Control method and device of magnetic suspension bearing, medium, controller and program product

Abstract

The invention provides a control method and device for a magnetic suspension bearing, a medium, a controller and a program product, and the method comprises the steps: collecting the displacement precision data of the magnetic suspension bearing when a magnetic suspension unit is shut down; fourier analysis is carried out on the collected displacement precision data to obtain a corresponding frequency spectrum; determining whether the rotor of the magnetic suspension bearing stops rotating or not according to the obtained frequency spectrum; and if it is determined that the rotor of the magnetic suspension bearing stops rotating, floating stopping operation is executed. According to the scheme provided by the invention, the rotor can stop floating in time after shutdown.

Description

Technical Field

[0001] This invention relates to the field of control, and more particularly to a control method, device, medium, controller, and program product for a magnetic levitation bearing. Background Technology

[0002] A magnetic levitation motor is a centrifugal compressor that uses magnetic force to suspend the rotor in the air, eliminating mechanical contact between the rotor and stator. Magnetic levitation offers advantages such as low mechanical wear, low energy consumption, low noise, long lifespan, no lubrication required, and no oil pollution. However, when the compressor is stopped, prolonged rotor levitation prevents refrigerant circulation and cooling of the magnetic bearings. This prolonged levitation leads to heat buildup in the magnetic bearings, shortening their lifespan and potentially causing overheating that burns out the magnetic bearing coils and controller.

[0003] Hybrid magnetic levitation suffers from a "control dead zone" problem. The reference position for rotor levitation is the geometric center of the protective bearing. However, current assembly processes cannot achieve zero coaxiality between the magnetic bearing and the protective bearing, resulting in situations where the geometric center of the electromagnetic bearing is below that of the protective bearing. In this case, when the rotor levitates to the reference position, the attractive force provided by the magnets just balances the rotor's gravity, the control current approaches zero, and the rotor begins to vibrate. Related technologies employ control and stopping schemes based on levitation accuracy; timing begins when the levitation accuracy of all degrees of freedom falls below a certain threshold, and levitation stops when the timing ends. However, the vibration problem in hybrid magnetic levitation prevents the accuracy from meeting the stopping conditions, causing the rotor to remain in a levitation state, thus affecting the equipment's lifespan. Summary of the Invention

[0004] The main objective of this invention is to overcome the deficiencies of the aforementioned related technologies and provide a control method, device, medium, controller, and program product for magnetic levitation bearings to solve the problem of rotor vibration causing continuous floating in the shutdown state in the related technologies.

[0005] This invention provides a control method for a magnetic levitation bearing, comprising: when the magnetic levitation unit stops, collecting displacement accuracy data of the magnetic levitation bearing; performing Fourier analysis on the collected displacement accuracy data to obtain a corresponding spectrum; determining whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum; and if it is determined that the rotor of the magnetic levitation bearing has stopped rotating, performing a stop operation.

[0006] Optionally, determining whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum includes: determining whether the main frequency in the spectrum is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit; if the main frequency is not within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then determining that the rotor has stopped rotating; if the main frequency is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then determining whether the change in the spectrum conforms to the characteristics of motor coasting; if the change in the spectrum does not conform to the characteristics of motor coasting, then determining that the rotor has stopped rotating.

[0007] Optionally, it also includes: if the change in the spectrum is determined to conform to the characteristics of motor coasting, then the rotor is prohibited from stopping.

[0008] Optionally, it also includes: when the magnetic levitation unit stops, checking whether an emergency stop command has been received; if an emergency stop command has been received, directly executing the levitation stop operation; if no emergency stop command has been received, collecting the displacement accuracy data of the magnetic levitation bearing.

[0009] Optionally, it further includes: if it is determined that the rotor of the magnetic levitation bearing has not stopped rotating, then detecting whether the bearing coil and bearing controller of the magnetic levitation bearing are overheated; if the bearing coil or bearing controller of the magnetic levitation bearing is detected to be overheated, then sending an emergency stop command.

[0010] Another aspect of the present invention provides a control device for a magnetic levitation bearing, comprising: a data acquisition unit for acquiring displacement accuracy data of the magnetic levitation bearing when the magnetic levitation unit stops; an analysis unit for performing Fourier analysis on the displacement accuracy data acquired by the data acquisition unit to obtain a corresponding spectrum; a determination unit for determining whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum obtained by the analysis unit; and an execution unit for executing a stop-float operation if the determination unit determines that the rotor of the magnetic levitation bearing has stopped rotating.

