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

Abstract

The invention provides a control method and device of a magnetic suspension motor, a medium, a controller and a program product, and the method comprises the steps: obtaining the current protection precision of a magnetic suspension bearing of the magnetic suspension motor according to the current rotation speed of the magnetic suspension motor; obtaining the current magnetic suspension bearing protection precision of the magnetic suspension motor based on a preset magnetic suspension bearing protection precision prediction model; judging whether the current displacement of the magnetic suspension bearing is within the range of the acquired protection precision or not; and if it is judged that the current displacement of the magnetic suspension bearing exceeds the range of the protection precision, executing a preset protection mechanism. According to the scheme provided by the invention, the frequency-increasing trafficability of the motor during low-speed operation can be effectively improved, and meanwhile, the stability during high-speed operation is enhanced.

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 motor, specifically to a control method, device, storage medium, bearing controller, and computer program product for a magnetic levitation motor. Background Technology

[0002] With increasing demands for energy conservation and efficiency in industrial equipment, magnetic levitation blowers have been widely used in wastewater treatment, pneumatic conveying, and other fields due to their advantages such as contactless operation, low energy consumption, and high efficiency. Among these applications, the main motor, as the core drive component of the magnetic levitation blower, is crucial for the overall reliability of the equipment's operation due to the stable control of its high-speed shaft.

[0003] In magnetic levitation control systems (e.g., magnetic levitation blower systems) in related technologies, a uniform protection accuracy setting is typically used to control the operating state of the rotating shaft. However, this fixed accuracy setting method is prone to frequent false triggering of the protection mechanism when the motor is running at low speed due to excessive accuracy, affecting the frequency ramp-up capability; while at high speed, insufficient accuracy may lead to decreased stability, affecting the safety of equipment operation. 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 a magnetic levitation motor. This addresses the problem in related technologies where a uniform protection accuracy setting is used to control the operating state of the rotating shaft in magnetic levitation control systems, which can easily lead to frequent false triggering of the protection mechanism due to excessively high accuracy when the motor is running at low speed.

[0005] The present invention provides a control method for a magnetic levitation motor, comprising: obtaining the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotation speed of the magnetic levitation motor, or obtaining the current magnetic bearing protection accuracy of the magnetic levitation motor based on a preset magnetic bearing protection accuracy prediction model; determining whether the current displacement of the magnetic bearing is within the range of the obtained protection accuracy; if it is determined that the current displacement of the magnetic bearing exceeds the range of the protection accuracy, then executing a preset protection mechanism.

[0006] Optionally, obtaining the current magnetic bearing protection accuracy of the magnetic levitation motor based on its current rotational speed includes: determining the rotational speed range in which the current rotational speed of the magnetic levitation motor falls within two or more preset rotational speed ranges; wherein different rotational speed ranges in the two or more rotational speed ranges correspond to different magnetic bearing protection accuracies; and determining the current magnetic bearing protection accuracy of the magnetic levitation motor based on the determined rotational speed range in which the current rotational speed of the magnetic levitation motor falls within the two or more rotational speed ranges.

[0007] Optionally, the different magnetic bearing protection accuracies corresponding to different speed ranges in the two or more speed ranges include: different percentages of the mechanical protection clearance of the magnetic bearings corresponding to different speed ranges in the two or more speed ranges.

[0008] Optionally, the different percentages of the mechanical protection clearance of the magnetic levitation bearing corresponding to different speed ranges in the two or more speed ranges include: a speed range of 0% to 30% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 90% of the mechanical protection clearance; a speed range of 30% to 70% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 85% of the mechanical protection clearance; and a speed range of 70% to 100% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 90% of the mechanical protection clearance.

[0009] Optionally, the current magnetic levitation bearing protection accuracy of the magnetic levitation motor is obtained based on a preset magnetic levitation bearing protection accuracy prediction model, including: obtaining the current operating parameters of the magnetic levitation motor and the environmental information of the current environment; performing preset processing on the obtained operating parameters and environmental information to obtain a feature vector of the magnetic levitation bearing operating state; and inputting the feature vector into the preset magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor.

