Magnetic suspension rotor control method and device, magnetic suspension system and storage medium

Abstract

The invention discloses a control method and device of a magnetic suspension rotor, a magnetic suspension system, a storage medium and a computer program product. A position detection assembly used for detecting the radial position of the rotor and a temperature collection assembly used for collecting the surface temperature of the rotor are arranged. The method comprises the steps that in the rotor operation process, current radial position data, collected by a position detection assembly in real time, of a rotor and current temperature data, collected by a temperature collection assembly in real time, of the rotor are obtained; calculating the real-time position deviation of the rotor according to the current radial position data; judging whether the rotor has radial expansion or not according to the real-time position deviation; if it is determined that radial expansion exists in the rotor, the thermal expansion coefficient of the rotor is calculated according to the current temperature data and the real-time position deviation; and generating a control signal based on the real-time position deviation and the thermal expansion coefficient, and adjusting the radial stress state of the rotor according to the control signal so as to correct the suspension position of the rotor. According to the scheme, rapid dynamic compensation of the rotor is realized.

Description

Technical Field

[0001] This invention belongs to the field of magnetic levitation equipment control technology, specifically relating to a control method, device, magnetic levitation system, storage medium, and computer program product for a magnetic levitation rotor. Background Technology

[0002] During the long-term operation of a magnetic levitation system, the rotor, as the core rotating component, continuously generates heat due to electromagnetic losses during motor operation and air friction, causing the rotor temperature to gradually rise. Because of the thermal expansion characteristics of the rotor material, this temperature increase directly triggers radial expansion of the rotor, causing its actual center position to deviate from the initial levitation center. The stable operation of a magnetic levitation system highly depends on the precise alignment of the rotor center with the stator's electromagnetic force center. Once the rotor center shifts, it disrupts the original electromagnetic force balance, leading to uneven rotor levitation gaps, high-frequency vibrations, increased equipment noise, and increased load on the electromagnetic bearings. Therefore, it is necessary to monitor the rotor position in real time to determine if any rotor shift has occurred and to perform appropriate compensation.

[0003] The detection of rotor position often uses eddy current sensors or capacitive sensors. These sensors are greatly affected by electromagnetic interference, and their detection accuracy is prone to drift with temperature changes. They are difficult to capture in real time and accurately the slight radial displacement of the rotor caused by thermal expansion. As a result, the center position displacement caused by rotor thermal expansion cannot be detected accurately in real time and dynamically compensated, which in turn affects the stability, efficiency and service life of the equipment.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a control method, device, magnetic levitation system, storage medium, and computer program product for a magnetic levitation rotor. This addresses the problem in related solutions where, during long-term operation of a magnetic levitation system, the rotor's center position shifts due to thermal expansion. Eddy current or capacitive sensors are susceptible to electromagnetic interference and temperature drift, making it difficult to accurately capture this shift in real time and achieve rapid dynamic compensation. This, in turn, affects the stability, efficiency, and lifespan of the equipment. The invention aims to accurately capture the center position shift caused by thermal expansion of the rotor during long-term operation of the magnetic levitation system, enabling rapid dynamic compensation and ensuring the stability of equipment operation.

[0006] This invention provides a control method for a magnetically levitated rotor, comprising a position detection component and a temperature acquisition component; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor; the method includes: during rotor operation, acquiring real-time radial position data of the rotor acquired by the position detection component and real-time temperature data of the rotor acquired by the temperature acquisition component; calculating the real-time position deviation of the rotor based on the current radial position data; determining whether the rotor exhibits radial expansion based on the real-time position deviation; if radial expansion is determined, calculating the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation; generating a control signal based on the real-time position deviation and the coefficient of thermal expansion; and adjusting the radial force state of the rotor according to the control signal to correct the rotor's levitation position.

[0007] In some implementations, calculating the real-time position deviation of the rotor based on the current radial position data includes: acquiring initial radial position data of the rotor through the position detection component before the rotor starts; comparing the current radial position data with the initial radial position data to calculate the real-time position deviation.

[0008] In some implementations, determining whether the rotor has radial expansion based on the real-time position deviation includes: comparing the real-time position deviation with a preset radial deviation threshold; if the real-time position deviation is greater than the preset radial deviation threshold, then determining that the rotor has radial expansion; if the real-time position deviation is less than or equal to the preset radial deviation threshold, then determining that the rotor does not have radial expansion.

[0009] In some embodiments, calculating the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation includes: acquiring initial temperature data of the rotor through the temperature acquisition component before the rotor starts; calculating the difference between the current temperature data and the initial temperature data to obtain the temperature change; calculating the radial deformation of the rotor based on the real-time position deviation through geometric relationships; and calculating the coefficient of thermal expansion based on the radial deformation, the temperature change, and the initial radial dimension parameters of the rotor.

[0010] In some implementations, generating a control signal based on the real-time position deviation and the coefficient of thermal expansion includes: using the coefficient of thermal expansion as a feedforward control parameter, predicting the subsequent radial expansion trend of the rotor based on the coefficient of thermal expansion, and generating a pre-compensation signal; simultaneously generating a feedback adjustment signal based on the real-time position deviation; and fusing the pre-compensation signal and the feedback adjustment signal to generate the control signal.

[0011] In some embodiments, the position detection component includes at least three detection elements, which are laser displacement sensors; each detection element is non-collinearly distributed around the radial outer side of the rotor, and the detection direction is towards the radial surface of the rotor; each detection element synchronously collects distance data between itself and the radial surface of the rotor, and the radial position data of the rotor is calculated based on the distance data.