[0011] Optionally, the determining unit determines whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum obtained by the analysis unit, including: determining whether the main frequency in the spectrum is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit; if the main frequency is not within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then the rotor is determined to have stopped rotating; if the main frequency is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then the change in the spectrum is determined to conform to the characteristics of motor coasting; if the change in the spectrum does not conform to the characteristics of motor coasting, then the rotor is determined to have stopped rotating.

[0012] Optionally, it also includes: if the change in the spectrum is determined to conform to the characteristics of motor coasting, then the rotor is prohibited from stopping.

[0013] Optionally, it further includes: a checking unit, used to check whether an emergency stop command has been received when the magnetic levitation unit stops; the execution unit is further used to: if the checking unit checks that an emergency stop command has been received, then directly execute the buoyancy stop operation; the acquisition unit is further used to: if the checking unit checks that no emergency stop command has been received, then acquire the displacement accuracy data of the magnetic levitation bearing.

[0014] Optionally, it further includes: a detection unit, configured to detect whether the bearing coil and bearing controller of the magnetic levitation bearing are overheated if the determining unit determines that the rotor of the magnetic levitation bearing has not stopped rotating; and a sending unit, configured to send an emergency stop command if the detection unit detects that the bearing coil or bearing controller of the magnetic levitation bearing is overheated.

[0015] In another aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0016] In another aspect, the present invention provides an air conditioner, including a processor, a memory, and a computer program stored in the memory that can run on the processor, wherein the processor executes the program to implement the steps of any of the methods described above.

[0017] In another aspect, the present invention provides an air conditioner including any of the control devices described above.

[0018] In another aspect, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0019] According to the technical solution of the present invention, the problem of static suspension shaking in hybrid magnetic levitation can be solved, and the rotor can be stopped in time after shutdown, avoiding the accumulation of heat during long-term suspension and affecting the life of the magnetic levitation system.

[0020] According to the technical solution of the present invention, by processing the displacement feedback value, it is estimated whether the rotor is still rotating, and the rotor that is not rotating is stopped from floating, which improves the stability and service life of the magnetic bearing system, solves the problem of continuous floating due to shaking in hybrid magnetic levitation, and extends the service life of the magnetic levitation system. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of an embodiment of the control method for magnetic levitation bearings provided by the present invention; Figure 2 A flowchart illustrating a specific implementation of the steps for determining whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum is shown. Figure 3 A schematic diagram of the radial magnetic bearing structure is shown. Figure 4 A flowchart for determining whether the rotor can stop floating is shown; Figure 5 This is a schematic diagram of another embodiment of the control method for magnetic levitation bearings provided by the present invention; Figure 6 This is a schematic diagram of a specific embodiment of the control method for magnetic levitation bearings provided by the present invention; Figure 7 This is a structural block diagram of an embodiment of the control device for a magnetic levitation bearing provided by the present invention; Figure 8 This is a structural block diagram of another embodiment of the control device for magnetic levitation bearings provided by the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] This invention provides a control method for magnetic levitation bearings.

[0025] Figure 1 This is a schematic diagram of an embodiment of the control method for magnetic levitation bearings provided by the present invention.

[0026] like Figure 1 As shown, according to an embodiment of the present invention, the control method includes at least steps S110, S120, S130 and S140.

[0027] Step S110: When the magnetic levitation unit stops, collect the displacement accuracy data of the magnetic levitation bearing.

[0028] Specifically, the displacement accuracy data of the front bearing, rear bearing, and axial bearing of the magnetic levitation bearing are collected.

[0029] Preferably, when the magnetic levitation unit stops, it first checks whether an emergency stop command has been received; if an emergency stop command has been received, the levitation stop operation is executed directly; if no emergency stop command has been received, the displacement accuracy data of the magnetic levitation bearing is collected.

[0030] Specifically, after the magnetic levitation unit (such as a magnetic levitation compressor) stops, the system is first checked for an emergency stop command. If an emergency stop command is found, the levitation is stopped directly. If no emergency stop command is found, the displacement accuracy data of the magnetic levitation bearing is collected for subsequent steps.

[0031] Step S120: Perform Fourier analysis on the collected displacement accuracy data to obtain the corresponding spectrum.

[0032] Specifically, Fourier analysis was performed on the displacement accuracy data for each degree of freedom to obtain the corresponding spectrum.

[0033] Step S130: Determine whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum.

