Magnetic levitation rotating shaft attitude control method and system and magnetic levitation device

Abstract

The application relates to a magnetic suspension rotating shaft posture control method and system and a magnetic suspension device, which comprises the following steps: acquiring a current power supply voltage of a power grid; if the current power supply voltage is interrupted, supplying power to electromagnets arranged in a circumferential direction outside the magnetic suspension rotating shaft through an energy storage circuit module to generate a fall-stopping magnetic force, so that the magnetic suspension rotating shaft is kept in a suspended state; acquiring a motion state of the magnetic suspension rotating shaft; if the magnetic suspension rotating shaft stops moving, supplying power to the electromagnets arranged in the circumferential direction outside the magnetic suspension rotating shaft through the energy storage circuit module to generate a slow-falling magnetic force, so that the magnetic suspension rotating shaft falls at a preset falling speed, and the problems that, when the existing power grid is suddenly powered off or the voltage fluctuates greatly, the magnetic suspension rotating shaft loses the magnetic suspension support, directly falls on the magnetic suspension bearing, the falling impact is large, and the magnetic suspension rotating shaft and the magnetic suspension bearing are easily damaged can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic suspension, in particular to a magnetic suspension rotating shaft attitude control method and system and a magnetic suspension device. BACKGROUND

[0002] The existing magnetic suspension bearing (magnetic suspension rotating shaft) will lose magnetic suspension support when the power grid suddenly loses power or the voltage fluctuates greatly, causing the magnetic suspension rotating shaft to directly fall onto the magnetic suspension bearing, resulting in a large impact and easy damage to the magnetic suspension rotating shaft and the magnetic suspension bearing. SUMMARY

[0003] The present application provides a magnetic suspension rotating shaft attitude control method and system and a magnetic suspension device, which can solve the problem that the existing magnetic suspension rotating shaft loses magnetic suspension support when the power grid suddenly loses power or the voltage fluctuates greatly, causing the magnetic suspension rotating shaft to directly fall onto the magnetic suspension bearing, resulting in a large impact and easy damage to the magnetic suspension rotating shaft and the magnetic suspension bearing.

[0004] In a first aspect, the present application provides a magnetic suspension rotating shaft attitude control method, comprising:

[0005] obtaining the current power supply voltage of the power grid;

[0006] if the current power supply voltage is interrupted, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the energy storage circuit module to generate a stop-falling magnetic force, so that the magnetic suspension rotating shaft remains in a suspended state;

[0007] obtaining the motion state of the magnetic suspension rotating shaft;

[0008] if the magnetic suspension rotating shaft stops moving, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the energy storage circuit module to generate a slow descent magnetic force, so that the magnetic suspension rotating shaft descends at a preset descent speed.

[0009] In some embodiments, if the current power supply voltage is interrupted, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the energy storage circuit module to generate a stop-falling magnetic force, so that the magnetic suspension rotating shaft remains in a suspended state, comprising:

[0010] if the current power supply voltage is interrupted, obtaining the instantaneous descent speed, instantaneous descent direction, instantaneous descent acceleration and rotating shaft gravity of the magnetic suspension rotating shaft;

[0011] obtaining the stop-falling magnetic force based on the instantaneous descent speed, the instantaneous descent direction, the instantaneous descent acceleration and the rotating shaft gravity;

[0012] The energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the anti-falling magnetic force, so as to keep the magnetic suspension rotating shaft in a suspended state.

[0013] In some embodiments, the energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the anti-falling magnetic force, so as to keep the magnetic suspension rotating shaft in a suspended state, specifically:

[0014] Based on the size and direction of the anti-falling magnetic force, the anti-falling electromagnet is determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft, and the anti-falling current required to be applied to the anti-falling electromagnet is determined.

[0015] The energy storage circuit module applies the anti-falling current to the anti-falling electromagnet to generate the anti-falling magnetic force, so as to keep the magnetic suspension rotating shaft in a suspended state.

[0016] In some embodiments, if the current power supply voltage is interrupted, the energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the anti-falling magnetic force, so as to keep the magnetic suspension rotating shaft in a suspended state, further comprising:

[0017] The rotational kinetic energy of the magnetic suspension rotating shaft is converted into electrical energy and stored in the energy storage circuit module.

[0018] In some embodiments, if the magnetic suspension rotating shaft stops moving, the energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the slow descent magnetic force, so as to make the magnetic suspension rotating shaft descend at a preset speed, comprising:

[0019] If the magnetic suspension rotating shaft stops moving, the shaft gravity of the magnetic suspension rotating shaft and the preset descent speed are obtained.

[0020] Based on the shaft gravity and the preset descent speed, the slow descent magnetic force is obtained.

[0021] The energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the slow descent magnetic force, so as to make the magnetic suspension rotating shaft descend at the preset descent speed.

[0022] In some embodiments, the energy storage circuit module supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft to generate the slow descent magnetic force, so as to make the magnetic suspension rotating shaft descend at the preset descent speed, specifically:

[0023] Based on the size and direction of the slow descent magnetic force, the slow descent electromagnet is determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft, and the slow descent current required to be applied to the slow descent electromagnet is determined.

[0024] The energy storage circuit module is used for applying the soft-landing current to the soft-landing electromagnet to generate the soft-landing magnetic force, so that the magnetic suspension rotating shaft is lowered at the preset landing speed.

[0025] In some embodiments, the method further comprises:

[0026] If the current power supply voltage is not interrupted, the method further comprises:

[0027] Based on the attitude change, the method further comprises determining an attitude adjustment electromagnet and an attitude adjustment current to be applied to the attitude adjustment electromagnet from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft.

[0028] The energy storage circuit module is used for applying the soft-landing current to the soft-landing electromagnet to generate the soft-landing magnetic force, so that the magnetic suspension rotating shaft is lowered at the preset landing speed.

