Magnetic bearing control method and device for magnetic suspension rotor

Abstract

The invention relates to a magnetic bearing control method and device for a magnetic suspension rotor. The method comprises the steps of determining feedback parameters corresponding to the two magnetic bearings of the magnetic suspension rotor in the specified radial direction; and determining a target electromagnetic force applied to the magnetic suspension rotor by each magnetic bearing based on the feedback parameter corresponding to each magnetic bearing and the centroid parameter of the magnetic suspension rotor. And determining target current based on the target electromagnetic force applied to the magnetic suspension rotor by each magnetic bearing, and controlling the corresponding magnetic bearing based on each target current. In this way, the target electromagnetic force applied to the magnetic suspension rotor by each magnetic bearing can be optimally controlled based on the feedback parameters corresponding to each magnetic bearing at the two ends of the magnetic suspension rotor in the specified radial direction and the centroid parameters of the magnetic suspension rotor; and the target current is determined based on the target electromagnetic force applied to the magnetic suspension rotor by each magnetic bearing, so that the current adjustment amplitude is effectively controlled, and the risks of influencing the service life of the magnetic bearing and damaging the stable suspension state of the magnetic suspension rotor are avoided.

Description

Technical Field

[0001] The embodiments in this specification belong to the field of magnetic bearing control technology, and specifically relate to a magnetic bearing control method and device for magnetically levitated rotors. Background Technology

[0002] In a horizontal magnetic levitation motor, the magnetic bearing can interact with the permanent magnet or magnetic conductive material of the magnetic levitation rotor by the electromagnetic force generated by the magnetic field of the electromagnet when the current passes through the electromagnet winding coil. This interaction counteracts the effects of the rotor's gravity, centrifugal force, and various disturbance forces, thereby achieving stable levitation of the magnetic levitation rotor and significantly reducing mechanical losses.

[0003] Because of the weight imbalance at both ends of the magnetic levitation rotor in a horizontal magnetic levitation motor, the electromagnetic forces exerted radially on the rotor by the magnetic bearings at both ends are different, resulting in radial amplitude differences between the two ends of the rotor. Current solutions involve adjusting the excitation current on the magnetic bearings at both ends of the rotor based on experience. However, excessively high excitation currents pose a risk of affecting the lifespan of the magnetic bearings and disrupting the stable levitation state of the rotor. Summary of the Invention

[0004] The embodiments of this disclosure provide a magnetic bearing control method and apparatus for a magnetically levitated rotor.

[0005] In a first aspect of this disclosure, a method for controlling magnetic bearings in a magnetically levitated rotor is provided. The method includes determining feedback parameters corresponding to two magnetic bearings along a specified radial direction of the magnetically levitated rotor, the two magnetic bearings being located at the head and tail of the rotor, respectively. The method further includes determining a target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the centroid parameter of the magnetically levitated rotor. Furthermore, the method includes determining a target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and controlling the corresponding magnetic bearing based on each target current.

[0006] In a second aspect of this disclosure, a magnetic bearing control device for a magnetically levitated rotor is provided. The device includes a feedback parameter determination module configured to determine feedback parameters corresponding to two magnetic bearings along a specified radial direction of the magnetically levitated rotor, the two magnetic bearings being located at the head and tail of the magnetically levitated rotor, respectively. The device also includes an electromagnetic force determination module configured to determine a target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the center-of-gravity parameter of the magnetically levitated rotor. Furthermore, the device includes a magnetic bearing control module configured to determine a target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and to control the corresponding magnetic bearing based on each target current.

[0007] In a third aspect of this disclosure, a computer program product is provided, comprising a computer program that is executed by a processor to implement the method according to the first aspect.

[0008] In a fourth aspect of this disclosure, a machine-readable storage medium is provided. The machine-readable storage medium stores machine-executable instructions, which are executed by a processor to implement the method provided according to a first aspect of this disclosure.

[0009] It should be understood that the description in the Summary of the Invention section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0010] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein: Figure 1 A schematic diagram of an example environment in which some embodiments of this disclosure may be implemented is shown; Figure 2 A schematic diagram of the planar structure of the magnetic levitation rotor in a horizontal magnetic levitation motor according to some embodiments of the present disclosure is shown; Figure 3 A flowchart of a magnetic bearing control method for a magnetically levitated rotor, according to some embodiments of the present disclosure, is shown. Figure 4 A block diagram of a magnetic bearing control device for a magnetically levitated rotor, according to some embodiments of this disclosure, is shown; and Figure 5 A block diagram of an electronic device that can implement several embodiments of the present disclosure is shown. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0012] The terms “comprising” and “having”, and any variations thereof, in this specification, claims, and the foregoing drawings are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. Depending on the context, the word “if” as it applies herein may be interpreted as “when”, “when”, “in response to determination”, or “in response to detection”.

[0013] As mentioned above, when controlling a magnetically levitated rotor to maintain a stable levitation state, the rotor is typically considered a regular cylinder. By applying the same excitation current to the radially aligned magnetic bearings at both ends of the rotor, it is achieved to maintain radial levitation. However, due to the weight imbalance at both ends of the horizontal magnetic levitation motor's rotor, the radial electromagnetic forces exerted by the magnetic bearings at each end differ, resulting in a difference in amplitude (i.e., height) at both ends of the rotor in the radial direction. This difference disrupts the rotor's stable levitation state. Generally, the weight corresponding to the head region of the horizontal magnetic levitation motor's rotor is less than the weight corresponding to the tail region, causing the radial amplitude of the head to be greater than that of the tail.

[0014] The current solution involves adjusting the excitation current of the radially located magnetic bearings at both ends of the magnetic levitation rotor based on experience. This can be achieved by using PID parameter adjustment, a technique well-known in the field, to reduce the excitation current of the radially located magnetic bearing at the head of the rotor and increase the excitation current of the radially located magnetic bearing at the tail. However, excessively high excitation current can easily cause fatigue damage to the magnetic bearings, affecting their service life and, in severe cases, disrupting the stable levitation state of the magnetic levitation rotor, leading to instability.

[0015] Therefore, embodiments of this disclosure propose a magnetic bearing control method for a magnetically levitated rotor. The method includes determining feedback parameters corresponding to two magnetic bearings along a specified radial direction of the magnetically levitated rotor, the two magnetic bearings being located at the head and tail of the rotor, respectively. The method further includes determining a target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the centroid parameter of the magnetically levitated rotor. Furthermore, the method includes determining a target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and controlling the corresponding magnetic bearing based on each target current.