[0034] Figure 2 A flowchart illustrating a specific implementation of the steps for determining whether the rotor of the magnetic levitation bearing has stopped based on the obtained spectrum is shown. Figure 2 As shown, in one specific embodiment, step S130 includes steps S131, S132, S133 and S144.

[0035] Step S131: Determine whether the main frequency in the spectrum is within the multiples of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit.

[0036] Specifically, Fourier analysis is performed on the displacement accuracy data for each degree of freedom to obtain the corresponding spectrum. Then, the dominant frequency (i.e., the frequency corresponding to the highest amplitude peak in the spectrum; the dominant frequency is the frequency component with the most concentrated signal energy and the largest amplitude, reflecting the dominant vibration frequency of the signal) is extracted, i.e., the characteristic information of the dominant peak is extracted. It is then determined whether this dominant frequency is within the harmonic range of the operating frequency of the maglev unit or within twice the rated operating frequency of the maglev unit. The harmonic range can specifically include the first harmonic and / or the second harmonic. That is, it is determined whether the dominant frequency in the spectrum is within the first harmonic or the second harmonic range of the operating frequency of the maglev unit.

[0037] Step S132: If it is determined that the main frequency is not within the range of multiples of the operating frequency of the magnetic levitation unit and not within twice the rated operating frequency of the magnetic levitation unit, then it is determined that the rotor has stopped rotating.

[0038] Specifically, if it is determined that the main frequency extracted from the spectrum is not within the first and second harmonics of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then the rotor is considered to have stopped rotating and a stop-float operation can be performed.

[0039] Step S133: If it is determined that the main frequency is within the range of multiples of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is determined whether the change in the spectrum conforms to the motor coasting characteristics.

[0040] Specifically, if it is determined that the main frequency extracted from the spectrum is within the range of one or two times the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is further determined whether the change in the spectrum conforms to the motor coasting characteristics.

[0041] Step S134: If it is determined that the change in the spectrum does not conform to the characteristics of motor coasting, then it is determined that the rotor has stopped rotating.

[0042] In one specific implementation, it is determined whether the peak frequency in the spectrum gradually decreases. If it is determined that the peak frequency in the spectrum gradually decreases, then the change in the spectrum is determined to conform to the motor coasting characteristics. If the change in the spectrum is determined to conform to the motor coasting characteristics, then the rotor stoppage is prohibited.

[0043] Taking the jitter of a hybrid magnetic levitation as an example, its spectrum exhibits obvious low-frequency and non-periodic characteristics, while a coasting rotor shows a gradual decrease in the peak frequency of its spectrum (during coasting, the main peak of the spectrum gradually moves towards 0Hz, and the amplitude also decreases). If the main frequency on the spectrum remains unchanged for a long period, it is considered that the rotor has ended coasting and is in a resonant state. If it is determined that the rotor is in the coasting process, it means that the rotor is still rotating. A rotating rotor has a huge function, and falling onto a stationary ball bearing would cause severe friction and collision, which may damage the rotor. Therefore, stopping the levitation operation is prohibited. If the judgment does not meet the characteristics of motor coasting, it is considered that the rotor has stopped rotating, and stopping the levitation operation can be performed.

[0044] Step S140: If it is determined that the rotor of the magnetic levitation bearing has stopped rotating, then a stop-float operation is performed.

[0045] Specifically, if it is determined that the rotor of the magnetic levitation bearing has stopped rotating, a stop-float operation is performed.

[0046] Figure 3 A schematic diagram of the radial magnetic bearing structure is shown. (As shown) Figure 3 As shown, the outermost layer consists of bearing coils, including coils L1, L2, L3, and L4. The stop-float operation involves ceasing the current supply to the bearing coils. Without electromagnetic force providing support, the rotor will fall onto the protective bearing, which is a ball bearing.

[0047] Figure 4 A flowchart for determining whether the rotor can stop floating is shown. For example... Figure 4 As shown, the displacement accuracy of the front bearing, rear bearing, and axial bearing is first obtained. Then, Fourier analysis is performed on the displacement accuracy data for each degree of freedom to extract the feature information of the main peaks and determine whether they are located at the first or second harmonic of the unit's operating frequency. If the extracted main frequency is not at the first or second harmonic of the unit's operating frequency, it is determined to be high-frequency interference introduced from the outside, the rotor has stopped rotating, and a stop-float operation can be performed. If the extracted main frequency is at the first or second harmonic of the unit's operating frequency, it is determined whether the spectrum change conforms to the characteristics of motor coasting. If it is determined that the spectrum is in the coasting process, the stop-float operation is prohibited; if it is not determined, it is considered that the rotor has stopped rotating, and the stop-float operation can be performed.