[0010] Another aspect of the present invention provides a control device for a magnetic levitation motor, comprising: an acquisition unit, configured to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotational speed of the magnetic levitation motor, or to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on a preset magnetic bearing protection accuracy prediction model; a judgment unit, configured to determine whether the current displacement of the magnetic bearing is within the range of the protection accuracy acquired by the acquisition unit; and an execution unit, configured to execute a preset protection mechanism if the judgment unit determines that the current displacement of the magnetic bearing exceeds the range of the protection accuracy.

[0011] Optionally, the acquisition unit acquires the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotational speed of the magnetic levitation motor, including: determining the rotational speed range in which the current rotational speed of the magnetic levitation motor falls within two or more preset rotational speed ranges; wherein different rotational speed ranges in the two or more rotational speed ranges correspond to different magnetic bearing protection accuracies; and determining the current magnetic bearing protection accuracy of the magnetic levitation motor based on the determined rotational speed range in which the current rotational speed of the magnetic levitation motor falls within the two or more rotational speed ranges.

[0012] Optionally, the different magnetic bearing protection accuracies corresponding to different speed ranges in the two or more speed ranges include: different percentages of the mechanical protection clearance of the magnetic bearings corresponding to different speed ranges in the two or more speed ranges.

[0013] Optionally, the different percentages of the mechanical protection clearance of the magnetic levitation bearing corresponding to different speed ranges in the two or more speed ranges include: a speed range of 0% to 30% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 90% of the mechanical protection clearance; a speed range of 30% to 70% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 85% of the mechanical protection clearance; and a speed range of 70% to 100% of the rated speed, corresponding to a magnetic levitation bearing protection accuracy of 90% of the mechanical protection clearance.

[0014] Optionally, the acquisition unit acquires the current magnetic levitation bearing protection accuracy of the magnetic levitation motor based on a preset magnetic levitation bearing protection accuracy prediction model, including: acquiring the current operating parameters of the magnetic levitation motor and the environmental information of the current environment; performing preset processing on the acquired operating parameters and environmental information to obtain a feature vector of the magnetic levitation bearing operating state; and inputting the feature vector into the preset magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor.

[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 a bearing controller, 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 a bearing controller, including any of the aforementioned devices.

[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, by setting protection accuracy limits with gradient changes for different speed ranges, and automatically selecting appropriate protection accuracy according to different speeds, the frequency increase passability of the motor at low speed operation can be effectively improved, while enhancing the stability at high speed operation. This improves the overall operational reliability and safety of the magnetic levitation blower, and solves the technical problems of existing magnetic levitation motors having poor low-speed frequency increase passability and insufficient high-speed operation stability when the protection accuracy is set to a uniform value at different speeds. Attached Figure Description

[0020] 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 a magnetic levitation motor provided by the present invention; Figure 2 A flowchart illustrating a specific implementation of the steps for predicting the current magnetic levitation bearing protection accuracy of the magnetic levitation motor based on a preset magnetic levitation bearing protection accuracy prediction model is provided. Figure 3 The step protection accuracy setting curve is shown; Figure 4 The linear protection accuracy setting curve is shown; Figure 5 The nonlinear protection accuracy setting curve is shown; Figure 6 This is a structural block diagram of an embodiment of the control device for a magnetic levitation motor provided by the present invention. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] In related technologies, magnetic levitation control systems use a uniform protection accuracy setting to control the shaft's operating state. However, this high accuracy can lead to frequent false triggering of the protection mechanism when the motor is running at low speeds. Furthermore, the bearing controllers in these technologies fail to dynamically adjust the protection strategy based on speed changes, lacking adaptive control methods for different speed ranges. Therefore, a control method capable of dynamically adjusting the protection accuracy based on motor speed is urgently needed to improve the operational stability and safety of magnetic levitation blowers at various speeds.

[0024] Figure 1 This is a schematic diagram of an embodiment of the control method for a magnetic levitation motor provided by the present invention.