[0016] In this way, the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing can be optimized and controlled based on the feedback parameters of each magnetic bearing at both ends of the magnetic levitation rotor in a specified radial direction and the centroid parameter of the magnetic levitation rotor. The target current can be determined based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing. This can effectively control the current adjustment range while reducing the amplitude difference at both ends of the magnetic levitation rotor in a specified radial direction, thereby avoiding the risk of affecting the service life of the magnetic bearings and disrupting the stable levitation state of the magnetic levitation rotor.

[0017] Figure 1 A schematic diagram of an example environment in which some embodiments of this disclosure can be implemented is shown, the example environment being applied to a horizontal magnetic levitation motor. For example... Figure 1 As shown, the example environment 100 includes a motor housing 101, which provides rigid support for the horizontal magnetic levitation motor and prevents the horizontal magnetic levitation motor from being affected by magnetic field interference and heat.

[0018] Example environment 100 also includes a rotor system 102 disposed within motor housing 101. The rotor system 102 specifically includes a magnetically levitated rotor, a position sensor, and a magnetic bearing. The magnetically levitated rotor may consist of a rotor core and permanent magnets to maintain a stable levitation state under the electromagnetic force applied by the magnetic bearing. High-precision grooves or reflective material may also be provided on the surface of the magnetically levitated rotor to facilitate the position sensor in acquiring the voltage signal corresponding to the position of the magnetically levitated rotor.

[0019] Magnetic bearings can be disposed at both ends of the magnetically levitated rotor along different radial directions. For example, they may include positive and negative X-axis magnetic bearings disposed at the head of the magnetically levitated rotor along the X-axis, positive and negative X-axis magnetic bearings disposed at the tail of the magnetically levitated rotor along the X-axis, positive and negative Y-axis magnetic bearings disposed at the head of the magnetically levitated rotor along the Y-axis, and positive and negative Y-axis magnetic bearings disposed at the tail of the magnetically levitated rotor along the Y-axis. In some embodiments of this disclosure, the magnetic bearings may also be disposed at both ends of the magnetically levitated rotor along the axial direction, for example, they may include magnetic bearings disposed at the head of the magnetically levitated rotor along the Z-axis and magnetic bearings disposed at the tail of the magnetically levitated rotor along the Z-axis.

[0020] The position sensor can be an eddy current position sensor, a capacitive position sensor, or a photoelectric sensor, all well-known in the art. It is positioned near the aforementioned magnetic bearings to acquire voltage signals corresponding to the positions of the two ends of the magnetically levitated rotor under the electromagnetic force applied by each magnetic bearing along different radial directions. In one example, the position sensor can be positioned near the positive X-axis magnetic bearing at the head of the magnetically levitated rotor to acquire the voltage signal corresponding to the position of the head of the magnetically levitated rotor under the electromagnetic force applied by the positive X-axis magnetic bearing along the positive X-axis. The position sensor can also be positioned near the positive X-axis magnetic bearing at the tail of the magnetically levitated rotor to acquire the voltage signal corresponding to the position of the tail of the magnetically levitated rotor under the electromagnetic force applied by the positive X-axis magnetic bearing along the positive X-axis. Furthermore, the position sensor can also be positioned near the magnetic bearings at both ends of the magnetically levitated rotor along the axial direction, for example, near the magnetic bearing at the tail of the magnetically levitated rotor along the Z-axis, to acquire the voltage signal corresponding to the position of the tail of the magnetically levitated rotor under the electromagnetic force applied by the Z-axis magnetic bearing along the Z-axis direction, and is not limited to this.

[0021] Example environment 100 also includes a protective bearing and a stator system disposed within the motor housing 101. The protective bearing supports the magnetically levitated rotor when it is not subjected to the electromagnetic forces applied by the individual magnetic bearings, and controls the movement of the magnetically levitated rotor within a specified range when it is subjected to the electromagnetic forces applied by the individual magnetic bearings, thereby preventing damage to the magnetically levitated rotor. The stator system may consist of a laminated iron core and embedded multiphase windings (typically three-phase), used to generate a rotating magnetic field under the action of current to control the rotation of the magnetically levitated rotor.

[0022] Example environment 100 also includes a controller 103 disposed outside the motor housing 101. This controller 103 can be a DSP chip well-known in the art (e.g., an STM32F28335 chip). It establishes a connection with the position sensor in example environment 100 through a position signal acquisition module to acquire in real time the voltage signals corresponding to the positions of the two ends of the magnetic levitation rotor under the electromagnetic forces applied by each magnetic bearing along different radial directions, as collected by the position sensor. The controller then converts these voltage signals to obtain the corresponding position signals. This conversion process is a well-known technique and will not be elaborated upon here. Since the voltage signal range that the controller 103 can receive is between 0 and 3.3V, while the voltage signal range acquired by the position sensor is between -8V and 0V, a voltage regulation circuit can also be provided between the controller 103 and the position sensor to convert the voltage signal acquired by the position sensor to between 0V and 2.5V. This voltage regulation circuit is a well-known circuit structure and will not be elaborated upon here.

[0023] Furthermore, the controller 103 can also be connected to the signal modulation chip 104 located outside the motor housing 101 in the example environment 100 to output the five initial PWM control commands corresponding to each magnetic bearing when the two ends of the magnetic levitation rotor are in the initial levitation state to the signal modulation chip 104. Here, the five initial PWM control commands corresponding to each magnetic bearing are used to adjust the duty cycle of the PWM signal corresponding to the excitation current output to the corresponding magnetic bearing. For example, taking the X-axis positive magnetic bearing located at the head of the magnetic levitation rotor along the X-axis radial direction as an example, the five initial PWM control commands include the initial PWM control command corresponding to the excitation current output to the X-axis positive magnetic bearing at the head of the magnetic levitation rotor along the X-axis radial direction, the initial PWM control command corresponding to the excitation current output to the X-axis negative magnetic bearing at the head of the magnetic levitation rotor along the X-axis radial direction, the initial PWM control command corresponding to the excitation current output to the Y-axis positive magnetic bearing at the head of the magnetic levitation rotor along the Y-axis radial direction, and the initial PWM control command corresponding to the excitation current output to the Y-axis negative magnetic bearing at the head of the magnetic levitation rotor along the Y-axis radial direction. The initial PWM control command corresponding to the excitation current of the magnetic bearings along the Z-axis at the head of the magnetic levitation rotor is also included. Since the positive X-axis magnetic bearings located along the X-axis at the head of the magnetic levitation rotor only need to apply electromagnetic force in the positive X-axis direction to the head of the magnetic levitation rotor, the initial PWM control commands corresponding to the excitation current of the negative X-axis magnetic bearings, the positive Y-axis magnetic bearings, the negative Y-axis magnetic bearings, and the magnetic bearings along the Z-axis at the head of the magnetic levitation rotor can all be set to 0. It is understood that the generation process of the five initial PWM control commands corresponding to each magnetic bearing when the two ends of the magnetic levitation rotor are in the initial levitation state is a well-known technique in the field and will not be elaborated upon here.