[0048] Figure 5This is a schematic diagram of another embodiment of the control method for magnetic levitation bearings provided by the present invention. Figure 5 As shown, according to an embodiment of the present invention, the control method further includes steps S150 and S160.

[0049] Step S150: If it is determined that the rotor of the magnetic levitation bearing has not stopped rotating, then detect whether the temperature of the bearing coil and bearing controller of the magnetic levitation bearing exceeds the corresponding preset temperature threshold.

[0050] Step S160: If the temperature of the bearing coil or bearing controller of the magnetic levitation bearing exceeds the corresponding preset temperature threshold, an emergency stop command is sent.

[0051] Specifically, the preset temperature thresholds corresponding to the temperatures of the bearing coil and the bearing controller are determined separately. If the rotor of the magnetic levitation bearing has not stopped rotating, and if it is detected that the rotor is still rotating, it enters a cyclic waiting state and simultaneously judges whether the temperatures of the bearing coil and the bearing controller exceed the corresponding preset temperature thresholds. Once the temperature exceeds the threshold, an emergency stop command is immediately sent to the unit system. After receiving a response (i.e., the unit executes the emergency stop command), the levitation stop operation is performed.

[0052] To clearly illustrate the technical solution of the present invention, the execution flow of the control method for magnetic levitation bearings provided by the present invention will be described below with reference to a specific embodiment.

[0053] Figure 6 This is a schematic diagram of a specific embodiment of the control method for magnetic levitation bearings provided by the present invention. Figure 6 As shown, after the unit shuts down, the system checks for an emergency stop command. If an emergency stop command is found, the floating stop operation is performed directly. If no emergency stop command is found, the rotation recognition algorithm checks whether the rotor can be stopped. If the rotor has stopped rotating, the floating stop operation is performed. If the rotor is still rotating, the system enters a cyclic waiting state. During the cyclic waiting process, the bearing coil and bearing controller are simultaneously checked for overheating. If they are not overheated, the system waits until the floating stop conditions are met before performing the floating stop operation. If the bearing coil or bearing controller overheats, an emergency stop command is immediately sent to the unit system, and the floating stop operation is performed after receiving a response.

[0054] The present invention also provides a control device for a magnetic levitation bearing.

[0055] Figure 7 This is a structural block diagram of an embodiment of the control device for a magnetic levitation bearing provided by the present invention. Figure 7 As shown, the control device 100 includes: a data acquisition unit 110, an analysis unit 120, a determination unit 130, and an execution unit 140.

[0056] The data acquisition unit 110 is used to acquire displacement accuracy data of the magnetic levitation bearing when the magnetic levitation unit is stopped.

[0057] Specifically, the displacement accuracy data of the front bearing, rear bearing, and axial bearing of the magnetic levitation bearing are collected.

[0058] Preferably, the device 100 further includes: a checking unit (not shown) for checking whether an emergency stop command has been received when the magnetic levitation unit stops; the execution unit 140 is further used for: if the checking unit checks that an emergency stop command has been received, then directly executing a stop operation; the acquisition unit 110 is further used for: if the checking unit checks that no emergency stop command has been received, then acquiring displacement accuracy data of the magnetic levitation bearing.

[0059] Specifically, after the magnetic levitation unit (e.g., a magnetic levitation compressor) stops, the checking unit first checks whether an emergency stop command has been received. If an emergency stop command is received, the execution unit 140 directly performs the buoyancy halting operation. If no emergency stop command is received, the acquisition unit 110 acquires the displacement accuracy data of the magnetic levitation bearing. That is, after the magnetic levitation unit stops, the system first checks for an emergency stop command. If an emergency stop command is received, the buoyancy halting operation is performed directly. Only if no emergency stop command is received is the displacement accuracy data of the magnetic levitation bearing acquired for subsequent steps.

[0060] The analysis unit 120 is used to perform Fourier analysis on the displacement accuracy data collected by the acquisition unit 110 to obtain the corresponding spectrum.

[0061] Specifically, Fourier analysis was performed on the displacement accuracy data for each degree of freedom to obtain the corresponding spectrum.

[0062] The determining unit 130 is used to determine whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum obtained by the analysis unit.