[0012] In conjunction with the above method, another aspect of the present invention provides a control device for a magnetically levitated rotor, comprising a position detection component and a temperature acquisition component; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor; the control device includes: an acquisition unit configured to acquire, during rotor operation, real-time radial position data of the rotor acquired by the position detection component and real-time temperature data of the rotor acquired by the temperature acquisition component; a processing unit configured to calculate the real-time position deviation of the rotor based on the current radial position data; the processing unit is further configured to determine whether the rotor exhibits radial expansion based on the real-time position deviation; the processing unit is further configured to, if it is determined that the rotor exhibits radial expansion, calculate the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation; and a control unit configured to generate a control signal based on the real-time position deviation and the coefficient of thermal expansion, and adjust the radial force state of the rotor according to the control signal to correct the levitation position of the rotor.

[0013] In some implementations, the processing unit calculates the real-time position deviation of the rotor based on the current radial position data, including: acquiring initial radial position data of the rotor through the position detection component before the rotor starts; comparing the current radial position data with the initial radial position data to calculate the real-time position deviation.

[0014] In some implementations, the processing unit determines whether the rotor has radial expansion based on the real-time position deviation, including: comparing the real-time position deviation with a preset radial deviation threshold; if the real-time position deviation is greater than the preset radial deviation threshold, then determining that the rotor has radial expansion; if the real-time position deviation is less than or equal to the preset radial deviation threshold, then determining that the rotor does not have radial expansion.

[0015] In some embodiments, the processing unit calculates the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation, including: acquiring initial temperature data of the rotor through the temperature acquisition component before the rotor starts; calculating the difference between the current temperature data and the initial temperature data to obtain the temperature change; calculating the radial deformation of the rotor based on the real-time position deviation through geometric relationships; and calculating the coefficient of thermal expansion based on the radial deformation, the temperature change, and the initial radial dimension parameters of the rotor.

[0016] In some implementations, the control unit generates a control signal based on the real-time position deviation and the coefficient of thermal expansion, including: using the coefficient of thermal expansion as a feedforward control parameter, predicting the subsequent radial expansion trend of the rotor based on the coefficient of thermal expansion, and generating a pre-compensation signal; simultaneously generating a feedback adjustment signal based on the real-time position deviation; and fusing the pre-compensation signal and the feedback adjustment signal to generate the control signal.

[0017] In some embodiments, the position detection component includes at least three detection elements, which are laser displacement sensors; each detection element is non-collinearly distributed around the radial outer side of the rotor, and the detection direction is towards the radial surface of the rotor; each detection element synchronously collects distance data between itself and the radial surface of the rotor, and the radial position data of the rotor is calculated based on the distance data.

[0018] In conjunction with the above-mentioned device, the present invention further provides a magnetic levitation system, including: the control device for the magnetic levitation rotor described above.

[0019] In conjunction with the above method, the present invention further provides a storage medium comprising a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the above-described control method for a magnetically levitated rotor.

[0020] In conjunction with the above method, the present invention further provides a computer program product comprising a computer program that, when processed and executed, implements the steps of the above-described magnetic levitation rotor control method.

[0021] The present invention includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether radial expansion of the rotor exists. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0022] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0023] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating an embodiment of the control method for a magnetically levitated rotor of the present invention;

[0025] Figure 2 This is a schematic diagram of a structure of an embodiment of the control device for the magnetic levitation rotor of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a magnetic levitation bearing;

[0027] Figure 4 This is a flowchart illustrating the method for controlling the levitation position of a magnetically levitated rotor.

[0028] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0029] 1-Laser sensor; 2-Radial bearing; 3-Magnetic levitation rotor; 101-Acquisition unit; 102-Processing unit; 103-Control unit. Detailed Implementation

[0030] 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.

[0031] According to an embodiment of the present invention, a control method for a magnetically levitated rotor is provided, wherein a position detection component and a temperature acquisition component are disposed on the radially outer side of the rotor; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor. Figure 1 The diagram shows a flowchart of an embodiment of the method of the present invention. The control method of the magnetic levitation rotor may include steps S110 to S150.

[0032] In step S110, during the operation of the rotor, the current radial position data of the rotor collected in real time by the position detection component and the current temperature data of the rotor collected in real time by the temperature acquisition component are acquired.

[0033] During rotor operation, the temperature gradually increases due to factors such as friction and electromagnetic loss, leading to radial expansion and continuous changes in radial position. After the rotor starts, the position detection component continuously detects the rotor's radial position at a preset sampling frequency and outputs the current radial position data; the temperature acquisition component simultaneously acquires the rotor surface temperature at the same or a suitable frequency and outputs the current temperature data.

[0034] In step S120, the real-time position deviation of the rotor is calculated based on the current radial position data.

[0035] Real-time position deviation is a quantitative indicator that measures the rotor's deviation from the target suspension position. Only by clarifying the magnitude and direction of the deviation can the adjustment force that needs to be applied be determined to bring the rotor back to the target position.

[0036] In some implementations, step S120, calculating the real-time position deviation of the rotor based on the current radial position data, includes: before the rotor starts, acquiring the initial radial position data of the rotor through the position detection component; comparing the current radial position data with the initial radial position data to calculate the real-time position deviation.

[0037] Radial position data includes distance values, coordinate values, etc. Specifically, when the rotor is not started and is stationary, the position detection component detects the radial position of the rotor according to a preset acquisition rule (such as averaging multiple acquisitions), records and stores this initial radial position data. The system retrieves the initial radial position data (12.0 mm) stored before the rotor starts, obtains the current radial position data (e.g., 11.6 mm) acquired in real time by the position detection component, and obtains the real-time position deviation (0.4 mm) through subtraction (12.0 mm - 11.6 mm = 0.4 mm). This deviation represents the degree to which the rotor deviates towards the detection point.