[0024] It should be noted that when controlling the two ends of the magnetic levitation rotor to be in the initial levitation state, the five initial PWM control commands corresponding to the two magnetic bearings located on the same radial direction at both ends of the magnetic levitation rotor can be kept consistent. For example, the five initial PWM control commands corresponding to the X-axis positive magnetic bearing located on the X-axis radial direction at the head of the magnetic levitation rotor can be consistent with the five initial PWM control commands corresponding to the X-axis positive magnetic bearing located on the X-axis radial direction at the tail of the magnetic levitation rotor. Of course, in some embodiments of this disclosure, the five initial PWM control commands corresponding to the two magnetic bearings on the same radial direction at both ends of the magnetic levitation rotor can also be set according to actual needs and are not limited thereto.

[0025] The signal modulation chip 104 can be an FPGA chip (e.g., a Cyclone IV chip) well known in the art. It is connected to the power bridge circuit 105 located outside the motor housing 101 in the example environment 100. It is used to receive the five initial PWM control commands corresponding to each magnetic bearing when the two ends of the magnetic levitation rotor are in the initial levitation state, perform signal modulation processing based on the five initial PWM control commands corresponding to each magnetic bearing to obtain the corresponding five initial PWM signals, and output the five initial PWM signals corresponding to each magnetic bearing to the power bridge circuit 105.

[0026] The power bridge circuit 105 can be a full-bridge converter structure well-known in the art. It is connected to the magnetic bearings disposed at both ends of the magnetic levitation rotor in the example environment 100. It is used to generate corresponding excitation currents according to the five initial PWM signals corresponding to each magnetic bearing, and output the excitation currents corresponding to each magnetic bearing to the corresponding magnetic bearings. In this way, the magnetic force generated by each magnetic bearing controls the two ends of the magnetic levitation rotor to be in the initial levitation state. Here, since the power bridge circuit 105 adopts a full-bridge topology, that is, the excitation currents corresponding to each magnetic bearing require the generation of corresponding four PWM signals, the signal modulation chip 104 of the embodiment of this disclosure can also decompose each initial PWM signal after obtaining the five initial PWM signals corresponding to each magnetic bearing to obtain the corresponding four initial PWM sub-signals, and then output the four initial PWM sub-signals corresponding to each initial PWM signal to the power bridge circuit 105.

[0027] Furthermore, the power bridge circuit 105 is also connected to the controller 103 to detect the excitation current corresponding to each magnetic bearing after generating the excitation current corresponding to each magnetic bearing using a current detection circuit or a current transformer, and to feed back the excitation current corresponding to each magnetic bearing to the controller 103 to form a closed-loop control. Here, the controller 103 may be equipped with a current signal acquisition module connected to the power bridge circuit 105, through which the excitation current corresponding to each magnetic bearing is obtained when the two ends of the magnetic levitation rotor are in the initial levitation state.

[0028] Example environment 100 also includes a host computer 106 disposed outside the motor housing 101. The host computer 106 acquires the center-of-gravity parameters of the magnetic levitation rotor input by the tester and outputs these parameters to the controller 103 via an SCI communication module connected to the controller 103 in example environment 100. Here, the center-of-gravity parameters of the magnetic levitation rotor can be obtained by the tester based on the position of the center of gravity of the magnetic levitation rotor. For example, these parameters include the distance from the head of the magnetic levitation rotor to the center of gravity (i.e., the straight-line distance between the center position of the head of the axially oriented magnetic levitation rotor and the center of gravity) and the distance from the tail of the magnetic levitation rotor to the center of gravity (i.e., the straight-line distance between the center position of the tail of the axially oriented magnetic levitation rotor and the center of gravity). The position of the center of gravity of the magnetic levitation rotor can be obtained experimentally by the tester using either a suspension method or a balancing method. In some embodiments of this disclosure, the center of mass parameters of the magnetic levitation rotor may also include the weight of the magnetic levitation rotor, which can be measured by a tester. Of course, the tester may also input the weight of the magnetic levitation rotor into the controller 103, and is not limited thereto.

[0029] Figure 2 The following are schematic diagrams of the planar structure of the magnetic levitation rotor in a horizontal magnetic levitation motor according to some embodiments of the present disclosure, such as... Figure 2 As shown, in the planar structure 200 of the magnetic levitation rotor, the shaded area on the left side of the magnetic levitation rotor can be represented as the head of the magnetic levitation rotor. The electromagnetic forces applied to the magnetic levitation rotor by the magnetic bearings located at the head of the magnetic levitation rotor along different radial directions all act on this left shaded area. Similarly, the shaded area on the right side of the planar structure 200 of the magnetic levitation rotor can be represented as the tail of the magnetic levitation rotor. The electromagnetic forces applied to the magnetic levitation rotor by the magnetic bearings located at the tail of the magnetic levitation rotor along different radial directions all act on this right shaded area. It can be seen that the shape of the magnetic levitation rotor in the planar structure 200 is an irregular cylinder. The center of mass of this magnetic levitation rotor is located close to the tail of the magnetic levitation rotor. xd can be represented as the distance from the head of the magnetic levitation rotor to the center of mass, and xn can be represented as the distance from the tail of the magnetic levitation rotor to the center of mass. In addition, the different radial directions corresponding to the two ends of the magnetic levitation rotor in the planar structure 200 of the magnetic levitation rotor may include the Y-axis radial direction representing the up-down movement direction of the magnetic levitation rotor and the X-axis radial direction representing the front-back movement direction of the magnetic levitation rotor, and the axial direction corresponding to the two ends of the magnetic levitation rotor may be the Z-axis axial direction representing the left-right movement direction of the magnetic levitation rotor.