[0025] like Figure 1 As shown, according to an embodiment of the present invention, the control method of the magnetic levitation motor includes at least steps S110, S120 and S130.

[0026] Step S110: Obtain the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotation speed of the magnetic levitation motor, or obtain the current magnetic bearing protection accuracy of the magnetic levitation motor based on a preset magnetic bearing protection accuracy acquisition model.

[0027] In one implementation, the current magnetic bearing protection accuracy of the magnetic levitation motor is obtained based on its current rotational speed. Specifically, the current rotational speed of the magnetic levitation motor is obtained, and it is determined which rotational speed range the current rotational speed falls within in two or more preset rotational speed ranges. Based on the determined rotational speed range within which the current rotational speed of the magnetic levitation motor falls, the current magnetic bearing protection accuracy of the magnetic levitation motor is determined.

[0028] Specifically, the magnetic levitation bearing controller reads the motor speed signal (from the frequency converter) and determines the current speed range based on two or more preset speed ranges. Different speed ranges within these ranges correspond to different protection accuracies; that is, the magnetic levitation bearing operates at different protection accuracies within these ranges. Based on the determined speed range within which the current speed of the magnetic levitation motor falls, the corresponding magnetic levitation bearing protection accuracies are defined as the magnetic levitation bearing protection accuracies of the magnetic levitation motor. The protection accuracies of the magnetic levitation bearing are the radial and axial deviations of the bearing's shaft from its static center position.

[0029] In one specific embodiment, the different magnetic levitation bearing protection accuracies corresponding to different speed ranges within the two or more speed ranges can specifically be different percentages of the mechanical protection clearance of the magnetic levitation bearing corresponding to different speed ranges within the two or more speed ranges. The mechanical protection clearance of the magnetic levitation bearing is the maximum distance between the bearing and the bearing shaft in the radial and axial directions.

[0030] For example, in the speed range of 0% to 30% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing; in the speed range of 30% to 70% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 85% of the mechanical protection clearance of the magnetic levitation bearing; and in the speed range of 70% to 100% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing.

[0031] For example, the operating speed of the magnetic levitation motor is divided into three speed ranges, each corresponding to a different protection accuracy for the magnetic levitation bearing. When the speed is 0%–30% of the rated speed (i.e., 0–7800 rpm), the corresponding protection accuracy is 90% of the mechanical protection clearance (the maximum distance between the magnetic levitation bearing shaft and the bearing in the radial and axial directions); when the speed is 31%–70% of the rated speed (i.e., 7801–18200 rpm), the corresponding protection accuracy is 85% of the mechanical protection clearance; and when the speed is 71%–100% of the rated speed (i.e., 18201–26000 rpm), the protection accuracy is 80% of the mechanical protection clearance.

[0032] This invention sets a stepped protection accuracy based on the shaft's operating speed. When the speed is low, a larger proportion (e.g., 90%) of the protection accuracy value is used to improve the shaft's frequency increase passability. When the speed is high, a smaller proportion (e.g., 85%, 80%) of the protection accuracy value is used to improve operating accuracy and reliability. Based on different bearing design schemes, the protective clearance margin is set in a gradient to adapt to different motor systems and improve the versatility and adaptability of the controller.

[0033] In another implementation, the current protection accuracy of the magnetic levitation motor's bearings is obtained based on a preset magnetic levitation bearing protection accuracy prediction model. Specifically, a pre-set magnetic levitation bearing protection accuracy prediction model is used to predict the current protection accuracy of the magnetic levitation motor's bearings. By introducing a machine learning model, the operating status, historical data, and environmental parameters (such as temperature and vibration) of the magnetic levitation motor are analyzed in real time, dynamically optimizing the protection accuracy threshold for the magnetic levitation bearings. Based on continuous learning from operating data, the ability to identify abnormal states is improved, thereby achieving a more precise and adaptable shaft control strategy.

[0034] Figure 2 A flowchart illustrating a specific implementation of the steps for predicting the current magnetic levitation bearing protection accuracy of a magnetic levitation motor based on a preset magnetic levitation bearing protection accuracy prediction model is provided. Figure 2 As shown, in one specific embodiment, step S110 includes: steps S111 to S113.