[0029] In some embodiments, the method further comprises:

[0030] If the current power supply voltage is greater than the standard power supply voltage, the method further comprises absorbing the floating power of the power grid by the energy storage circuit module based on the difference between the current power supply voltage and the standard power supply voltage.

[0031] In some embodiments, the method further comprises:

[0032] If the current power supply voltage is less than the standard power supply voltage, the method further comprises releasing the floating power of the power grid by the energy storage circuit module based on the difference between the current power supply voltage and the standard power supply voltage.

[0033] In a second aspect, the application provides a magnetic suspension rotating shaft attitude control system, comprising:

[0034] A magnetic suspension support module comprising a plurality of electromagnets arranged circumferentially and radially outside the magnetic suspension rotating shaft, for supporting and adjusting the attitude of the magnetic suspension rotating shaft.

[0035] An energy storage circuit module comprising a capacitor bank and a bidirectional inverter connected to the capacitor bank, for recovering the kinetic energy of the magnetic suspension rotating shaft and storing and releasing electric energy.

[0036] A brake control module for acquiring the power supply voltage of the power grid and the motion state of the magnetic suspension rotating shaft, and controlling the energy storage circuit module to store or release electric energy.

[0037] An attitude correction module for adjusting the attitude of the magnetic suspension rotating shaft.

[0038] In a third aspect, the application provides a magnetic suspension device comprising the magnetic suspension rotating shaft attitude control system as described in the second aspect.

[0039] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art:

[0040] The magnetic suspension rotating shaft attitude control method, system and magnetic suspension device provided by the embodiments of the present application can keep the magnetic suspension rotating shaft in a suspended state by obtaining the current power supply voltage of the power grid and supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the energy storage circuit module when the current power supply voltage is interrupted, thereby avoiding that the magnetic suspension rotating shaft loses the magnetic suspension support when the power grid is powered off, resulting in that the magnetic suspension rotating shaft directly falls onto the magnetic suspension bearing, and causing damage to the magnetic suspension bearing and the magnetic suspension rotating shaft; the magnetic suspension rotating shaft can be lowered at a preset landing speed by obtaining the motion state of the magnetic suspension rotating shaft and supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the energy storage circuit module when the magnetic suspension rotating shaft stops moving, thereby ensuring that the magnetic suspension rotating shaft lands stably. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings from these drawings without any creative effort.

[0043] One or more embodiments are exemplarily illustrated by pictures in the drawings corresponding thereto, and these exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. The drawings in the drawings do not constitute a proportional limitation.

[0044] Figure 1 The magnetic suspension rotating shaft attitude control method flow chart provided by the embodiments of the present application is shown in the figure.

[0045] Figure 2 The magnetic suspension rotating shaft attitude control method flow chart provided by another embodiment of the present application is shown in the figure.

[0046] Figure 3 The magnetic suspension rotating shaft attitude control system schematic diagram provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of embodiments of the present application, rather than all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0048] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplification, the components and arrangements of the specific examples are described in the following. Of course, they are only examples and are not intended to limit the present application. In addition, the present application can repeatedly refer to reference numerals and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements discussed.

[0049] For the purpose of description, spatial relative terms can be used in the text to describe the relative position relationship or movement of one element or feature with respect to another element or feature as shown in the drawings, such as "internal", "external", "inner side", "outer side", "under", "below", "above", "upper", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawing is flipped over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "under" or "below" another element or feature will be oriented as "above" or "above" another element or feature. Therefore, the example term "below" can include both the upper and lower positions. The device can be additionally oriented (rotated by 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0050] Because in the traditional rotating mechanical system (such as wind power, high-speed motor and other fields), not only the friction between the rotating shaft and the bearing is large in the running process, but also there are problems such as slow response and large braking impact in the braking process, so the magnetic suspension bearing (magnetic suspension rotating shaft) technology has been widely used. However, when the magnetic suspension bearing (magnetic suspension rotating shaft) is used, there may be a situation of a large fluctuation or sudden power failure of the power grid. In the above case, the magnetic suspension rotating shaft will lose the magnetic suspension support due to the temporary power failure or the large fluctuation of the voltage, resulting in the direct falling of the magnetic suspension rotating shaft to the magnetic suspension bearing, the large falling impact, and the easy damage of the magnetic suspension rotating shaft and the magnetic suspension bearing. Moreover, the existing magnetic suspension bearing (magnetic suspension rotating shaft) has no effective energy recovery mechanism, resulting in a large amount of energy waste in the braking process, and the inability to actively correct the posture and buffer brake when the power fails.

[0051] In a first aspect, as Figures 1-3 The embodiment of the present application provides a magnetic suspension rotating shaft 50 posture control method, which comprises the following steps:

[0052] S101: acquiring a current power supply voltage of a power grid;

[0053] S102: if the current power supply voltage is interrupted, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a stop-falling magnetic force, so that the magnetic suspension rotating shaft 50 remains in a suspended state;

[0054] S103: acquiring a motion state of the magnetic suspension rotating shaft 50;

[0055] S104: if the magnetic suspension rotating shaft 50 stops moving, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a slow-falling magnetic force, so that the magnetic suspension rotating shaft 50 descends at a preset falling speed.

[0056] It should be noted that the current power supply voltage can be acquired by a voltage sensor. The voltage sensor can be arranged at the incoming line end of the magnetic suspension device (i.e. the magnetic suspension bearing, the magnetic suspension rotating shaft 50), or can be arranged on the power grid branch or total road connected with the magnetic suspension device, so as to be able to find in advance whether the power grid is interrupted or the voltage is greatly fluctuated (decreased), thereby gaining time for adjusting the magnetic suspension rotating shaft 50.