[0030] Furthermore, after controlling the magnetic levitation rotor to be in the initial levitation state, the controller 103 can also determine the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing along the specified radial direction at both ends of the magnetic levitation rotor based on the voltage signal corresponding to the position of each magnetic bearing along the specified radial direction at both ends of the magnetic levitation rotor collected by the position sensor, the excitation current received by each magnetic bearing along the specified radial direction at both ends of the magnetic levitation rotor collected by the power bridge circuit 105, and the centroid parameters of the magnetic levitation rotor collected by the host computer 106. Based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing, the controller 103 determines the target current, so as to control the corresponding magnetic bearing based on each target current. Here, when the controller 103 controls the corresponding magnetic bearing based on the target current of each magnetic bearing, it can output five target PWM control commands corresponding to the target current of each magnetic bearing to the signal modulation chip 104. This allows the signal modulation chip 104 to modulate the five target PWM control commands corresponding to each magnetic bearing to obtain five target PWM signals. The signal modulation chip 104 then synchronously outputs the five target PWM signals corresponding to each magnetic bearing to the power bridge circuit 105. The power bridge circuit 105 then outputs the excitation current (i.e., the target current) generated based on the five target PWM signals corresponding to each magnetic bearing to the corresponding magnetic bearing.

[0031] In this way, the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing can be optimized and controlled based on the feedback parameters of each magnetic bearing at both ends of the magnetic levitation rotor in a specified radial direction and the centroid parameter of the magnetic levitation rotor. The target current can be determined based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing. This can effectively control the current adjustment range while reducing the amplitude difference at both ends of the magnetic levitation rotor in a specified radial direction, thereby avoiding the risk of affecting the service life of the magnetic bearings and disrupting the stable levitation state of the magnetic levitation rotor.

[0032] Figure 3 A flowchart illustrating a magnetic bearing control method for a magnetically levitated rotor, according to some embodiments of this disclosure, is shown. Method 300 can be... Figure 1 The controller executes in the example environment shown. Figure 3 As shown in block 302, method 300 can determine the feedback parameters corresponding to the two magnetic bearings of the magnetically levitated rotor along a specified radial direction. Here, the specified radial direction can be any one of the positive and negative X-axis directions in the X-axis radial direction, and the positive and negative Y-axis directions in the Y-axis radial direction. The feedback parameters corresponding to each magnetic bearing can include the parameters obtained after the magnetically levitated rotor is in its initial levitation state, as determined by... Figure 1 The voltage signals corresponding to the positions of the magnetic bearings at both ends of the magnetically levitated rotor under the electromagnetic force applied in a specified radial direction, as collected by the position sensor in the example environment shown, and the voltage signals corresponding to the positions of the magnetically levitated rotor at both ends under the electromagnetic force ... as collected by the position sensor in the example environment shown, and the voltage signals corresponding to the positions of the magnetically levitated rotor at Figure 1The excitation current received by each magnetic bearing at both ends of the magnetic levitation rotor along a specified radial direction, which is collected by the power bridge circuit in the example environment shown, and the voltage signal corresponding to the position of each magnetic bearing at both ends of the magnetic levitation rotor under the action of electromagnetic force applied by the magnetic bearings along the specified radial direction, can also be converted into a position signal representing the displacement of the two ends of the magnetic levitation rotor along the specified radial direction through a preset voltage-displacement conversion relationship. Of course, converting the voltage signal into the corresponding position signal is also a well-known technical means in the art, and will not be elaborated here.

[0033] In some implementations, when determining the feedback parameters corresponding to the two magnetic bearings along a specified radial direction of the magnetic levitation rotor, the controller can acquire the initial current and initial position corresponding to the magnetic bearing at the head of the magnetic levitation rotor along the specified radial direction, and determine the initial current and initial position corresponding to the magnetic bearing at the head of the magnetic levitation rotor along the specified radial direction as the feedback parameters corresponding to the respective magnetic bearings. In one example, taking the specified radial direction as the positive X-axis, after the magnetic levitation rotor is in its initial levitation state, the controller can acquire the initial current and initial position corresponding to the magnetic bearing at the head of the magnetic levitation rotor along the specified radial direction. Figure 1 In the example environment shown, the voltage signal corresponding to the position of the magnetic levitation rotor head under the electromagnetic force applied by the magnetic bearing in the positive X-axis direction, collected by the position sensor, is processed using a preset voltage-displacement conversion relationship to obtain the position signal corresponding to the position of the magnetic levitation rotor head under the electromagnetic force applied by the magnetic bearing in the positive X-axis direction. This position signal is then determined as the initial position of the magnetic levitation rotor head corresponding to the magnetic bearing in the positive X-axis direction. Furthermore, after the magnetic levitation rotor is in its initial levitation state, the voltage signal can be further processed by the position sensor. Figure 1 The power bridge circuit in the example environment shown collects the excitation current received by the magnetic bearing at the head of the magnetic levitation rotor in the positive X-axis direction. This excitation current is used to determine the initial current corresponding to the magnetic bearing at the head of the magnetic levitation rotor in the positive X-axis direction. The initial position and initial current corresponding to the magnetic bearing at the head of the magnetic levitation rotor in the positive X-axis direction can be used as the feedback parameters corresponding to the magnetic bearing at the head of the magnetic levitation rotor in the positive X-axis direction.

[0034] Furthermore, the initial current and initial position corresponding to the magnetic bearings along a specified radial direction at the tail of the magnetic levitation rotor can be obtained, and these initial current and initial position can be determined as the feedback parameters corresponding to the respective magnetic bearings. In one example, taking the positive X-axis direction as the specified radial direction, after the magnetic levitation rotor is in its initial levitation state, the initial current and initial position corresponding to the magnetic bearings along the specified radial direction can be obtained. Figure 1In the example environment shown, the voltage signal corresponding to the position of the tail of the magnetic levitation rotor under the electromagnetic force applied by the magnetic bearing in the positive X-axis direction, collected by the position sensor, is processed through a preset voltage-displacement conversion relationship to obtain the position signal corresponding to the position of the tail of the magnetic levitation rotor under the electromagnetic force applied by the magnetic bearing in the positive X-axis direction. This position signal is then determined as the initial position of the tail of the magnetic levitation rotor corresponding to the magnetic bearing in the positive X-axis direction. Furthermore, after the magnetic levitation rotor is in its initial levitation state, the voltage signal can be further processed by the position sensor. Figure 1 The power bridge circuit in the example environment shown collects the excitation current received by the magnetic bearing at the tail of the magnetic levitation rotor in the positive X-axis direction. This excitation current is used to determine the initial current corresponding to the magnetic bearing at the tail of the magnetic levitation rotor in the positive X-axis direction. The initial position and initial current corresponding to the magnetic bearing at the tail of the magnetic levitation rotor in the positive X-axis direction can be used as the feedback parameters corresponding to the magnetic bearing at the tail of the magnetic levitation rotor in the positive X-axis direction.