[0038] If the radial position data is in coordinate form, the initial radial coordinates (x0, y0) of the rotor reference point are acquired by the position detection component before rotor startup. For example, with the rotor center as the reference point, its initial coordinates are (0, 0). During rotor operation, the position detection component acquires the current radial coordinates (x1, y1) of the reference point in real time. For example, due to radial expansion, the rotor center shifts 0.3mm in the positive X-axis direction and 0.2mm in the positive Y-axis direction, with the current coordinates being (0.3mm, 0.2mm). The deviations in the X-axis and Y-axis directions are calculated respectively, i.e., Δx = x1 - x0 (0.3mm - 0 = 0.3mm), Δy = y1 - y0 (0.2mm - 0 = 0.2mm), reflecting the offset in each radial direction. The straight-line distance deviation between the reference point and the origin is calculated through geometric relationships. By acquiring the initial radial position data before rotor startup and comparing it with the current radial position data to calculate the real-time position deviation, the accuracy and stability of the position deviation calculation are ensured.

[0039] In step S130, the presence of radial expansion of the rotor is determined based on the real-time position deviation.

[0040] The radial expansion of the rotor directly causes its outer surface to expand radially outward, reducing the distance data collected by the position detection component (or changing the coordinate data), which manifests as an increase in real-time position deviation. By setting a reasonable threshold, deviations caused by radial expansion can be distinguished from deviations caused by other factors (such as instantaneous vibration).

[0041] In some implementations, step S130, determining whether the rotor has radial expansion based on the real-time position deviation, includes: comparing the real-time position deviation with a preset radial deviation threshold; if the real-time position deviation is greater than the preset radial deviation threshold, then determining that the rotor has radial expansion; if the real-time position deviation is less than or equal to the preset radial deviation threshold, then determining that the rotor does not have radial expansion.

[0042] The preset radial deviation threshold is a pre-set standard for radial deviation based on factors such as the operating requirements of the magnetic levitation system, the normal vibration range of the rotor, and equipment safety clearances. This standard distinguishes whether the rotor's position deviation is caused by normal operating fluctuations or by radial expansion. Specifically, the system compares the real-time position deviation with the preset threshold. If the system finds that the real-time position deviation is greater than the preset radial deviation threshold, it triggers the logic for determining the presence of radial expansion and generates a corresponding judgment signal. If the system finds that the real-time position deviation is less than or equal to the preset radial deviation threshold, it triggers the logic for determining the absence of radial expansion and generates a corresponding judgment signal. This achieves accurate determination of rotor radial expansion, effectively filters out interference from normal operating fluctuations, and avoids ineffective control and excessive intervention.

[0043] For example, during normal operation, the rotor of a magnetic levitation blower experiences minute vibrations of ±0.15mm in its radial position due to airflow and its own rotation. Based on this, a preset radial deviation threshold of 0.2mm is set to ensure that normal vibration does not trigger expansion detection. After the blower has been running for two hours, the rotor temperature rises due to motor heating, increasing its radial dimension. The real-time position deviation calculated by the position detection component is 0.3mm. The system compares this 0.3mm deviation with the preset threshold of 0.2mm and finds that the real-time deviation is greater than the threshold, determining that the rotor has radial expansion. Subsequently, the thermal expansion coefficient calculation and control signal generation process is initiated, adjusting the magnetic field force of the radial electromagnet to pull the rotor position back to the reference range. If, during the initial stage of operation, the rotor only experiences a real-time position deviation of 0.18mm due to instantaneous airflow disturbance, the system compares this deviation and finds it to be less than the 0.2mm threshold, determining that there is no radial expansion.

[0044] In step S140, if it is determined that the rotor has radial expansion, the coefficient of thermal expansion of the rotor is calculated based on the current temperature data and the real-time position deviation.

[0045] The coefficient of thermal expansion is a key parameter reflecting the thermal expansion characteristics of a material, and its magnitude determines the degree to which temperature changes affect the radial dimension of the rotor. By combining the difference between the current temperature and the initial temperature (the amount of temperature change) and the radial deformation derived from the real-time position deviation, this coefficient can be calculated, providing a basis for predicting subsequent expansion trends.

[0046] In some embodiments, step S140, calculating the thermal expansion coefficient of the rotor based on the current temperature data and the real-time position deviation, includes: acquiring initial temperature data of the rotor through the temperature acquisition component before the rotor starts; calculating the difference between the current temperature data and the initial temperature data to obtain the temperature change; calculating the radial deformation of the rotor based on the real-time position deviation through geometric relationships; and calculating the thermal expansion coefficient based on the radial deformation, the temperature change, and the initial radial dimension parameters of the rotor.

[0047] The coefficient of thermal expansion is a core parameter for predicting the future expansion trend of the rotor. Only by accurately calculating this coefficient can trend-based feedforward control be achieved. The formula for calculating the coefficient of thermal expansion α is α = ΔL / (L0 × ΔT), where ΔL is the radial deformation, L0 is the initial radial length, and ΔT is the temperature change. Specifically, before the rotor starts, the temperature acquisition component records the initial temperature data (e.g., 25℃); during operation, the system acquires the current temperature data (e.g., 65℃), and obtains the temperature change (40℃) through subtraction (65℃ - 25℃ = 40℃); assuming the position detection component is arranged in a triangular pattern in the radial plane, a certain real-time position deviation is calculated as a radial distance offset of 0.5mm (i.e., the distance from the rotor center to the detection point decreases by 0.5mm). Combining the geometric positional relationship between the detection component and the rotor center, the radial deformation of the rotor corresponding to this deviation is derived to be 0.5mm (i.e., the radius increases by 0.5mm); the radial deformation (0.5mm), the temperature change (40℃), and the initial radial dimension parameter (e.g., initial radius 50mm) are substituted into the formula for calculation: The coefficient of thermal expansion of the rotor material was obtained. This enabled precise quantification of the thermal expansion characteristics of the rotor material, effectively improving the adaptability and control accuracy of the magnetic levitation system to temperature changes.