[0057] It should be noted that the current power supply voltage interruption described in the embodiments of the present application also includes the case that the current power supply voltage is greatly reduced (such as reduced by 30% or the like, and the specific reduction amplitude can be set according to actual needs), and the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 are used to provide magnetic suspension supporting force for the magnetic suspension rotating shaft 50, wherein the electromagnets are arranged circumferentially outside the magnetic suspension rotating shaft 50, and the generated stopping falling magnetic force can form uniform constraint from the circumferential direction of the shaft system: compared with local single-point power supply (which is easy to cause shaft system eccentricity tilt), the circumferential uniform magnetic force can balance the radial load of the shaft system in real time, and even if there is slight eccentricity of the shaft system before power failure, the suspension posture can be maintained stable through magnetic force fine adjustment of each electromagnet (such as dynamic adjustment of single-ring electromagnet current according to shaft system displacement feedback), avoiding local magnetic force overload caused by posture deviation, and further strengthening the reliability of emergency suspension.

[0058] It should be noted that the motion state of the magnetic suspension bearing includes the rotating speed, acceleration, moving speed and the like of the magnetic suspension rotating shaft 50, and by acquiring the motion state of the magnetic suspension rotating shaft 50, the magnetic suspension rotating shaft 50 is only lowered when the magnetic suspension rotating shaft 50 completely stops moving, which can avoid the risk of lowering the shaft in the rotating state of the magnetic suspension rotating shaft 50: if the magnetic suspension rotating shaft 50 is forced to lower when it is still in the high-speed rotating state, the friction between the rotating shaft and the lower component will cause surface scratches; and the embodiments of the present application ensure that there is no relative friction in the shaft lowering process by confirming that the shaft system stops rotating through a rotating speed sensor (such as a Hall sensor) before starting the slow lowering, and the slow lowering magnetic force is continuously powered by the energy storage circuit module 20, which can accurately control the magnetic force decay rate by adjusting the electromagnet current, so that the shaft system can stably descend at the preset lowering speed (such as 1-2 mm / s).

[0059] In some embodiments, if the current power supply voltage is interrupted, the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 are powered by the energy storage circuit module 20 to generate stopping falling magnetic force, so that the magnetic suspension rotating shaft 50 remains in a suspended state, including:

[0060] If the current power supply voltage is interrupted, the instantaneous lowering speed, instantaneous lowering direction, instantaneous lowering acceleration and rotating shaft gravity of the magnetic suspension rotating shaft 50 are acquired;

[0061] The stopping falling magnetic force is obtained based on the instantaneous lowering speed, the instantaneous lowering direction, the instantaneous lowering acceleration and the rotating shaft gravity;

[0062] The electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 are powered by the energy storage circuit module 20 to generate the stopping falling magnetic force, so that the magnetic suspension rotating shaft 50 remains in a suspended state.

[0063] It should be noted that, since the magnetic suspension rotating shaft 50 is still in a rotating state when the power supply voltage of the power grid is interrupted, the magnetic suspension rotating shaft 50 has a certain rotating speed and acceleration at this time, which may cause the magnetic suspension rotating shaft 50 to not fall vertically downward, but to fall at a certain inclination angle. The embodiment of the application can accurately adjust and directionally correct the inclined falling according to the falling direction, speed and acceleration of the magnetic suspension rotating shaft 50 and the shaft gravity by obtaining the stop-falling magnetic force based on the instantaneous falling speed, the instantaneous falling direction, the instantaneous falling acceleration and the shaft gravity, and avoid shaft system collision, wherein the instantaneous falling speed can be measured by a speed sensor, the instantaneous falling direction can be measured by a gyroscope, and the instantaneous falling acceleration can be measured by an accelerometer.

[0064] It should be noted that the stop-falling magnetic force is a constantly changing magnetic force, that is, it is constantly adjusted according to the instantaneous falling speed, the instantaneous falling direction and the instantaneous falling acceleration, so that the magnetic suspension rotating shaft 50 remains in a suspended state; usually at the moment when the power supply voltage of the power grid is interrupted, the stop-falling magnetic force is greater than the shaft gravity (at this time the magnetic suspension rotating shaft 50 has a downward speed and acceleration), and when the magnetic suspension rotating shaft 50 is restored to a suspended state, the stop-falling magnetic force is equal to the shaft gravity.

[0065] In some embodiments, the stop-falling magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20, so that the magnetic suspension rotating shaft 50 remains in a suspended state, specifically:

[0066] Based on the size and direction of the stop-falling magnetic force, the stop-falling electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50, and the stop-falling current required to be applied to the stop-falling electromagnets is determined.

[0067] The stop-falling current is applied to the stop-falling electromagnets through the energy storage circuit module 20 to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft 50 remains in a suspended state.

[0068] It should be noted that by determining the falling magnetic force based on the size and direction of the electromagnetic force arranged circumferentially outside the magnetic suspension shaft 50, the falling electromagnetic force and the falling current required to be applied to the falling electromagnetic force can be determined based on the direction of the falling magnetic force. Only the key electromagnetic force in the same direction as the falling direction is activated (such as only the left and up-down auxiliary positioning electromagnetic force is started when falling to the left), the falling electromagnetic force is selected in a directional manner, and the remaining electromagnetic force maintains a basic current or is turned off, thereby avoiding redundant magnetic force interference from the source. At the same time, the current is distributed in combination with the size of the falling magnetic force, so that the magnetic force output is more in line with the actual force demand of the shaft system (i.e. the magnetic suspension shaft 50), thereby realizing on-demand current distribution and reducing the power supply pressure of the energy storage circuit module 20.

[0069] In some embodiments, if the current power supply voltage is interrupted, the falling magnetic force is generated by supplying power to the electromagnetic force arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so that the magnetic suspension shaft 50 remains in a suspended state, and the method further comprises:

[0070] The rotational kinetic energy of the magnetic suspension shaft 50 is converted into electrical energy and stored in the energy storage circuit module 20.

[0071] It should be noted that the energy storage circuit module 20 includes a plurality of super capacitor groups (i.e. the capacitor group) and a bidirectional inverter. The energy storage circuit module 20 converts the kinetic energy of the magnetic suspension shaft 50 into electrical energy through the inverter and stores it in the super capacitor group, thereby reducing energy waste. The electrical energy converted from the kinetic energy can be directly used to power the electromagnetic force.