[0035] In block 304, method 300 can determine the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the center-of-mass parameters of the magnetically levitated rotor. Here, the center-of-mass parameters of the magnetically levitated rotor can be determined by... Figure 1 In the example environment shown, the host computer outputs to the controller, which is obtained by the tester based on the center of mass position of the magnetic levitation rotor. Specifically, this includes the distance from the head of the magnetic levitation rotor to the center of mass (i.e., the straight-line distance between the center position of the head of the magnetic levitation rotor in the axial direction and the center of mass) and the distance from the tail of the magnetic levitation rotor to the center of mass (i.e., the straight-line distance between the center position of the tail of the magnetic levitation rotor in the axial direction and the center of mass). The center of mass position of the magnetic levitation rotor can be obtained by the tester through experiments based on the suspension method or the balance method.

[0036] In some implementations, when the controller determines the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the center-of-gravity parameter of the magnetic levitation rotor, it can determine the first compensation parameter based on the distance from the head to the center of gravity of the magnetic levitation rotor and the distance from the tail to the center of gravity of the magnetic levitation rotor. Here, the first compensation parameter can be obtained by substituting the distance from the head to the center of gravity of the magnetic levitation rotor and the distance from the tail to the center of gravity of the magnetic levitation rotor into the following formula (1): (1) In the above formula, k can be the first compensation parameter. This can be the distance from the head of the magnetically levitated rotor to its center of mass. It can be the distance from the tail of the magnetically levitated rotor to its center of mass.

[0037] Then, the controller can determine the initial electromagnetic force applied to the magnetic levitation rotor by the corresponding magnetic bearing based on the feedback parameters of each magnetic bearing. Here, the initial electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing can be understood as the electromagnetic force applied to the magnetic levitation rotor in a specified radial direction by each magnetic bearing according to the received excitation current when the magnetic levitation rotor is in the initial levitation state. Due to the gravitational imbalance at both ends of the magnetic levitation rotor, the initial electromagnetic forces applied to the magnetic levitation rotor by each magnetic bearing in the same radial direction at both ends of the magnetic levitation rotor are different. It can be understood that the initial electromagnetic force corresponding to each magnetic bearing can be obtained by substituting the feedback parameters corresponding to each magnetic bearing into the following formula (2): (2) In the above formula, This can be the initial electromagnetic force corresponding to each magnetic bearing. This can be the initial current in the feedback parameters corresponding to each magnetic bearing. This can be the initial position in the feedback parameters corresponding to each magnetic bearing. and These can be preset current constants and preset position constants, respectively, and the preset current constants and preset position constants can be determined by the tester based on the stator mechanical structure parameters, electrical parameters, and static operating point of the horizontal magnetic levitation motor.

[0038] Subsequently, the controller can determine the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the initial electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing and the first compensation parameter. Here, since the center of mass of the magnetically levitated rotor is usually close to the tail of the magnetically levitated rotor, the electromagnetic force required to be applied to the magnetically levitated rotor by the magnetic bearing at the tail of the magnetically levitated rotor in the specified radial direction should be greater, that is, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing at the tail of the magnetically levitated rotor in the specified radial direction is greater than the initial electromagnetic force applied to the tail of the magnetically levitated rotor by the corresponding magnetic bearing; and the electromagnetic force required to be applied to the magnetically levitated rotor by the magnetic bearing at the head of the magnetically levitated rotor in the specified radial direction should be smaller, that is, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing at the head of the magnetically levitated rotor in the specified radial direction is less than the initial electromagnetic force applied to the head of the magnetically levitated rotor by the corresponding magnetic bearing.

[0039] In one example, the target electromagnetic force applied by the magnetic bearing at the head of the magnetic levitation rotor to the magnetic levitation rotor can be determined based on the difference between the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing at the head of the magnetic levitation rotor and the compensation electromagnetic force corresponding to the first compensation parameter. Here, the compensation electromagnetic force corresponding to the first compensation parameter can be the product of half of the first compensation parameter and the weight of the magnetic levitation rotor. It is understood that the target electromagnetic force applied by the magnetic bearing at the head of the magnetic levitation rotor to the magnetic levitation rotor can be obtained by formula (3) as shown below: (3) In the above formula, The target electromagnetic force can be applied to the magnetically levitated rotor by a magnetic bearing located at the head of the magnetically levitated rotor along a specified radial direction. This can be the initial current in the feedback parameters corresponding to the magnetic bearing located at the head of the magnetically levitated rotor along a specified radial direction. The initial position can be the feedback parameter corresponding to the magnetic bearing located at the head of the magnetic levitation rotor along a specified radial direction. and These can be preset current constants and preset position constants, respectively. This can be expressed as the initial electromagnetic force applied to the magnetically levitated rotor by a magnetic bearing located at the head of the rotor along a specified radial direction, where k can be the first compensation parameter and G can be the weight of the magnetically levitated rotor. It can be expressed as the compensating electromagnetic force corresponding to the first compensation parameter.

[0040] Furthermore, the target electromagnetic force applied by the magnetic bearing at the tail of the magnetic levitation rotor to the magnetic levitation rotor can be determined by summing the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing at the tail of the magnetic levitation rotor with the compensation electromagnetic force corresponding to the first compensation parameter. Here, the compensation electromagnetic force corresponding to the first compensation parameter can be the product of half of the first compensation parameter and the weight of the magnetic levitation rotor. It can be understood that the target electromagnetic force applied by the magnetic bearing at the tail of the magnetic levitation rotor to the magnetic levitation rotor can be obtained by formula (4) as shown below: (4) In the above formula, The target electromagnetic force can be applied to the magnetically levitated rotor by a magnetic bearing located at the tail end along a specified radial direction. This can be the initial current in the feedback parameters corresponding to the magnetic bearing located at the tail of the magnetically levitated rotor along a specified radial direction. The initial position can be the feedback parameter corresponding to the magnetic bearing located at the tail of the magnetically levitated rotor along a specified radial direction. and These can be preset current constants and preset position constants, respectively. This can be expressed as the initial electromagnetic force applied to the magnetically levitated rotor by a magnetic bearing located at the tail end along a specified radial direction, where k can be the first compensation parameter and G can be the weight of the magnetically levitated rotor. It can be expressed as the compensating electromagnetic force corresponding to the first compensation parameter.

[0041] In block 306, method 300 can determine the target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and control the corresponding magnetic bearing based on each target current. In some implementations, the controller can determine the bias parameter corresponding to the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing in a specified radial direction at both ends of the magnetically levitated rotor based on a preset electromagnetic force-bias parameter correspondence. Here, the preset electromagnetic force-bias parameter correspondence can be obtained by the tester in advance by applying the excitation current corresponding to each bias parameter to each magnetic bearing in different radial directions at both ends of the magnetically levitated rotor, then determining the electromagnetic force corresponding to the corresponding bias parameter based on the feedback parameters (e.g., including the position signal and excitation current mentioned above), and integrating the multiple bias parameters corresponding to each magnetic bearing in different radial directions at both ends of the magnetically levitated rotor and the electromagnetic force corresponding to each bias parameter.