[0048] In step S150, a control signal is generated based on the real-time position deviation and the coefficient of thermal expansion. The radial force state of the rotor is adjusted according to the control signal to correct the suspension position of the rotor.

[0049] Real-time position deviation reflects the rotor's current offset state and requires immediate adjustment force to eliminate the deviation through feedback control; the coefficient of thermal expansion reflects the rotor's expansion trend as temperature increases and requires pre-emptive compensation force to counteract future offset through feedforward control. The control signal generated by combining these two factors can achieve dual adjustment of "immediate correction + trend prediction," improving the stability of the suspension position.

[0050] In some implementations, step S150, generating a control signal based on the real-time position deviation and the coefficient of thermal expansion, includes: using the coefficient of thermal expansion as a feedforward control parameter, predicting the subsequent radial expansion trend of the rotor based on the coefficient of thermal expansion, and generating a pre-compensation signal; simultaneously generating a feedback adjustment signal based on the real-time position deviation; and fusing the pre-compensation signal and the feedback adjustment signal to generate the control signal.

[0051] The rotor's subsequent radial expansion trend is predicted based on the current temperature change rate and thermal expansion coefficient, forecasting the direction and magnitude of the rotor's radial dimension increase over a future period, as well as the resulting positional shift trend. The pre-compensation signal is an adjustment signal generated in advance based on the radial expansion trend, used to offset potential future rotor positional shifts and reduce adjustment lag. The feedback adjustment signal is an immediate adjustment signal generated based on real-time position deviations, used to eliminate existing rotor positional shifts.

[0052] Using only the pre-compensation signal may lead to over-adjustment due to prediction errors; using only the feedback adjustment signal cannot address the lag caused by rapid expansion. The fusion approach combines the advantages of both to optimize the adjustment effect. Specifically, the system uses the thermal expansion coefficient and the current temperature change rate to predict the temperature trend over a future period; combined with the initial radial dimension of the rotor, it calculates the future radial deformation and corresponding positional offset, generating a pre-compensation signal based on this trend; the system calculates the required instantaneous adjustment force based on the real-time deviation and generates a feedback adjustment signal; the system superimposes the pre-compensation signal and the feedback adjustment signal to generate a comprehensive control signal, which simultaneously includes pre-compensation for future expansion and instantaneous correction for the current offset. This effectively reduces adjustment lag and improves control accuracy and system stability.

[0053] This invention deploys position detection and temperature acquisition components on the radially outer side of the rotor to acquire radial position and temperature data in real time. After deviation calculation, expansion judgment, and thermal expansion coefficient derivation, a fusion feedback and feedforward control signal is generated to adjust the radial force state of the rotor, ultimately achieving precise correction of the levitation position. This significantly improves the levitation stability and control accuracy of the magnetic levitation rotor, effectively adapts to different operating conditions, reduces the risk of system failure, and provides effective assurance for the reliable operation of the magnetic levitation system.

[0054] For example, a magnetic levitation rotor has an initial radial radius of 60mm, an initial temperature of 25℃ at startup, and an initial distance of 10mm between a position detection component corresponding to the target levitation position and the rotor surface. The preset radial deviation threshold is 0.4mm. After 30 minutes of operation, the position detection component acquires a current radial position of 9.6mm (i.e., the distance to the rotor surface decreases by 0.4mm), and the temperature acquisition component acquires a current temperature of 55℃. The system calculates a real-time position deviation of 0.4mm (10mm - 9.6mm), which equals the preset threshold, indicating radial expansion. The calculated temperature change is 30℃ (55℃ - 25℃). The radial deformation is derived from the position deviation as 0.4mm (the decrease in distance, i.e., the radius increase caused by radial expansion). Combined with the initial radial radius of 60mm, the coefficient of thermal expansion is calculated as 0.4 / (60×30) = 2.22×10⁻¹⁰. -4 / ℃; The system generates a feedback adjustment signal based on the real-time position deviation (an outward magnetic field force needs to be applied to counteract the 0.4mm offset), and simultaneously predicts, based on the coefficient of thermal expansion, that if the temperature increases by another 15℃, the radial deformation will increase by 0.2mm (2.22×10). -4 / ℃×60mm×15℃≈0.2mm), generating a pre-compensation signal (applying an adjustment force corresponding to the 0.2mm offset in advance); the fused control signal drives the radial electromagnet to adjust the radial force state of the rotor, so that the rotor gradually returns to the target suspension position and counteracts possible future expansion offset, ensuring stable operation of the compressor.

[0055] In some embodiments, the position detection component includes at least three detection elements, which are laser displacement sensors; each detection element is non-collinearly distributed around the radial outer side of the rotor, and the detection direction is towards the radial surface of the rotor; each detection element synchronously collects distance data between itself and the radial surface of the rotor, and the radial position data of the rotor is calculated based on the distance data.