[0072] In some embodiments, if the magnetic suspension shaft 50 stops moving, the slow descent magnetic force is generated by supplying power to the electromagnetic force arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so that the magnetic suspension shaft 50 descends at a preset speed, and the method further comprises:

[0073] If the magnetic suspension shaft 50 stops moving, the shaft gravity of the magnetic suspension shaft 50 and the preset descent speed are obtained;

[0074] The slow descent magnetic force is obtained based on the shaft gravity and the preset descent speed;

[0075] The slow descent magnetic force is generated by supplying power to the electromagnetic force arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so that the magnetic suspension shaft 50 descends at the preset descent speed.

[0076] It should be noted that the application embodiment can realize accurate regulation and control by calculating the slow descent magnetic force based on the shaft gravity and the preset descent speed, wherein the preset descent speed can be set according to actual needs (such as 1 mm / s, etc.), and the preset descent speed can also be a speed that gradually increases first and then decreases, that is, the descent speed is accelerated in the first half of the descent, and the descent speed is decelerated in the second half of the descent so as to have a smaller speed (or zero) when landing on the magnetic suspension bearing, thereby ensuring the descent speed of the magnetic suspension shaft 50 and avoiding large impact when falling to damage the magnetic suspension shaft 50 and the magnetic suspension bearing.

[0077] It should be noted that the speed, acceleration, and direction of the magnetic suspension shaft 50 can be monitored in real time during the descent of the magnetic suspension shaft 50, and the slow descent magnetic force is adjusted according to the real-time speed, acceleration, and direction to ensure that the magnetic suspension shaft 50 lands stably.

[0078] In some embodiments, the slow descent magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so that the magnetic suspension shaft 50 descends at the preset descent speed, specifically:

[0079] The slow descent electromagnets and the slow descent current required to be applied to the slow descent electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 based on the size and direction of the slow descent magnetic force.

[0080] The slow descent magnetic force is generated by applying the slow descent current to the slow descent electromagnets through the energy storage circuit module 20, so that the magnetic suspension shaft 50 descends at the preset descent speed.

[0081] It should be noted that according to the size and direction of the slow descent magnetic force, only the electromagnets matched with the slow descent demand are activated (the vertical slow descent selects the upper and lower electromagnets, and the inclined correction selects the offset side electromagnets), and the remaining electromagnets are low load or closed, which eliminates redundant magnetic force from the source; at the same time, the current is distributed according to the size of the slow descent magnetic force, so that the magnetic force output is more in line with the actual force demand of the shaft system (i.e. the magnetic suspension shaft 50), thereby realizing on-demand current distribution and reducing the power supply pressure of the energy storage circuit module 20.

[0082] In some embodiments, the current power supply voltage of the power grid is also obtained, which further includes:

[0083] If the current power supply voltage is not interrupted, the attitude change of the magnetic suspension shaft 50 is obtained.

[0084] The attitude adjustment electromagnets and the attitude adjustment current required to be applied to the attitude adjustment electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 based on the attitude change.

[0085] The energy storage circuit module 20 applies the posture adjustment current to the posture adjustment electromagnet to correct the posture of the magnetic suspension rotating shaft 50.

[0086] It should be noted that when the power supply voltage of the power grid is interrupted or fluctuates greatly, the shaft system (magnetic suspension rotating shaft 50) will also tilt or move due to small fluctuations or load changes of the power grid voltage. If it is not corrected in time, it may cause the shaft system to collide with the magnetic suspension bearing, vibration to intensify and other faults. The embodiment of the application can immediately start adjustment when the shaft system deviates beyond the safety threshold (such as 0.1 mm, 0.5°) by acquiring the posture change (such as detecting the posture change by displacement sensor, accelerometer and gyroscope) in real time, avoiding the posture deviation to expand into a serious fault (such as collision damage).

[0087] It should be noted that the embodiment of the application determines the posture adjustment electromagnet based on the posture change direction (such as left deviation, forward tilt), and the remaining electromagnets maintain normal suspension current, avoiding redundant magnetic force interference from the source, and only applying the posture adjustment current to the posture adjustment electromagnet (such as 10-25A additional to only 2-3 electromagnets for single adjustment), which can significantly reduce energy consumption.

[0088] In some embodiments, the magnetic suspension rotating shaft 50 posture control method further comprises:

[0089] If the current power supply voltage is greater than the standard power supply voltage, the energy storage circuit module 20 absorbs the floating energy of the power grid based on the difference between the current power supply voltage and the standard power supply voltage.

[0090] It should be noted that the embodiment of the application can suppress the voltage fluctuation of the power grid in real time by "absorbing floating energy based on voltage difference", that is, when the power grid voltage is detected to float, the energy storage circuit module 20 (such as super capacitor group, bidirectional inverter) immediately enters the charging mode, absorbs the excess energy according to the dynamic strategy of "voltage difference x absorption current", and stabilizes the power supply voltage within a certain range (such as 2%) of the standard value.

[0091] In some embodiments, the magnetic suspension rotating shaft 50 posture control method further comprises:

[0092] If the current power supply voltage is less than the standard power supply voltage, the energy storage circuit module 20 releases the floating energy to the power grid based on the difference between the current power supply voltage and the standard power supply voltage.

[0093] It should be noted that the embodiment of the present application can fill the power supply gap in real time by "releasing electric energy based on voltage difference", that is, when the voltage is detected to be floating down, the energy storage circuit module 20 (such as a super capacitor group and a bidirectional inverter) immediately enters a discharging mode, and the electric energy is supplemented according to a dynamic strategy of "voltage difference x release current", so that the power supply voltage is stabilized within a certain range (such as 2%) of a standard value.