[0042] Subsequently, the controller can adjust the five initial PWM control commands corresponding to the magnetic bearings based on the bias parameters corresponding to the target electromagnetic forces applied by each magnetic bearing to the magnetically levitated rotor, thereby obtaining the corresponding five target PWM control commands. The controller then outputs these five target PWM control commands corresponding to the target electromagnetic forces applied by each magnetic bearing to the magnetically levitated rotor to... Figure 1 The example environment shown uses a signal modulation chip to modulate five target PWM control commands corresponding to the target electromagnetic forces applied by each magnetic bearing to the magnetically levitated rotor, resulting in five corresponding target PWM signals. The signal modulation chip then synchronously outputs these five target PWM signals to... Figure 1 The power bridge circuit in the example environment shown outputs the excitation current (i.e., the target current) generated from the five target PWM signals corresponding to the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing to the corresponding magnetic bearing. It is understood that the process of adjusting the five initial PWM control commands based on bias parameters to obtain the five target PWM control commands can utilize signal processing algorithms such as PID algorithms, rotor cross-decoupling algorithms, and filtering algorithms, and are well-known techniques in the field, so they will not be elaborated upon here.

[0043] In this way, the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing can be optimized and controlled based on the feedback parameters of each magnetic bearing at both ends of the magnetic levitation rotor in a specified radial direction and the centroid parameter of the magnetic levitation rotor. The target current can be determined based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing. This can effectively control the current adjustment range while reducing the amplitude difference at both ends of the magnetic levitation rotor in a specified radial direction, thereby avoiding the risk of affecting the service life of the magnetic bearings and disrupting the stable levitation state of the magnetic levitation rotor.

[0044] As the magnetic levitation rotor elongates with increasing temperature during high-speed operation, the position of its center of mass changes. This causes the weight at both ends of the magnetic levitation rotor to become unbalanced again, resulting in different radial electromagnetic forces exerted on the rotor by the magnetic bearings at both ends. This not only causes radial amplitude differences (i.e., height differences) at both ends of the magnetic levitation rotor, but also disrupts the stable levitation state of the magnetic levitation rotor.

[0045] Based on this, in some implementations, when the controller determines the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the centroid parameters of the magnetic levitation rotor, it can also obtain the current position of the magnetic levitation rotor in the axial direction and determine whether the current position of the magnetic levitation rotor in the axial direction is consistent with the preset position. Here, the current position of the magnetic levitation rotor in the axial direction can be understood as the voltage signal corresponding to the position of the tail of the magnetic levitation rotor after it has moved in the axial direction, collected by a position sensor located near the tail of the magnetic levitation rotor in the initial levitation state and rotating at high speed for a period of time, and converted into a position signal representing the displacement of the tail of the magnetic levitation rotor in the axial direction through a preset voltage-displacement conversion relationship; the preset position can be understood as the voltage signal corresponding to the position of the tail of the magnetic levitation rotor after it has moved in the axial direction, collected by a position sensor located near the tail of the magnetic levitation rotor in the initial levitation state, and converted into a position signal representing the displacement of the tail of the magnetic levitation rotor in the axial direction through a preset voltage-displacement conversion relationship.

[0046] It is understandable that when the current position of the magnetic levitation rotor in the axial direction is consistent with the preset position, it indicates that the magnetic levitation rotor has not yet undergone thermal expansion (that is, it has not elongated as the temperature rises); when the current position of the magnetic levitation rotor in the axial direction is inconsistent with the preset position, it indicates that the magnetic levitation rotor has undergone thermal expansion (that is, it has elongated as the temperature rises).

[0047] Subsequently, in response to determining that the current axial position of the magnetic levitation rotor is inconsistent with a preset position, the controller determines the expansion displacement of the magnetic levitation rotor based on the current axial position and the preset position. Here, the expansion displacement of the magnetic levitation rotor can be the absolute value of the difference between the current axial position and the preset position of the magnetic levitation rotor.

[0048] Subsequently, the controller can determine the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing, the centroid parameters of the magnetically levitated rotor, and the expansion displacement. In one example, the second compensation parameter can be determined based on the distance from the head to the centroid of the magnetically levitated rotor, the distance from the tail to the centroid of the magnetically levitated rotor, and the expansion displacement. Here, the second compensation parameter can be obtained by substituting the distance from the head to the centroid of the magnetically levitated rotor, the distance from the tail to the centroid of the magnetically levitated rotor, and the expansion displacement into the following formula (5): (5) In the above formula, It can be the second compensation parameter. This can be the distance from the head of the magnetically levitated rotor to its center of mass. This can be the distance from the tail of the magnetically levitated rotor to its center of mass. It can be an expansion displacement.

[0049] Subsequently, the controller can determine the initial electromagnetic force applied by each magnetic bearing to the magnetic levitation rotor based on the feedback parameters corresponding to each magnetic bearing. The process of determining the initial electromagnetic force applied by each magnetic bearing to the magnetic levitation rotor can be referred to above, and will not be elaborated here.

[0050] Subsequently, the controller can determine the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the initial electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing and the second compensation parameter. Here, since the center of mass of the magnetically levitated rotor is usually close to the tail of the magnetically levitated rotor, the electromagnetic force required to be applied to the magnetically levitated rotor by the magnetic bearing at the tail of the magnetically levitated rotor in the specified radial direction should be greater, that is, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing at the tail of the magnetically levitated rotor in the specified radial direction is greater than the initial electromagnetic force applied to the tail of the magnetically levitated rotor by the corresponding magnetic bearing; and the electromagnetic force required to be applied to the magnetically levitated rotor by the magnetic bearing at the head of the magnetically levitated rotor in the specified radial direction should be smaller, that is, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing at the head of the magnetically levitated rotor in the specified radial direction is less than the initial electromagnetic force applied to the head of the magnetically levitated rotor by the corresponding magnetic bearing.