[0056] At least three non-collinear detection elements form the basis for three-dimensional positioning in the radial plane, ensuring that the coordinates of the rotor center can be uniquely determined through distance data. The detection direction of the laser displacement sensor is towards the radial surface, allowing direct measurement of radial distance and avoiding measurement errors caused by angular deviations. The non-collinear distribution can cover positional changes in different radial directions of the rotor, preventing the limitations of single-direction detection. Specifically, at least three laser displacement sensors are fixed at different positions on the radially outer side of the rotor. For example, one sensor is installed in the radial plane with the rotor center as the origin, one in the positive X-axis direction, one in the positive Y-axis direction, and one at a 45° angle to the X-axis, forming a non-collinear triangular layout. The laser emission direction of each sensor is adjusted so that it is perpendicular to the radial surface of the rotor (i.e., inward along the radial direction), ensuring that the laser beam can stably irradiate the rotor surface and reflect back to the sensor.

[0057] Distance data from a single sensor can only reflect the local position of the rotor in that direction and cannot characterize the overall radial position. However, by simultaneously calculating the distance data from multiple non-collinear sensors, the overall positional state of the rotor can be fully reconstructed. Specifically, assuming the installation coordinates of the three laser displacement sensors are (A... x A y ), (B x B y ), (C x C y The collected distance data are d A d B d CBased on the relationship that "the distance between the sensor coordinates and the coordinates of a point on the rotor surface is equal to d", three equations are established and solved simultaneously to obtain the coordinates of three points on the rotor surface: (x1, y1), (x2, y2), and (x3, y3). Then, by fitting a circle using these three points, the coordinates of the circle's center are calculated. By specifying that the position detection component uses at least three non-collinearly distributed laser displacement sensors, with the detection direction facing the rotor's radial surface, and simultaneously acquiring distance data and calculating radial position data, the accuracy and comprehensiveness of the rotor's radial position detection are ensured.

[0058] The structure of the magnetic bearing where the magnetic levitation rotor is located is as follows: Figure 3 As shown, three laser sensors 1 arranged in a triangular pattern are positioned on the radial outer side of the rotor, with the detection direction of the laser sensors 1 facing the radial surface of the magnetically levitated rotor 3. During rotor operation, the laser sensors can calculate the rotor's expansion and positional offset, thereby adjusting the rotor's levitation position.

[0059] Figure 4 A flowchart illustrating the method for controlling the levitation position of a magnetically levitated rotor, including:

[0060] Step 1: Before the magnetic levitation rotor operates, calculate the initial coordinate position of the rotor based on the values ​​d1, d2, and d3 collected by the three laser sensors. Specifically, first calculate the initial coordinates using the following formula: R is the rotor radius, and three initial coordinates are obtained. , , ; then according to , , The rotor center position was calculated. The formula is: .

[0061] Step 2: After the magnetic levitation rotor starts running, the laser sensor collects its current actual position data, compares the actual measured coordinates with the initial coordinate data, and calculates the deviation values ​​Δx and Δy. Simultaneously, an infrared temperature sensor acquires the rotor surface temperature change curve.

[0062] Step 3: Determine if radial expansion exists. If radial expansion exists, calculate the coefficient of thermal expansion of the rotor at different temperatures. The formula is: ΔL is the deformation. Let ΔT be the initial length and ΔT be the temperature change.

[0063] Step 4: Using the coefficient of thermal expansion as a feedforward control parameter, combined with the current center position offset, input the control algorithm module to generate the corresponding control signal, adjust the current of the magnetic levitation bearing, thereby achieving dynamic compensation control of the rotor center position.

[0064] The technical solution of this embodiment includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether the rotor exhibits radial expansion. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0065] According to an embodiment of the present invention, a control device for a magnetically levitated rotor corresponding to a control method for a magnetically levitated rotor is also provided. A position detection component and a temperature acquisition component are disposed on the radially outer side of the rotor; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor. See also Figure 2 The diagram shows a structural schematic of an embodiment of the device of the present invention. The control device for the magnetically levitated rotor may include: an acquisition unit 101, a processing unit 102, and a control unit 103.

[0066] The acquisition unit 101 is configured to acquire, during the operation of the rotor, the current radial position data of the rotor collected in real time by the position detection component and the current temperature data of the rotor collected in real time by the temperature acquisition component.

[0067] During rotor operation, the temperature gradually increases due to factors such as friction and electromagnetic loss, leading to radial expansion and continuous changes in radial position. After the rotor starts, the position detection component continuously detects the rotor's radial position at a preset sampling frequency and outputs the current radial position data; the temperature acquisition component simultaneously acquires the rotor surface temperature at the same or a suitable frequency and outputs the current temperature data.

[0068] The processing unit 102 is configured to calculate the real-time position deviation of the rotor based on the current radial position data.

[0069] Real-time position deviation is a quantitative indicator that measures the rotor's deviation from the target suspension position. Only by clarifying the magnitude and direction of the deviation can the adjustment force that needs to be applied be determined to bring the rotor back to the target position.

[0070] In some embodiments, the processing unit 102 calculates the real-time position deviation of the rotor based on the current radial position data, including: before the rotor starts, acquiring the initial radial position data of the rotor through the position detection component; comparing the current radial position data with the initial radial position data to calculate the real-time position deviation.

[0071] Radial position data includes distance values, coordinate values, etc. Specifically, when the rotor is not started and is stationary, the position detection component detects the radial position of the rotor according to a preset acquisition rule (such as averaging multiple acquisitions), records and stores this initial radial position data. The system retrieves the initial radial position data (12.0 mm) stored before the rotor starts, obtains the current radial position data (e.g., 11.6 mm) acquired in real time by the position detection component, and obtains the real-time position deviation (0.4 mm) through subtraction (12.0 mm - 11.6 mm = 0.4 mm). This deviation represents the degree to which the rotor deviates towards the detection point.