[0094] It should be noted that normal posture correction depends on accurate electromagnet current control. If the voltage is floating down, the correction magnetic force cannot reach the expected value, the shaft system offset cannot be corrected in time, or the voltage is floating up, the current is increased, the magnetic force is suddenly increased, and then the normal posture correction is disturbed, and long-term accumulation can easily cause attitude out of control. The embodiment of the present application stabilizes the power supply voltage of the power grid, ensures that the correction current (posture adjustment current) matches the demand, and avoids the correction accuracy deviation caused by insufficient voltage (or excessively high voltage).

[0095] In summary, the magnetic suspension shaft 50 posture control method provided by the embodiment of the present application can keep the magnetic suspension shaft 50 in a suspended state by obtaining the current power supply voltage of the power grid and supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20 to generate a stop-falling magnetic force when the current power supply voltage is interrupted, thereby avoiding that the magnetic suspension shaft 50 loses the magnetic suspension support when the power grid is powered off, and directly falls onto the magnetic suspension bearing, causing damage to the magnetic suspension bearing and the magnetic suspension shaft 50. By obtaining the motion state of the magnetic suspension shaft 50 and supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20 to generate a slow descent magnetic force when the magnetic suspension shaft 50 stops moving, the magnetic suspension shaft 50 can be lowered at a preset landing speed, and the stable landing of the magnetic suspension shaft 50 is ensured.

[0096] In a second aspect, as shown in Figure 3 The embodiment of the present application provides a magnetic suspension shaft posture control system, which comprises:

[0097] The magnetic suspension support module 10 comprises a plurality of electromagnets arranged circumferentially and radially outside the magnetic suspension shaft 50, and is used for supporting and adjusting the posture of the magnetic suspension shaft 50.

[0098] The energy storage circuit module 20 comprises a capacitor group and a bidirectional inverter connected to the capacitor group, and is used for recovering the kinetic energy of the magnetic suspension shaft 50, storing and releasing electric energy.

[0099] The brake control module 30 is used for obtaining the power supply voltage of the power grid and the motion state of the magnetic suspension shaft 50, and controlling the energy storage circuit module 20 to store or release electric energy.

[0100] The posture correction module 40 is configured to adjust the posture of the magnetic suspension rotating shaft 50.

[0101] As shown in the figure, the working process (control strategy) of the embodiment of the application is as follows: Figure 2

[0102] 1) The brake control module 30 is started.

[0103] 2) The sensor collects data (displacement, speed, and acceleration of the magnetic suspension rotating shaft 50).

[0104] 3) It is determined whether the magnetic suspension rotating shaft 50 stops moving (whether the displacement, speed, and acceleration are 0).

[0105] 4) If the magnetic suspension rotating shaft 50 does not stop moving, the energy storage circuit module 20 stores energy and corrects the posture of the shaft system.

[0106] 5) If the magnetic suspension rotating shaft 50 stops moving, the magnetic force output is adjusted, and the shaft center position is corrected.

[0107] 6) The magnetic suspension rotating shaft 50 is slowly landed.

[0108] In some embodiments, the brake control module 30 is further configured to:

[0109] acquire the current power supply voltage of the power grid;

[0110] if the current power supply voltage is interrupted, supply power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a landing-stopping magnetic force, so that the magnetic suspension rotating shaft 50 is kept in a suspended state.

[0111] acquire the motion state of the magnetic suspension rotating shaft 50;

[0112] if the magnetic suspension rotating shaft 50 stops moving, supply power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a slow-landing magnetic force, so that the magnetic suspension rotating shaft 50 is lowered at a preset landing speed.

[0113] In some embodiments, if the current power supply voltage is interrupted, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 to generate a landing-stopping magnetic force, so that the magnetic suspension rotating shaft 50 is kept in a suspended state, including:

[0114] if the current power supply voltage is interrupted, acquiring the instantaneous descent speed, instantaneous descent direction, instantaneous descent acceleration, and rotating shaft gravity of the magnetic suspension rotating shaft 50;

[0115] ​The falling-prevention magnetic force is obtained based on the instantaneous falling speed, the instantaneous falling direction, the instantaneous falling acceleration and the shaft gravity;

[0116] The falling-prevention magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so as to keep the magnetic suspension shaft 50 in a suspended state.

[0117] In some embodiments, the falling-prevention magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so as to keep the magnetic suspension shaft 50 in a suspended state, specifically:

[0118] The falling-prevention electromagnets and the falling-prevention current to be applied to the falling-prevention electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 based on the size and direction of the falling-prevention magnetic force;

[0119] The falling-prevention magnetic force is generated by applying the falling-prevention current to the falling-prevention electromagnets through the energy storage circuit module 20, so as to keep the magnetic suspension shaft 50 in a suspended state.

[0120] In some embodiments, if the current power supply voltage is interrupted, the falling-prevention magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so as to keep the magnetic suspension shaft 50 in a suspended state, further comprising:

[0121] The rotational kinetic energy of the magnetic suspension shaft 50 is converted into electrical energy and stored in the energy storage circuit module 20.

[0122] In some embodiments, if the magnetic suspension shaft 50 stops moving, the slow-falling magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so as to make the magnetic suspension shaft 50 descend at a preset speed, comprising:

[0123] If the magnetic suspension shaft 50 stops moving, the shaft gravity of the magnetic suspension shaft 50 and the preset falling speed are obtained;

[0124] The slow-falling magnetic force is obtained based on the shaft gravity and the preset falling speed;

[0125] The slow-falling magnetic force is generated by supplying power to the electromagnets arranged circumferentially outside the magnetic suspension shaft 50 through the energy storage circuit module 20, so as to make the magnetic suspension shaft 50 descend at the preset falling speed.

[0126] In some embodiments, the power supply to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 by the energy storage circuit module 20 generates the slow descent magnetic force, so that the magnetic suspension rotating shaft 50 descends at the preset slow descent speed, in particular:

[0127] The slow descent electromagnet and the slow descent current to be applied to the slow descent electromagnet are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the size and direction of the slow descent magnetic force.