[0051] In one example, the target electromagnetic force applied by the magnetic bearing at the head of the magnetic levitation rotor to the magnetic levitation rotor can be determined based on the difference between the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing at the head of the magnetic levitation rotor and the compensation electromagnetic force corresponding to the second compensation parameter. Here, the compensation electromagnetic force corresponding to the second compensation parameter can be the product of half of the second compensation parameter and the weight of the magnetic levitation rotor. It is understood that the target electromagnetic force applied by the magnetic bearing at the head of the magnetic levitation rotor to the magnetic levitation rotor can be obtained by formula (6) as shown below: (6) In the above formula, The target electromagnetic force can be applied to the magnetically levitated rotor by a magnetic bearing located at the head of the magnetically levitated rotor along a specified radial direction. This can be the initial current in the feedback parameters corresponding to the magnetic bearing located at the head of the magnetically levitated rotor along a specified radial direction. The initial position can be the feedback parameter corresponding to the magnetic bearing located at the head of the magnetic levitation rotor along a specified radial direction. and These can be preset current constants and preset position constants, respectively. This can be represented as the initial electromagnetic force exerted on the magnetically levitated rotor by a magnetic bearing located at the head of the magnetically levitated rotor along a specified radial direction. This can be the second compensation parameter, where G can be the weight of the magnetically levitated rotor. It can be expressed as the compensating electromagnetic force corresponding to the second compensation parameter.

[0052] Furthermore, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing located at the tail of the magnetically levitated rotor can be determined by summing the initial electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing located at the tail of the magnetically levitated rotor with the compensation electromagnetic force corresponding to the second compensation parameter. Here, the compensation electromagnetic force corresponding to the second compensation parameter can be the product of half of the second compensation parameter and the weight of the magnetically levitated rotor. It is understood that the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing located at the tail of the magnetically levitated rotor can be obtained by formula (7) as shown below: (7) In the above formula, The target electromagnetic force can be applied to the magnetically levitated rotor by a magnetic bearing located at the tail end along a specified radial direction. This can be the initial current in the feedback parameters corresponding to the magnetic bearing located at the tail of the magnetically levitated rotor along a specified radial direction. The initial position can be the feedback parameter corresponding to the magnetic bearing located at the tail of the magnetically levitated rotor along a specified radial direction. and These can be preset current constants and preset position constants, respectively. This can be represented as the initial electromagnetic force applied to the magnetically levitated rotor by a magnetic bearing located at the tail end along a specified radial direction. This can be the second compensation parameter, where G can be the weight of the magnetically levitated rotor. It can be expressed as the compensating electromagnetic force corresponding to the second compensation parameter.

[0053] Understandably, after determining the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing in conjunction with the second compensation parameter, the controller can also determine the target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and control the corresponding magnetic bearing based on each target current. The process of determining the target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing can be found above, and will not be elaborated upon here.

[0054] In this way, when thermal expansion of the magnetic levitation rotor is determined, the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing in a specified radial direction at both ends of the magnetic levitation rotor can be optimized and controlled based on the feedback parameters of each magnetic bearing at both ends of the magnetic levitation rotor, the centroid parameter of the magnetic levitation rotor, and the expansion displacement of the magnetic levitation rotor. This eliminates the influence of the elongation of the magnetic levitation rotor on the electromagnetic force. Furthermore, the target current is determined based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing. This reduces the amplitude difference at both ends of the magnetic levitation rotor in a specified radial direction while effectively controlling the current adjustment amplitude, thereby avoiding the risk of affecting the service life of the magnetic bearings and disrupting the stable levitation state of the magnetic levitation rotor.

[0055] Some embodiments of this disclosure can also optimize the control of the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing in the specified radial direction at both ends of the magnetic levitation rotor when the magnetic levitation rotor is in the initial levitation state, based on the feedback parameters corresponding to each magnetic bearing at both ends of the magnetic levitation rotor in the specified radial direction and the centroid parameter of the magnetic levitation rotor. Furthermore, based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing, a target current is determined to effectively control the current adjustment range while reducing the amplitude difference at both ends of the magnetic levitation rotor in the specified radial direction. Additionally, after the magnetic levitation rotor has been rotating at high speed for a period of time, the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing in the specified radial direction at both ends of the magnetic levitation rotor, the centroid parameter of the magnetic levitation rotor, and the expansion displacement of the magnetic levitation rotor can be optimized to eliminate the influence of the elongation of the magnetic levitation rotor on the electromagnetic force. Based on the target electromagnetic force applied to the magnetic levitation rotor by each magnetic bearing, a target current is determined to effectively control the current adjustment range while reducing the amplitude difference at both ends of the magnetic levitation rotor in the specified radial direction. This avoids the risk of affecting the service life of the magnetic bearings and disrupting the stable levitation state of the magnetic levitation rotor when the magnetic levitation rotor is in the initial levitation state and when thermal expansion occurs.

[0056] Figure 4A block diagram of a magnetic bearing control device for a magnetically levitated rotor according to some embodiments of the present disclosure is shown. The various embodiments in this specification are described in a progressive manner, with reference to each other for similar or identical parts. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple, and relevant parts can be referred to the description of the method embodiments. Figure 4 As shown, the magnetic bearing control device 400 for a magnetically levitated rotor includes a feedback parameter determination module 402, configured to determine feedback parameters corresponding to two magnetic bearings along a specified radial direction of the magnetically levitated rotor, the two magnetic bearings being located at the head and tail of the magnetically levitated rotor, respectively. The magnetic bearing control device 400 also includes an electromagnetic force determination module 404, configured to determine the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing and the centroid parameter of the magnetically levitated rotor. Furthermore, the magnetic bearing control device 400 also includes a magnetic bearing control module 406, configured to determine a target current based on the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing, and to control the corresponding magnetic bearing based on each target current.

[0057] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0058] Figure 5 Block diagrams of electronic devices that can implement various embodiments of the present disclosure are shown. For example... Figure 5 As shown, the electronic device 500 includes a processor 501, which can perform various appropriate actions and processes based on computer program instructions loaded into random access memory (RAM) 503 according to computer program instructions stored in read-only memory (ROM) 502. The RAM 503 may also store various programs and data required for the operation of the electronic device 500. The processor 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0059] The various processes and procedures described above, such as method 300, can be executed by processor 501. For example, in some embodiments, method 300 may be implemented as a software program tangibly contained in a machine-readable medium. In some embodiments, part or all of the software program may be loaded into and / or installed onto electronic device 500 via ROM 502. When the software program is loaded into RAM 503 and executed by processor 501, one or more actions of method 300 described above may be performed.

[0060] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload programmable logic devices (CPLDs), and so on.

[0061] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0062] This disclosure can be a method, apparatus, system, and / or program product. The program product may include a machine-readable storage medium on which machine-readable program instructions for performing various aspects of this disclosure are loaded. The machine-readable program instructions described herein can be downloaded from the machine-readable storage medium to various computing / processing devices, or downloaded via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the machine-readable program instructions from the network and forwards them to the machine-readable storage medium in the respective computing / processing device.