[0035] Step S111: Obtain the current operating parameters of the magnetic levitation motor and the environmental information of the current environment.

[0036] The operating parameters may specifically include at least one of the following: the shaft running accuracy of the magnetic levitation motor (specifically, the running accuracy value detected by the bearing controller), the motor current fluctuation amplitude, and the speed fluctuation amplitude; the environmental information may specifically include: ambient temperature and motor vibration (vibration of external structures such as the unit casing).

[0037] Step S112: The obtained operating parameters and environmental information are processed by preset to obtain the feature vector of the operating state of the magnetic levitation bearing.

[0038] Specifically, the acquired operating parameters and environmental information can be preprocessed, for example, by at least one of data cleaning or normalization. After preprocessing, the acquired operating parameters and environmental information are subjected to time-domain (e.g., time-domain feature extraction of shaft operating accuracy, motor current fluctuation amplitude, speed fluctuation amplitude, and ambient temperature) and frequency-domain (e.g., frequency-domain feature extraction of motor vibration) to construct a feature vector reflecting the operating state.

[0039] Step S113: Input the feature vector into the preset magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor.

[0040] The magnetic levitation bearing protection accuracy prediction model can be constructed based on the historical operating data of the magnetic levitation motor. Operating parameters (at least one of shaft operating accuracy, motor current fluctuation amplitude, and speed fluctuation amplitude) and environmental information (ambient temperature and motor vibration) from the historical operating data of the magnetic levitation motor are obtained as model inputs, and the optimal protection accuracy is output for model training.

[0041] The current operating parameters of the magnetic levitation motor and the environmental information of its current environment are acquired and input into a trained magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor. Preferably, the final magnetic levitation bearing protection accuracy of the magnetic levitation motor can be determined based on the predicted magnetic levitation bearing protection accuracy, combined with a preset safety margin and smooth transition strategy.

[0042] Safety margin is a preset offset introduced based on the optimal protection accuracy predicted by the model, to cope with risks such as model errors, unmodeled disturbances, and sudden changes in operating conditions. Smooth transition strategies are used to avoid drastic changes in protection thresholds within a short period, preventing "oscillations" or "malfunctions" in the protection system. For example, a moving weighted average can be used to weight the thresholds output by several consecutive rounds of the model, suppressing sudden changes; or a rate-of-change limit can be used, specifying the maximum change in the threshold per unit time, such as no more than ±2% per minute.

[0043] Step S120: Determine whether the current displacement of the magnetic levitation bearing is within the range of the acquired protection accuracy.

[0044] Specifically, the current displacement of the magnetic bearing of the magnetic levitation motor is obtained, and it is determined whether the current displacement of the magnetic bearing is within the determined protection accuracy range. For example, the bearing controller selects the corresponding protection accuracy based on the current speed range and compares it with the monitored displacement signal to determine whether the current displacement of the magnetic bearing is within the protection accuracy range.

[0045] Step S130: If it is determined that the current displacement of the magnetic levitation bearing exceeds the range of the protection accuracy, then the preset protection mechanism is executed.

[0046] Specifically, if the real-time displacement value of the magnetic levitation bearing exceeds the corresponding protection accuracy range, the controller triggers the corresponding protection mechanism. For example, the (bearing controller) controls the compressor to reduce the preset frequency value (the reduced frequency value can be determined according to the value exceeding the protection accuracy), alarm, or stop the machine; if it is determined that the current displacement of the magnetic levitation bearing does not exceed the protection accuracy range, then normal operation is maintained.

[0047] Figure 3 The diagram shows the accuracy setting curve for stepped protection. Figure 4 The graph showing the linear protection accuracy setting is provided. Figure 5 The graph showing the nonlinear protection accuracy setting is illustrated. The horizontal axis represents rotational speed, and the vertical axis represents protection accuracy.

[0048] The present invention also provides a control device for a magnetic levitation motor.