[0072] If the radial position data is in coordinate form, the initial radial coordinates (x0, y0) of the rotor reference point are acquired by the position detection component before rotor startup. For example, with the rotor center as the reference point, its initial coordinates are (0, 0). During rotor operation, the position detection component acquires the current radial coordinates (x1, y1) of the reference point in real time. For example, due to radial expansion, the rotor center shifts 0.3mm in the positive X-axis direction and 0.2mm in the positive Y-axis direction, with the current coordinates being (0.3mm, 0.2mm). The deviations in the X-axis and Y-axis directions are calculated respectively, i.e., Δx = x1 - x0 (0.3mm - 0 = 0.3mm), Δy = y1 - y0 (0.2mm - 0 = 0.2mm), reflecting the offset in each radial direction. The straight-line distance deviation between the reference point and the origin is calculated through geometric relationships. By acquiring the initial radial position data before rotor startup and comparing it with the current radial position data to calculate the real-time position deviation, the accuracy and stability of the position deviation calculation are ensured.

[0073] The processing unit 102 is further configured to determine whether the rotor has radial expansion based on the real-time position deviation.

[0074] The radial expansion of the rotor directly causes its outer surface to expand radially outward, reducing the distance data collected by the position detection component (or changing the coordinate data), which manifests as an increase in real-time position deviation. By setting a reasonable threshold, deviations caused by radial expansion can be distinguished from deviations caused by other factors (such as instantaneous vibration).

[0075] In some embodiments, the processing unit 102 determines whether the rotor has radial expansion based on the real-time position deviation, including: comparing the real-time position deviation with a preset radial deviation threshold; if the real-time position deviation is greater than the preset radial deviation threshold, then determining that the rotor has radial expansion; if the real-time position deviation is less than or equal to the preset radial deviation threshold, then determining that the rotor does not have radial expansion.

[0076] The preset radial deviation threshold is a pre-set standard for radial deviation based on factors such as the operating requirements of the magnetic levitation system, the normal vibration range of the rotor, and equipment safety clearances. This standard distinguishes whether the rotor's position deviation is caused by normal operating fluctuations or by radial expansion. Specifically, the system compares the real-time position deviation with the preset threshold. If the system finds that the real-time position deviation is greater than the preset radial deviation threshold, it triggers the logic for determining the presence of radial expansion and generates a corresponding judgment signal. If the system finds that the real-time position deviation is less than or equal to the preset radial deviation threshold, it triggers the logic for determining the absence of radial expansion and generates a corresponding judgment signal. This achieves accurate determination of rotor radial expansion, effectively filters out interference from normal operating fluctuations, and avoids ineffective control and excessive intervention.

[0077] For example, during normal operation, the rotor of a magnetic levitation blower experiences minute vibrations of ±0.15mm in its radial position due to airflow and its own rotation. Based on this, a preset radial deviation threshold of 0.2mm is set to ensure that normal vibration does not trigger expansion detection. After the blower has been running for two hours, the rotor temperature rises due to motor heating, increasing its radial dimension. The real-time position deviation calculated by the position detection component is 0.3mm. The system compares this 0.3mm deviation with the preset threshold of 0.2mm and finds that the real-time deviation is greater than the threshold, determining that the rotor has radial expansion. Subsequently, the thermal expansion coefficient calculation and control signal generation process is initiated, adjusting the magnetic field force of the radial electromagnet to pull the rotor position back to the reference range. If, during the initial stage of operation, the rotor only experiences a real-time position deviation of 0.18mm due to instantaneous airflow disturbance, the system compares this deviation and finds it to be less than the 0.2mm threshold, determining that there is no radial expansion.

[0078] The processing unit 102 is further configured to calculate the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation if it is determined that the rotor has radial expansion.

[0079] The coefficient of thermal expansion is a key parameter reflecting the thermal expansion characteristics of a material, and its magnitude determines the degree to which temperature changes affect the radial dimension of the rotor. By combining the difference between the current temperature and the initial temperature (the amount of temperature change) and the radial deformation derived from the real-time position deviation, this coefficient can be calculated, providing a basis for predicting subsequent expansion trends.

[0080] In some embodiments, the processing unit 102 calculates the thermal expansion coefficient of the rotor based on the current temperature data and the real-time position deviation, including: acquiring initial temperature data of the rotor through the temperature acquisition component before the rotor starts; calculating the difference between the current temperature data and the initial temperature data to obtain the temperature change; calculating the radial deformation of the rotor based on the real-time position deviation through geometric relationships; and calculating the thermal expansion coefficient based on the radial deformation, the temperature change, and the initial radial dimension parameters of the rotor.

[0081] The coefficient of thermal expansion is a core parameter for predicting the future expansion trend of the rotor. Only by accurately calculating this coefficient can trend-based feedforward control be achieved. The formula for calculating the coefficient of thermal expansion α is α = ΔL / (L0 × ΔT), where ΔL is the radial deformation, L0 is the initial radial length, and ΔT is the temperature change. Specifically, before the rotor starts, the temperature acquisition component records the initial temperature data (e.g., 25℃); during operation, the system acquires the current temperature data (e.g., 65℃), and obtains the temperature change (40℃) through subtraction (65℃ - 25℃ = 40℃); assuming the position detection component is arranged in a triangular pattern in the radial plane, a certain real-time position deviation is calculated as a radial distance offset of 0.5mm (i.e., the distance from the rotor center to the detection point decreases by 0.5mm). Combining the geometric positional relationship between the detection component and the rotor center, the radial deformation of the rotor corresponding to this deviation is derived to be 0.5mm (i.e., the radius increases by 0.5mm); the radial deformation (0.5mm), the temperature change (40℃), and the initial radial dimension parameter (e.g., initial radius 50mm) are substituted into the formula for calculation: The coefficient of thermal expansion of the rotor material was obtained. This enabled precise quantification of the thermal expansion characteristics of the rotor material, effectively improving the adaptability and control accuracy of the magnetic levitation system to temperature changes.