[0063] In one specific embodiment, the determining unit 130 determines whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum analyzed by the analysis unit 120, including: determining whether the main frequency in the spectrum is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit; if the main frequency is not within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then the rotor is determined to have stopped rotating; if the main frequency is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then the change in the spectrum is determined to conform to the characteristics of motor coasting; if the change in the spectrum does not conform to the characteristics of motor coasting, then the rotor is determined to have stopped rotating.

[0064] Specifically, Fourier analysis is performed on the displacement accuracy data for each degree of freedom to obtain the corresponding spectrum. Then, the dominant frequency (i.e., the frequency corresponding to the highest amplitude peak in the spectrum; the dominant frequency is the frequency component with the most concentrated signal energy and the largest amplitude, reflecting the dominant vibration frequency of the signal) is extracted, i.e., the characteristic information of the dominant peak is extracted. It is then determined whether this dominant frequency is within the harmonic range of the operating frequency of the maglev unit or within twice the rated operating frequency of the maglev unit. The harmonic range can specifically include the first harmonic and / or the second harmonic. That is, it is determined whether the dominant frequency in the spectrum is within the first and second harmonics of the operating frequency of the maglev unit.

[0065] If the main frequency extracted from the spectrum is determined to be outside the first and second harmonics of the operating frequency of the maglev unit and outside the range of twice the rated operating frequency of the maglev unit, then the rotor is considered to have stopped, and a stop-float operation can be performed. If the main frequency extracted from the spectrum is determined to be outside the first or second harmonic of the operating frequency of the maglev unit or outside the range of twice the rated operating frequency of the maglev unit, then it is further determined whether the change in the spectrum conforms to the characteristics of motor coasting.

[0066] In one specific implementation, it is determined whether the peak frequency in the spectrum gradually decreases. If it is determined that the peak frequency in the spectrum gradually decreases, then the change in the spectrum is determined to conform to the motor coasting characteristics. If the change in the spectrum is determined to conform to the motor coasting characteristics, then the rotor stoppage is prohibited.

[0067] Taking the jitter of a hybrid magnetic levitation as an example, its spectrum exhibits obvious low-frequency and non-periodic characteristics, while a coasting rotor shows a gradual decrease in the peak frequency of its spectrum (during coasting, the main peak of the spectrum gradually moves towards 0Hz, and the amplitude also decreases). If the main frequency on the spectrum remains unchanged for a long period, it is considered that the rotor has ended coasting and is in a resonant state. If it is determined that the rotor is in the coasting process, it means that the rotor is still rotating. A rotating rotor has a huge function, and falling onto a stationary ball bearing would cause severe friction and collision, which may damage the rotor. Therefore, stopping the levitation operation is prohibited. If the judgment does not meet the characteristics of motor coasting, it is considered that the rotor has stopped rotating, and stopping the levitation operation can be performed.

[0068] The execution unit 140 is configured to perform a stop operation if the determining unit 130 determines that the rotor of the magnetic levitation bearing has stopped rotating.

[0069] Specifically, if it is determined that the rotor of the magnetic levitation bearing has stopped rotating, a stop-float operation is performed.

[0070] Figure 3 A schematic diagram of the radial magnetic bearing structure is shown. (As shown) Figure 3 As shown, the outermost layer consists of bearing coils, including coils L1, L2, L3, and L4. The stop-float operation involves ceasing the current supply to the bearing coils. Without electromagnetic force providing support, the rotor will fall onto the protective bearing, which is a ball bearing.

[0071] Figure 8 This is a structural block diagram of another embodiment of the control device for the magnetic levitation bearing provided by the present invention. Figure 8 As shown, based on the above embodiments, the control device 100 further includes a detection unit 150 and a transmission unit 160.

[0072] The detection unit 150 is used to detect whether the bearing coil and bearing controller of the magnetic levitation bearing are overheated if the determining unit determines that the rotor of the magnetic levitation bearing has not stopped rotating; the sending unit 160 is used to send an emergency stop command if the detection unit 150 detects that the bearing coil or bearing controller of the magnetic levitation bearing is overheated.

[0073] Specifically, the preset temperature thresholds corresponding to the temperatures of the bearing coil and the bearing controller are determined separately. If the rotor of the magnetic levitation bearing has not stopped rotating, and if it is detected that the rotor is still rotating, it enters a cyclic waiting state and simultaneously judges whether the temperatures of the bearing coil and the bearing controller exceed the corresponding preset temperature thresholds. Once the temperature exceeds the threshold, an emergency stop command is immediately sent to the unit system. After receiving a response (i.e., the unit executes the emergency stop command), the levitation stop operation is performed.