[0128] The slow descent magnetic force is generated by applying the slow descent current to the slow descent electromagnet by the energy storage circuit module 20, so that the magnetic suspension rotating shaft 50 descends at the preset slow descent speed.

[0129] In some embodiments, the current power supply voltage of the power grid is obtained, and the method further comprises:

[0130] If the current power supply voltage is not interrupted, the attitude change of the magnetic suspension rotating shaft 50 is obtained.

[0131] The attitude adjustment electromagnet and the attitude adjustment current to be applied to the attitude adjustment electromagnet are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the attitude change.

[0132] The attitude of the magnetic suspension rotating shaft 50 is corrected by applying the attitude adjustment current to the attitude adjustment electromagnet by the energy storage circuit module 20.

[0133] In some embodiments, the brake control module 30 is further configured to:

[0134] If the current power supply voltage is greater than the standard power supply voltage, the floating power of the power grid is absorbed by the energy storage circuit module 20 based on the difference between the current power supply voltage and the standard power supply voltage.

[0135] In some embodiments, the brake control module 30 is further configured to:

[0136] If the current power supply voltage is less than the standard power supply voltage, the floating power of the power grid is released by the energy storage circuit module 20 based on the difference between the current power supply voltage and the standard power supply voltage.

[0137] In a third aspect, the embodiments of the present application provide a magnetic suspension device, comprising the magnetic suspension rotating shaft attitude control system as described in the second aspect, and the magnetic suspension rotating shaft attitude control system comprises:

[0138] The magnetic suspension support module 10 comprises a plurality of electromagnets arranged circumferentially and radially outside the magnetic suspension rotating shaft 50, and is configured to support and adjust the attitude of the magnetic suspension rotating shaft 50.

[0139] An energy storage circuit module 20, comprising a capacitor group and a bidirectional inverter connected to the capacitor group, is configured to recover kinetic energy of the magnetic suspension rotating shaft 50, store and release electric energy;

[0140] A braking control module 30 is configured to acquire a power supply voltage of a power grid, a motion state of the magnetic suspension rotating shaft 50, and control the energy storage circuit module 20 to store or release electric energy;

[0141] A posture correction module 40 is configured to adjust a posture of the magnetic suspension rotating shaft 50.

[0142] Exemplarily, as shown in the figure, a working process (control strategy) of the embodiment of the application is as follows: Figure 2

[0143] 1) The braking control module 30 is started;

[0144] 2) Sensors acquire data (displacement, speed and acceleration of the magnetic suspension rotating shaft 50);

[0145] 3) It is determined whether the magnetic suspension rotating shaft 50 stops moving (whether displacement, speed and acceleration are 0);

[0146] 4) If the magnetic suspension rotating shaft 50 does not stop moving, the energy storage circuit module 20 stores energy and corrects a shaft system posture;

[0147] 5) If the magnetic suspension rotating shaft 50 stops moving, magnetic force output is adjusted and a shaft center position is corrected;

[0148] 6) The magnetic suspension rotating shaft 50 is slowly landed.

[0149] In some embodiments, the braking control module 30 is further configured to:

[0150] acquire a current power supply voltage of a power grid;

[0151] if the current power supply voltage is interrupted, supply power to electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a landing-preventing magnetic force, so that the magnetic suspension rotating shaft 50 is kept in a suspended state;

[0152] acquire a motion state of the magnetic suspension rotating shaft 50;

[0153] if the magnetic suspension rotating shaft 50 stops moving, supply power to electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 through the energy storage circuit module 20 to generate a slow-landing magnetic force, so that the magnetic suspension rotating shaft 50 is lowered at a preset landing speed.

[0154] ​In some embodiments, if the current power supply voltage is interrupted, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 to generate a fall-preventing magnetic force, so as to keep the magnetic levitation rotating shaft 50 in a suspended state, including:

[0155] If the current power supply voltage is interrupted, the instantaneous falling speed, instantaneous falling direction, instantaneous falling acceleration and shaft gravity of the magnetic levitation rotating shaft 50 are obtained.

[0156] The fall-preventing magnetic force is obtained based on the instantaneous falling speed, instantaneous falling direction, instantaneous falling acceleration and shaft gravity.

[0157] The energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 to generate the fall-preventing magnetic force, so as to keep the magnetic levitation rotating shaft 50 in a suspended state.

[0158] In some embodiments, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 to generate the fall-preventing magnetic force, so as to keep the magnetic levitation rotating shaft 50 in a suspended state, specifically:

[0159] Based on the size and direction of the fall-preventing magnetic force, a fall-preventing electromagnet is determined from the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50, and a fall-preventing current to be applied to the fall-preventing electromagnet is determined.

[0160] The energy storage circuit module 20 applies the fall-preventing current to the fall-preventing electromagnet to generate the fall-preventing magnetic force, so as to keep the magnetic levitation rotating shaft 50 in a suspended state.

[0161] In some embodiments, if the current power supply voltage is interrupted, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 to generate a fall-preventing magnetic force, so as to keep the magnetic levitation rotating shaft 50 in a suspended state, further including:

[0162] The rotational kinetic energy of the magnetic levitation rotating shaft 50 is converted into electrical energy and stored in the energy storage circuit module 20.

[0163] In some embodiments, if the magnetic levitation rotating shaft 50 stops moving, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 to generate a slow-down magnetic force, so as to make the magnetic levitation rotating shaft 50 descend at a preset speed, including:

[0164] If the magnetic levitation rotating shaft 50 stops moving, the shaft gravity of the magnetic levitation rotating shaft 50 and the preset falling speed are obtained.

[0165] The slow-down magnetic force is obtained based on the shaft gravity and the preset falling speed.

[0166] The energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 to generate the slow descent magnetic force, so that the magnetic suspension rotating shaft 50 descends at the preset landing speed.

[0167] In some embodiments, the energy storage circuit module 20 supplies power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 to generate the slow descent magnetic force, so that the magnetic suspension rotating shaft 50 descends at the preset landing speed, specifically:

[0168] The slow descent electromagnets and the slow descent current to be applied to the slow descent electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the size and direction of the slow descent magnetic force.