[0082] The control unit 103 is configured to generate a control signal based on the real-time position deviation and the coefficient of thermal expansion, and adjust the radial force state of the rotor according to the control signal to correct the suspension position of the rotor.

[0083] Real-time position deviation reflects the rotor's current offset state and requires immediate adjustment force to eliminate the deviation through feedback control; the coefficient of thermal expansion reflects the rotor's expansion trend as temperature increases and requires pre-emptive compensation force to counteract future offset through feedforward control. The control signal generated by combining these two factors can achieve dual adjustment of "immediate correction + trend prediction," improving the stability of the suspension position.

[0084] In some embodiments, the control unit 103 generates a control signal based on the real-time position deviation and the coefficient of thermal expansion, including: using the coefficient of thermal expansion as a feedforward control parameter, predicting the subsequent radial expansion trend of the rotor based on the coefficient of thermal expansion, and generating a pre-compensation signal; simultaneously generating a feedback adjustment signal based on the real-time position deviation; and fusing the pre-compensation signal and the feedback adjustment signal to generate the control signal.

[0085] The rotor's subsequent radial expansion trend is predicted based on the current temperature change rate and thermal expansion coefficient, forecasting the direction and magnitude of the rotor's radial dimension increase over a future period, as well as the resulting positional shift trend. The pre-compensation signal is an adjustment signal generated in advance based on the radial expansion trend, used to offset potential future rotor positional shifts and reduce adjustment lag. The feedback adjustment signal is an immediate adjustment signal generated based on real-time position deviations, used to eliminate existing rotor positional shifts.

[0086] Using only the pre-compensation signal may lead to over-adjustment due to prediction errors; using only the feedback adjustment signal cannot address the lag caused by rapid expansion. The fusion approach combines the advantages of both to optimize the adjustment effect. Specifically, the system uses the thermal expansion coefficient and the current temperature change rate to predict the temperature trend over a future period; combined with the initial radial dimension of the rotor, it calculates the future radial deformation and corresponding positional offset, generating a pre-compensation signal based on this trend; the system calculates the required instantaneous adjustment force based on the real-time deviation and generates a feedback adjustment signal; the system superimposes the pre-compensation signal and the feedback adjustment signal to generate a comprehensive control signal, which simultaneously includes pre-compensation for future expansion and instantaneous correction for the current offset. This effectively reduces adjustment lag and improves control accuracy and system stability.

[0087] This invention deploys position detection and temperature acquisition components on the radially outer side of the rotor to acquire radial position and temperature data in real time. After deviation calculation, expansion judgment, and thermal expansion coefficient derivation, a fusion feedback and feedforward control signal is generated to adjust the radial force state of the rotor, ultimately achieving precise correction of the levitation position. This significantly improves the levitation stability and control accuracy of the magnetic levitation rotor, effectively adapts to different operating conditions, reduces the risk of system failure, and provides effective assurance for the reliable operation of the magnetic levitation system.

[0088] In some embodiments, the position detection component includes at least three detection elements, which are laser displacement sensors; each detection element is non-collinearly distributed around the radial outer side of the rotor, and the detection direction is towards the radial surface of the rotor; each detection element synchronously collects distance data between itself and the radial surface of the rotor, and the radial position data of the rotor is calculated based on the distance data.

[0089] At least three non-collinear detection elements form the basis for three-dimensional positioning in the radial plane, ensuring that the coordinates of the rotor center can be uniquely determined through distance data. The detection direction of the laser displacement sensor is towards the radial surface, allowing direct measurement of radial distance and avoiding measurement errors caused by angular deviations. The non-collinear distribution can cover positional changes in different radial directions of the rotor, preventing the limitations of single-direction detection. Specifically, at least three laser displacement sensors are fixed at different positions on the radially outer side of the rotor. For example, one sensor is installed in the radial plane with the rotor center as the origin, one in the positive X-axis direction, one in the positive Y-axis direction, and one at a 45° angle to the X-axis, forming a non-collinear triangular layout. The laser emission direction of each sensor is adjusted so that it is perpendicular to the radial surface of the rotor (i.e., inward along the radial direction), ensuring that the laser beam can stably irradiate the rotor surface and reflect back to the sensor.

[0090] Distance data from a single sensor can only reflect the local position of the rotor in that direction and cannot characterize the overall radial position. However, by simultaneously calculating the distance data from multiple non-collinear sensors, the overall positional state of the rotor can be fully reconstructed. Specifically, assuming the installation coordinates of the three laser displacement sensors are (A... x A y ), (B x B y ), (C x C y The collected distance data are d A d B d C Based on the relationship that "the distance between the sensor coordinates and the coordinates of a point on the rotor surface is equal to d", three equations are established and solved simultaneously to obtain the coordinates of three points on the rotor surface: (x1, y1), (x2, y2), and (x3, y3). Then, by fitting a circle using these three points, the coordinates of the circle's center are calculated. By specifying that the position detection component uses at least three non-collinearly distributed laser displacement sensors, with the detection direction facing the rotor's radial surface, and simultaneously acquiring distance data and calculating radial position data, the accuracy and comprehensiveness of the rotor's radial position detection are ensured.

[0091] Since the processing and functions implemented by the device in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0092] The technical solution of this invention includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether the rotor exhibits radial expansion. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0093] According to an embodiment of the present invention, a magnetic levitation system corresponding to a control device for a magnetically levitated rotor is also provided. This magnetic levitation system may include the control device for the magnetically levitated rotor described above.