[0063] Machine program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. Machine-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the machine-readable program instructions to implement various aspects of this disclosure.

[0064] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. Furthermore, although operations are depicted in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0065] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A magnetic bearing control method for a magnetically levitated rotor, characterized in that, include: Determine the feedback parameters corresponding to the two magnetic bearings along a specified radial direction of the magnetic levitation rotor, wherein the two magnetic bearings are located at the head and tail of the magnetic levitation rotor, respectively; Based on the feedback parameters corresponding to each of the magnetic bearings and the centroid parameters of the magnetic levitation rotor, the target electromagnetic force applied by each of the magnetic bearings to the magnetic levitation rotor is determined; as well as The target current is determined based on the target electromagnetic force applied to the magnetic levitation rotor by each of the magnetic bearings, and the corresponding magnetic bearing is controlled based on each of the target currents.

2. The method according to claim 1, characterized in that, The centroid parameters of the magnetic levitation rotor include the distance from the head of the magnetic levitation rotor to the centroid and the distance from the tail of the magnetic levitation rotor to the centroid. The determination of the target electromagnetic force applied by each magnetic bearing to the magnetically levitated rotor based on the feedback parameters corresponding to each magnetic bearing and the centroid parameters of the magnetically levitated rotor includes: The first compensation parameter is determined based on the distance from the head to the center of mass of the magnetic levitation rotor and the distance from the tail to the center of mass of the magnetic levitation rotor. The initial electromagnetic force applied by each magnetic bearing to the magnetically levitated rotor is determined based on the feedback parameters corresponding to each magnetic bearing; and Based on the initial electromagnetic force applied to the magnetic levitation rotor by each of the magnetic bearings and the first compensation parameter, the target electromagnetic force applied to the magnetic levitation rotor by each of the magnetic bearings is determined.

3. The method according to claim 2, characterized in that, The step of determining the target electromagnetic force applied by each of the magnetic bearings to the magnetically levitated rotor based on the initial electromagnetic force applied by each of the magnetic bearings to the magnetically levitated rotor and the first compensation parameter includes: Based on the difference between the initial electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing located at the head of the magnetically levitated rotor and the compensation electromagnetic force corresponding to the first compensation parameter, the target electromagnetic force applied to the magnetically levitated rotor by the magnetic bearing located at the head of the magnetically levitated rotor is determined; and Based on the summation of the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the tail of the magnetic levitation rotor and the compensation electromagnetic force corresponding to the first compensation parameter, the target electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the tail of the magnetic levitation rotor is determined.

4. The method according to claim 2, characterized in that, The step of determining the target electromagnetic force applied to the magnetically levitated rotor by each of the magnetic bearings based on the feedback parameters corresponding to each of the magnetic bearings and the centroid parameters of the magnetically levitated rotor further includes: The current position of the magnetic levitation rotor in the axial direction is obtained, and it is determined whether the current position of the magnetic levitation rotor in the axial direction is consistent with a preset position. The current position of the magnetic levitation rotor in the axial direction is determined based on an axial position sensor located at the tail of the magnetic levitation rotor. In response to determining that the current axial position of the magnetically levitated rotor is inconsistent with the preset position, the expansion displacement of the magnetically levitated rotor is determined based on the current axial position and the preset position; and Based on the feedback parameters corresponding to each of the magnetic bearings, the centroid parameters of the magnetic levitation rotor, and the expansion displacement, the target electromagnetic force applied by each of the magnetic bearings to the magnetic levitation rotor is determined.

5. The method according to claim 4, characterized in that, The determination of the target electromagnetic force applied to the magnetically levitated rotor by each magnetic bearing based on the feedback parameters corresponding to each magnetic bearing, the centroid parameters of the magnetically levitated rotor, and the expansion displacement includes: The second compensation parameter is determined based on the distance from the head to the center of mass of the magnetic levitation rotor, the distance from the tail to the center of mass of the magnetic levitation rotor, and the expansion displacement. The initial electromagnetic force applied by each magnetic bearing to the magnetically levitated rotor is determined based on the feedback parameters corresponding to each magnetic bearing; and Based on the initial electromagnetic force applied to the magnetic levitation rotor by each of the magnetic bearings and the second compensation parameter, the target electromagnetic force applied to the magnetic levitation rotor by each of the magnetic bearings is determined.

6. The method according to claim 5, characterized in that, The determination of the target electromagnetic force applied by each magnetic bearing to the magnetically levitated rotor based on the initial electromagnetic force applied by each magnetic bearing to the magnetically levitated rotor and the second compensation parameter includes: Based on the difference between the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the head of the magnetic levitation rotor and the compensation electromagnetic force corresponding to the second compensation parameter, the target electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the head of the magnetic levitation rotor is determined; and Based on the summation of the initial electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the tail of the magnetic levitation rotor and the compensation electromagnetic force corresponding to the second compensation parameter, the target electromagnetic force applied to the magnetic levitation rotor by the magnetic bearing located at the tail of the magnetic levitation rotor is determined.

7. The method according to any one of claims 1-6, characterized in that, The step of determining the feedback parameters corresponding to the two magnetic bearings along a specified radial direction of the magnetically levitated rotor includes: Obtain the initial current and initial position corresponding to the magnetic bearing along a specified radial direction at the head of the magnetic levitation rotor, and determine the initial current and initial position corresponding to the magnetic bearing along the specified radial direction at the head of the magnetic levitation rotor as the feedback parameters corresponding to the magnetic bearing; and Obtain the initial current and initial position corresponding to the magnetic bearing at the tail of the magnetic levitation rotor along a specified radial direction, and determine the initial current and initial position corresponding to the magnetic bearing at the tail of the magnetic levitation rotor along the specified radial direction as the feedback parameters corresponding to the magnetic bearing.

8. A magnetic bearing control device for a magnetically levitated rotor, characterized in that, include: The feedback parameter determination module is configured to determine the feedback parameters corresponding to two magnetic bearings along a specified radial direction of the magnetic levitation rotor, wherein the two magnetic bearings are located at the head and tail of the magnetic levitation rotor, respectively. The electromagnetic force determination module is configured to determine the target electromagnetic force applied by each of the magnetic bearings to the magnetic levitation rotor based on the feedback parameters corresponding to each of the magnetic bearings and the centroid parameters of the magnetic levitation rotor. as well as The magnetic bearing control module is configured to determine a target current based on the target electromagnetic force applied by each of the magnetic bearings to the magnetically levitated rotor, and to control the corresponding magnetic bearing based on each of the target currents.

9. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as claimed in any one of claims 1-7.

10. An electronic device, characterized in that, include: One or more processors, and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1-7.

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