displacement detection module 03; the displacement detection module 03 is arranged corresponding to each pair of magnetic poles on different radial directions on the magnetic bearing; the displacement detection module 03 is used to detect the displacement signal of the rotor when the rotor is adsorbed onto the coil; since the correction system includes the control module 02 that executes the above-mentioned method for calibrating the rotor position in the magnetic bearing, it also has the beneficial effects of the above-mentioned embodiment, which will not be described in detail here. More specifically, in this embodiment, the control module 02 may include an ADC unit and a DAC unit; since the displacement signal of the rotor detected by the detection module 03 is an analog displacement signal, the ADC unit in the control module 02 can convert the analog displacement signal into a digital displacement signal for subsequent calibration; since the current input to each coil is an analog current signal, the DAC unit in the control module 02 can convert the different digital current signals output into different analog current signals and output them to each coil.

[0110] An embodiment of the present invention further provides an electronic device, Figure 12 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as embedded computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0111] like Figure 12 As shown, the electronic device includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 100 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] Multiple components in the electronic device are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 100 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0113] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as a method for calibrating the rotor position in a magnetic bearing.

[0114] In some embodiments, a method for calibrating the position of a rotor in a magnetic bearing can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for calibrating the position of a rotor in a magnetic bearing described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute a method for calibrating the position of a rotor in a magnetic bearing by any other appropriate means (for example, by means of firmware).

[0115] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0120] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0121] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0122] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

[0123] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for calibrating the position of a rotor in a magnetic bearing, wherein the magnetic bearing comprises magnetic pole pairs in different radial directions, coils wound around the magnetic pole pairs, and a rotor; characterized in that: include: Outputting a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current; Acquire the current rotor displacement signal as the first displacement signal; outputting a second current signal to the first coil and a third current signal to the second coil in the radial direction so that the rotor is attracted to the second coil; wherein the second current signal is a signal that gradually decreases from the preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to the preset threshold current; Acquire the current rotor displacement signal as the second displacement signal; The first displacement signal and the second displacement signal are used as a calibration value of the rotor center position.

2. The method for calibrating the position of the rotor in a magnetic bearing according to claim 1, characterized in that: The first current signal is a first step current signal; wherein the number of steps of the first step current signal n≥2; The second current signal is a second-step current signal, wherein the number of steps of the second-step current signal n≥2; the third current signal is a third-step current signal, wherein the number of steps of the third-step current signal n≥2.

3. The method for calibrating the position of the rotor in a magnetic bearing according to claim 2, characterized in that: The maximum value of the number of steps n of the first step current signal is determined according to the first displacement signal calibration time parameter and the impact threshold parameter; The maximum value of the number of steps n of the second step current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter; the maximum value of the number of steps N of the third step current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter.

4. The method for calibrating the position of the rotor in a magnetic bearing according to claim 2, wherein: The step currents of the first step current signal are the same, or the step current signals of the first step current signal are different; The step currents of the second step current signal are the same, or the step current signals of the second step current signal are different; the step currents of the third step current signal are the same, or the step current signals of the third step current signal are different.

5. The method for calibrating the position of the rotor in a magnetic bearing according to claim 1, wherein: The first current signal is a first linear current signal; wherein the duration of the first linear current signal is at least greater than or equal to 10 ms; The second current signal is a second linear current signal, wherein the duration of the second linear current signal is at least greater than or equal to 10 ms; the third current signal is a third linear current signal, wherein the duration of the third linear current signal is at least greater than or equal to 10 ms.

6. The method for calibrating the position of the rotor in a magnetic bearing according to claim 5, characterized in that: The rate of change of the first linear current signal is determined according to a first displacement signal calibration time parameter and an impact threshold parameter; The change rate of the second linear current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter; the change rate of the third linear current signal is determined according to the second displacement signal calibration time parameter and the impact threshold parameter.

7. A device for calibrating the position of a rotor in a magnetic bearing, characterized in that: include: a first output module, configured to output a first current signal to the first coil in any radial direction so that the rotor is attracted to the first coil; wherein the first current signal is a signal that gradually increases from 0 to a preset threshold current; A first acquisition module, configured to acquire a current rotor displacement signal as a first displacement signal; a second output module, configured to output a second current signal to the first coil and a third current signal to a radially opposite second coil so that the rotor is attracted to the second coil; wherein the second current signal is a signal that gradually decreases from the preset threshold current to 0; and the third current signal is a signal that gradually increases from 0 to the preset threshold current; A second acquisition module, configured to acquire a current rotor displacement signal as a second displacement signal; A calibration module is used to calibrate a rotor center position value according to the first displacement signal and the second displacement signal.

8. A magnetic bearing inner rotor position calibration system, characterized in that: include: A magnetic bearing, a control module for executing the method for calibrating the position of a rotor in a magnetic bearing as described in any one of claims 1 to 6, and at least one displacement detection module; the displacement detection modules are arranged corresponding to each pair of magnetic poles in different radial directions on the magnetic bearing; the displacement detection module is used to detect an analog displacement signal of the rotor when the rotor is adsorbed onto the coil.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for calibrating the position of the rotor in the magnetic bearing according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for calibrating the position of the inner rotor of a magnetic bearing according to any one of claims 1 to 6 when executed.

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