[0094] Since the processing and functions implemented by the magnetic levitation system in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned devices, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0095] The technical solution of this invention includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether the rotor exhibits radial expansion. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0096] According to an embodiment of the present invention, a storage medium corresponding to the control method for a magnetically levitated rotor is also provided. The storage medium includes a stored program, wherein the program controls the device where the storage medium is located to execute the control method for the magnetically levitated rotor described above when it is executed.

[0097] Since the processing and functions implemented by the storage medium in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0098] The technical solution of this invention includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether the rotor exhibits radial expansion. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0099] According to an embodiment of the present invention, a computer program product corresponding to the control method for a magnetically levitated rotor is also provided. The computer program product includes a computer program that, when processed and executed, implements the steps of the control method for the magnetically levitated rotor described above.

[0100] Since the processing and functions implemented by the computer program product in this embodiment are basically corresponding to the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0101] The technical solution of this invention includes a position detection component for detecting radial position and a temperature acquisition component for collecting rotor surface temperature. During rotor operation, the current radial position data and current temperature data collected in real time by both components are acquired. The real-time position deviation is calculated based on the current radial position data, and then it is determined whether the rotor exhibits radial expansion. If radial expansion exists, the coefficient of thermal expansion is calculated based on the current temperature data and the real-time position deviation. A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion to adjust the radial force state of the rotor to correct the suspension position. This achieves rapid dynamic compensation of the rotor, ensuring the stability of equipment operation.

[0102] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0103] 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 present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A control method for a magnetically levitated rotor, characterized in that, The rotor is equipped with a position detection component and a temperature acquisition component; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor. The method includes: During the operation of the rotor, the current radial position data of the rotor is acquired in real time by the position detection component, and the current temperature data of the rotor is acquired in real time by the temperature acquisition component. The real-time position deviation of the rotor is calculated based on the current radial position data; The presence of radial expansion of the rotor is determined based on the real-time position deviation. If it is determined that the rotor has radial expansion, then the coefficient of thermal expansion of the rotor is calculated based on the current temperature data and the real-time position deviation; A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion. The radial force state of the rotor is adjusted according to the control signal to correct the rotor's suspension position.

2. The control method for a magnetically levitated rotor according to claim 1, characterized in that, The real-time position deviation of the rotor is calculated based on the current radial position data, including: Before the rotor starts, the initial radial position data of the rotor is acquired by the position detection component; The current radial position data is compared with the initial radial position data to calculate the real-time position deviation.

3. The control method for a magnetically levitated rotor according to claim 1, characterized in that, Determining whether the rotor exhibits radial expansion based on the real-time position deviation includes: The real-time position deviation is compared with a preset radial deviation threshold; If the real-time position deviation is greater than the preset radial deviation threshold, it is determined that the rotor has radial expansion; If the real-time position deviation is less than or equal to the preset radial deviation threshold, it is determined that the rotor does not have radial expansion.

4. The control method for a magnetically levitated rotor according to claim 1, characterized in that, The thermal expansion coefficient of the rotor is calculated based on the current temperature data and the real-time position deviation, including: Before the rotor is started, the initial temperature data of the rotor is collected by the temperature acquisition component; the difference between the current temperature data and the initial temperature data is calculated to obtain the temperature change. Based on the real-time position deviation, the radial deformation of the rotor is calculated through geometric relationships; The coefficient of thermal expansion is calculated based on the radial deformation, the temperature change, and the initial radial dimension parameters of the rotor.

5. The control method for a magnetically levitated rotor according to claim 1, characterized in that, A control signal is generated based on the real-time position deviation and the coefficient of thermal expansion, including: The coefficient of thermal expansion is used as a feedforward control parameter. Based on the coefficient of thermal expansion, the subsequent radial expansion trend of the rotor is predicted, and a pre-compensation signal is generated. At the same time, a feedback adjustment signal is generated based on the real-time position deviation. The pre-compensation signal and the feedback adjustment signal are fused to generate the control signal.

6. The control method for a magnetically levitated rotor according to any one of claims 1 to 5, characterized in that, The position detection component includes at least three detection elements, each of which is a laser displacement sensor. Each detection element is non-collinearly distributed around the radial outer side of the rotor, and the detection direction is towards the radial surface of the rotor. Each detection element synchronously collects distance data between itself and the radial surface of the rotor, and the radial position data of the rotor is calculated based on the distance data.

7. A control device for a magnetically levitated rotor, characterized in that, The rotor is equipped with a position detection component and a temperature acquisition component; the position detection component is used to detect the radial position of the rotor, and the temperature acquisition component is used to acquire the surface temperature of the rotor. The control device includes: The acquisition unit is configured to acquire, during the operation of the rotor, the current radial position data of the rotor collected in real time by the position detection component and the current temperature data of the rotor collected in real time by the temperature acquisition component. The processing unit is configured to calculate the real-time position deviation of the rotor based on the current radial position data; The processing unit is further configured to determine whether the rotor has radial expansion based on the real-time position deviation; The processing unit is further configured to calculate the coefficient of thermal expansion of the rotor based on the current temperature data and the real-time position deviation if it is determined that the rotor has radial expansion. The control unit is configured to generate a control signal based on the real-time position deviation and the coefficient of thermal expansion, and adjust the radial force state of the rotor according to the control signal to correct the suspension position of the rotor.

8. A magnetic levitation system, characterized in that, include: The control device for the magnetic levitation rotor as described in claim 7.

9. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the control method for the magnetic levitation rotor as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the magnetically levitated rotor as described in any one of claims 1 to 6.

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