[0074] The present invention also provides a storage medium corresponding to the control method of the magnetic levitation bearing, wherein a computer program is stored thereon, and when the program is executed by a processor, the steps of any of the aforementioned methods are implemented.

[0075] The present invention also provides a bearing controller corresponding to the control method of the magnetic levitation bearing, comprising a processor, a memory, and a computer program stored in the memory that can run on the processor, wherein the processor executes the program to implement the steps of any of the aforementioned methods.

[0076] The present invention also provides a bearing controller corresponding to the control device of the magnetic levitation bearing, including any of the control devices described above.

[0077] The present invention also provides a computer program product corresponding to the control method of the magnetic levitation bearing, comprising a computer program that, when executed by a processor, implements the steps of any of the aforementioned methods.

[0078] Accordingly, the solution provided by the present invention, by processing the displacement feedback value, estimates whether the rotor is still rotating, and performs a stop operation on the rotor that is not rotating, thereby improving the stability and service life of the magnetic bearing system, solving the problem of continuous floating due to shaking in hybrid magnetic levitation, and extending the life of the magnetic levitation system.

[0079] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this invention and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0081] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0082] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0083] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of the claims.

Claims

1. A control method for a magnetic levitation bearing, characterized in that, include: When the magnetic levitation unit is stopped, the displacement accuracy data of the magnetic levitation bearing is collected; Fourier analysis was performed on the collected displacement accuracy data to obtain the corresponding spectrum; Determine whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum; If it is determined that the rotor of the magnetic levitation bearing has stopped rotating, then a stop-float operation is performed.

2. The method according to claim 1, characterized in that, Determining whether the rotor of the magnetic levitation bearing has stopped rotating based on the obtained spectrum includes: Determine whether the main frequency in the spectrum is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit; If it is determined that the main frequency is not within the multiple of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is determined that the rotor has stopped rotating. If it is determined that the main frequency is within the range of multiples of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is determined whether the change in the spectrum conforms to the characteristics of motor coasting. If the change in the spectrum does not conform to the characteristics of motor coasting, then it is determined that the rotor has stopped.

3. The method according to claim 2, characterized in that, Also includes: If the change in the spectrum is determined to be consistent with the characteristics of motor coasting, then the rotor is prohibited from stopping.

4. The method according to any one of claims 1-3, characterized in that, Also includes: When the magnetic levitation unit stops, check whether an emergency stop command has been received; If an emergency stop command is received, the buoyancy halt operation will be executed immediately. If no emergency stop command is received during the inspection, the displacement accuracy data of the magnetic levitation bearing is collected.

5. The method according to any one of claims 1-3, characterized in that, Also includes: If it is determined that the rotor of the magnetic levitation bearing has not stopped rotating, then check whether the bearing coil and bearing controller of the magnetic levitation bearing are overheated; If the bearing coil or bearing controller of the magnetic levitation bearing is detected to be overheating, an emergency stop command is sent.

6. A control device for a magnetic levitation bearing, characterized in that, include: The data acquisition unit is used to collect displacement accuracy data of the magnetic levitation bearings when the magnetic levitation unit is stopped. The analysis unit is used to perform Fourier analysis on the displacement accuracy data acquired by the acquisition unit to obtain the corresponding spectrum; A determining unit is used to determine whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum obtained by the analysis unit. An execution unit is configured to perform a stop-float operation if the determining unit determines that the rotor of the magnetic levitation bearing has stopped rotating.

7. The apparatus according to claim 6, characterized in that, The determining unit determines whether the rotor of the magnetic levitation bearing has stopped rotating based on the spectrum obtained by the analysis unit, including: Determine whether the main frequency in the spectrum is within the octave range of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit; If it is determined that the main frequency is not within the multiple of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is determined that the rotor has stopped rotating. If it is determined that the main frequency is within the range of multiples of the operating frequency of the magnetic levitation unit or within twice the rated operating frequency of the magnetic levitation unit, then it is determined whether the change in the spectrum conforms to the characteristics of motor coasting. If the change in the spectrum does not conform to the characteristics of motor coasting, then it is determined that the rotor has stopped.

8. A storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

9. A bearing controller, characterized in that, It includes a processor, a memory, and a computer program stored on the memory that can run on the processor, wherein the processor executes the program to implement the steps of the method of any one of claims 1-5, or includes a control device for a magnetic levitation bearing as described in any one of claims 6-7.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

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