[0169] The energy storage circuit module 20 applies the slow descent current to the slow descent electromagnets to generate the slow descent magnetic force, so that the magnetic suspension rotating shaft 50 descends at the preset landing speed.

[0170] In some embodiments, the current power supply voltage of the power grid is obtained, and the method further includes:

[0171] If the current power supply voltage is not interrupted, the attitude change of the magnetic suspension rotating shaft 50 is obtained.

[0172] The attitude adjustment electromagnets and the attitude adjustment current to be applied to the attitude adjustment electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the attitude change.

[0173] The energy storage circuit module 20 applies the attitude adjustment current to the attitude adjustment electromagnets to correct the attitude of the magnetic suspension rotating shaft 50.

[0174] In some embodiments, the brake control module 30 is further configured to:

[0175] If the current power supply voltage is greater than the standard power supply voltage, the energy storage circuit module 20 absorbs the floating energy of the power grid based on the difference between the current power supply voltage and the standard power supply voltage.

[0176] In some embodiments, the brake control module 30 is further configured to:

[0177] If the current power supply voltage is less than the standard power supply voltage, the energy storage circuit module 20 releases the floating energy to the power grid based on the difference between the current power supply voltage and the standard power supply voltage.

[0178] In a fourth aspect, the embodiments of the present application provide a magnetic suspension rotating shaft attitude control device, which includes:

[0179] a voltage acquisition unit configured to acquire a current power supply voltage of a power grid;

[0180] a magnetic force adjustment unit configured to, if the current power supply voltage is interrupted, supply power to electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate a fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state; and if the magnetic levitation rotating shaft 50 stops moving, supply power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate a slow-falling magnetic force, so that the magnetic levitation rotating shaft 50 falls at a preset falling speed.

[0181] a motion acquisition unit configured to acquire a motion state of the magnetic levitation rotating shaft 50.

[0182] In some embodiments, the magnetic force adjustment unit configured to, if the current power supply voltage is interrupted, supply power to electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate a fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state, includes:

[0183] if the current power supply voltage is interrupted, acquiring an instantaneous falling speed, an instantaneous falling direction, an instantaneous falling acceleration and a rotating shaft gravity of the magnetic levitation rotating shaft 50;

[0184] based on the instantaneous falling speed, the instantaneous falling direction, the instantaneous falling acceleration and the rotating shaft gravity, obtaining the fall-preventing magnetic force;

[0185] supplying power to the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate the fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state.

[0186] In some embodiments, the magnetic force adjustment unit configured to, if the current power supply voltage is interrupted, supply power to electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate a fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state, specifically includes:

[0187] based on the size and direction of the fall-preventing magnetic force, determining a fall-preventing electromagnet from the electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 and a fall-preventing current to be applied to the fall-preventing electromagnet;

[0188] applying the fall-preventing current to the fall-preventing electromagnet via the energy storage circuit module 20 to generate the fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state.

[0189] In some embodiments, the magnetic force adjustment unit configured to, if the current power supply voltage is interrupted, supply power to electromagnets arranged circumferentially outside the magnetic levitation rotating shaft 50 via the energy storage circuit module 20 to generate a fall-preventing magnetic force, so that the magnetic levitation rotating shaft 50 is kept in a levitation state, further includes:

[0190] The rotating kinetic energy of the magnetic suspension rotating shaft 50 is converted into electric energy and stored in the energy storage circuit module 20.

[0191] In some embodiments, if the magnetic suspension rotating shaft 50 stops moving, the electromagnetic iron arranged circumferentially outside the magnetic suspension rotating shaft 50 is powered by the energy storage circuit module 20 to generate a slow descent magnetic force, so that the magnetic suspension rotating shaft 50 descends at a preset speed, including:

[0192] If the magnetic suspension rotating shaft 50 stops moving, the rotating shaft gravity of the magnetic suspension rotating shaft 50 and the preset descent speed are obtained.

[0193] The slow descent magnetic force is obtained based on the rotating shaft gravity and the preset descent speed.

[0194] The slow descent magnetic force is generated by powering the electromagnetic iron arranged circumferentially outside the magnetic suspension rotating shaft 50 by the energy storage circuit module 20, so that the magnetic suspension rotating shaft 50 descends at the preset descent speed.

[0195] In some embodiments, the slow descent magnetic force is generated by powering the electromagnetic iron arranged circumferentially outside the magnetic suspension rotating shaft 50 by the energy storage circuit module 20, so that the magnetic suspension rotating shaft 50 descends at the preset descent speed, specifically:

[0196] The slow descent electromagnetic iron and the slow descent current required to be applied to the slow descent electromagnetic iron are determined from the electromagnetic iron arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the size and direction of the slow descent magnetic force.

[0197] The slow descent magnetic force is generated by applying the slow descent current to the slow descent electromagnetic iron by the energy storage circuit module 20, so that the magnetic suspension rotating shaft 50 descends at the preset descent speed.

[0198] In some embodiments, the current power supply voltage of the power grid is also obtained, including:

[0199] If the current power supply voltage is not interrupted, the attitude change of the magnetic suspension rotating shaft 50 is obtained.

[0200] The attitude adjustment electromagnetic iron and the attitude adjustment current required to be applied to the attitude adjustment electromagnetic iron are determined from the electromagnetic iron arranged circumferentially outside the magnetic suspension rotating shaft 50 based on the attitude change.

[0201] The attitude adjustment current is applied to the attitude adjustment electromagnetic iron by the energy storage circuit module 20 to correct the attitude of the magnetic suspension rotating shaft 50.

[0202] In some embodiments, the magnetic force adjusting unit is also used for:

[0203] If the current supply voltage is greater than the standard supply voltage, then the excess power of the power grid is absorbed by the energy storage circuit module 20 based on the difference between the current supply voltage and the standard supply voltage.

[0204] In some embodiments, the magnetic force adjusting unit is further configured to:

[0205] If the current supply voltage is less than the standard supply voltage, then the deficient power of the power grid is released by the energy storage circuit module 20 based on the difference between the current supply voltage and the standard supply voltage.

[0206] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described unless specifically identified as an order dependent step. It is also to be understood that additional or alternative steps can be employed.

[0207] Although the terms first, second, third, and the like can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0208] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes can be devised by those skilled in the art without departing from the spirit and scope of the application. Accordingly, the scope of the application is indicated by the appended claims rather than by the foregoing description, and all changes that come within the meaning and range of equivalents are intended to be embraced therein.

Claims

1. A magnetic levitation rotating shaft attitude control method characterized by comprising: The method comprises the following steps: acquiring a current power supply voltage of a power grid; if the current power supply voltage is interrupted, supplying power to electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through a storage circuit module to generate a stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in a suspended state; at the moment when the power supply voltage is interrupted, the stop-falling magnetic force is greater than the gravity of the magnetic suspension rotating shaft, and the magnetic suspension rotating shaft has a downward speed and acceleration; when the magnetic suspension rotating shaft resumes the suspended state, the stop-falling magnetic force is equal to the gravity of the magnetic suspension rotating shaft; acquiring a motion state of the magnetic suspension rotating shaft; if the magnetic suspension rotating shaft stops moving, supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate a slow-falling magnetic force, so that the magnetic suspension rotating shaft falls at a preset falling speed.

2. The magnetic levitation rotating shaft attitude control method according to claim 1, characterized by, The step of supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in the suspended state, comprises the following steps: if the current power supply voltage is interrupted, acquiring a momentary falling speed, a momentary falling direction, a momentary falling acceleration and a rotating shaft gravity of the magnetic suspension rotating shaft; obtaining the stop-falling magnetic force based on the momentary falling speed, the momentary falling direction, the momentary falling acceleration and the rotating shaft gravity; supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in the suspended state.

3. The magnetic levitation rotating shaft attitude control method according to claim 2, characterized by, The step of supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in the suspended state, specifically comprises the following steps: determining a stop-falling electromagnet from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft and a stop-falling current to be applied to the stop-falling electromagnet based on the size and direction of the stop-falling magnetic force; applying the stop-falling current to the stop-falling electromagnet through the storage circuit module to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in the suspended state.

4. The magnetic levitation spindle shaft attitude control method according to claim 1, characterized by, The step of supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the stop-falling magnetic force, so that the magnetic suspension rotating shaft is kept in the suspended state, further comprises the following step: converting rotational kinetic energy of the magnetic suspension rotating shaft into electrical energy and storing the electrical energy in the storage circuit module.

5. The magnetic levitation spindle shaft attitude control method according to claim 1, characterized by, The step of supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the slow-falling magnetic force, so that the magnetic suspension rotating shaft falls at the preset falling speed, if the magnetic suspension rotating shaft stops moving, comprises the following steps: if the magnetic suspension rotating shaft stops moving, acquiring a rotating shaft gravity of the magnetic suspension rotating shaft and the preset falling speed; obtaining the slow-falling magnetic force based on the rotating shaft gravity and the preset falling speed; supplying power to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft through the storage circuit module to generate the slow-falling magnetic force, so that the magnetic suspension rotating shaft falls at the preset falling speed.

6. The magnetic levitation spindle shaft attitude control method according to claim 5, characterized by, The power supply to the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft by the energy storage circuit module generates the slow descent magnetic force, so that the magnetic suspension rotating shaft descends at the preset slow descent speed. The slow descent electromagnets and the slow descent current to be applied to the slow descent electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft based on the size and direction of the slow descent magnetic force. The slow descent magnetic force is generated by applying the slow descent current to the slow descent electromagnets by the energy storage circuit module, so that the magnetic suspension rotating shaft descends at the preset slow descent speed.

7. The magnetic levitation spindle shaft attitude control method according to claim 1, characterized by, The current power supply voltage of the power grid is obtained, and the method further comprises: If the current power supply voltage is not interrupted, the attitude change of the magnetic suspension rotating shaft is obtained; The attitude adjustment electromagnets and the attitude adjustment current to be applied to the attitude adjustment electromagnets are determined from the electromagnets arranged circumferentially outside the magnetic suspension rotating shaft based on the attitude change. The attitude of the magnetic suspension rotating shaft is corrected by applying the attitude adjustment current to the attitude adjustment electromagnets by the energy storage circuit module.

8. The magnetic levitation spindle shaft attitude control method according to claim 7, characterized by, The method further comprises: If the current power supply voltage is greater than the standard power supply voltage, the floating power of the power grid is absorbed by the energy storage circuit module based on the difference between the current power supply voltage and the standard power supply voltage.

9. The magnetic levitation spindle shaft attitude control method according to claim 7, characterized by, The method further comprises: If the current power supply voltage is less than the standard power supply voltage, the sinking power of the power grid is released by the energy storage circuit module based on the difference between the current power supply voltage and the standard power supply voltage.

10. A magnetic levitation rotating shaft attitude control system characterized by comprising: The method comprises: The magnetic suspension support module comprises a plurality of electromagnets arranged circumferentially and radially outside the magnetic suspension rotating shaft, and is used for supporting and adjusting the attitude of the magnetic suspension rotating shaft. The energy storage circuit module comprises a capacitor group and a bidirectional inverter connected to the capacitor group, and is used for recovering the kinetic energy of the magnetic suspension rotating shaft, storing and releasing electric energy. The brake control module is used for obtaining the power supply voltage of the power grid and the motion state of the magnetic suspension rotating shaft, and controlling the energy storage circuit module to store or release electric energy. The attitude correction module is used for adjusting the attitude of the magnetic suspension rotating shaft.

11. A magnetic levitation device, characterized by, The method comprises the magnetic suspension rotating shaft attitude control system according to claim 10.

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