[0049] Figure 6 This is a structural block diagram of an embodiment of the control device for a magnetic levitation motor provided by the present invention. Figure 6 As shown, the control device 100 includes: an acquisition unit 110, a judgment unit 120, and an execution unit 130.

[0050] The acquisition unit 110 is used to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotation speed of the magnetic levitation motor, or to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on a preset magnetic bearing protection accuracy prediction model.

[0051] In one implementation, the current magnetic bearing protection accuracy of the magnetic levitation motor is obtained based on its current rotational speed. Specifically, the current rotational speed of the magnetic levitation motor is obtained, and it is determined which rotational speed range the current rotational speed falls within in two or more preset rotational speed ranges. Based on the determined rotational speed range within which the current rotational speed of the magnetic levitation motor falls, the current magnetic bearing protection accuracy of the magnetic levitation motor is determined.

[0052] Specifically, the magnetic levitation bearing controller reads the motor speed signal and determines the current speed range (speed interval) based on two or more preset speed intervals. Different speed intervals within these two or more speed intervals correspond to different protection accuracies; that is, the magnetic levitation bearing operates at different protection accuracies within the two or more speed intervals. Based on the determined speed interval within which the current speed of the magnetic levitation motor falls, the protection accuracies of the magnetic levitation bearing corresponding to that speed interval are determined as the magnetic levitation bearing protection accuracies of the magnetic levitation motor. The protection accuracies of the magnetic levitation bearing are the values ​​of radial and axial deviations of the bearing's shaft from its static center position.

[0053] In one specific embodiment, the different magnetic levitation bearing protection accuracies corresponding to different speed ranges within the two or more speed ranges can specifically be different percentages of the mechanical protection clearance of the magnetic levitation bearing corresponding to different speed ranges within the two or more speed ranges. The mechanical protection clearance of the magnetic levitation bearing is the maximum distance between the bearing and the bearing shaft in the radial and axial directions.

[0054] For example, in the speed range of 0% to 30% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing; in the speed range of 30% to 70% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 85% of the mechanical protection clearance of the magnetic levitation bearing; and in the speed range of 70% to 100% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing.

[0055] For example, the operating speed of the magnetic levitation motor is divided into three speed ranges, each corresponding to a different protection accuracy for the magnetic levitation bearing. When the speed is 0%–30% of the rated speed (i.e., 0–7800 rpm), the corresponding protection accuracy is 90% of the mechanical protection clearance (the maximum distance between the magnetic levitation bearing shaft and the bearing in the radial and axial directions); when the speed is 31%–70% of the rated speed (i.e., 7801–18200 rpm), the corresponding protection accuracy is 85% of the mechanical protection clearance; and when the speed is 71%–100% of the rated speed (i.e., 18201–26000 rpm), the protection accuracy is 80% of the mechanical protection clearance.

[0056] This invention sets a stepped protection accuracy based on the shaft's operating speed. When the speed is low, a larger proportion (e.g., 90%) of the protection accuracy value is used to improve the shaft's frequency increase passability. When the speed is high, a smaller proportion (e.g., 85%, 80%) of the protection accuracy value is used to improve operating accuracy and reliability.

[0057] Based on different bearing design schemes, the protective clearance margin is set in a gradient to adapt to different motor systems and improve the versatility and adaptability of the controller.

[0058] In another implementation, the current protection accuracy of the magnetic levitation motor's bearings is obtained based on a preset magnetic levitation bearing protection accuracy prediction model. Specifically, a pre-set magnetic levitation bearing protection accuracy prediction model is used to predict the current protection accuracy of the magnetic levitation motor's bearings. By introducing a machine learning model, the operating status, historical data, and environmental parameters (such as temperature and vibration) of the magnetic levitation motor are analyzed in real time, dynamically optimizing the protection accuracy threshold for the magnetic levitation bearings. Based on continuous learning from operating data, the ability to identify abnormal states is improved, thereby achieving a more precise and adaptable shaft control strategy.

[0059] In one specific embodiment, the acquisition unit 110 predicts the current magnetic levitation bearing protection accuracy of the magnetic levitation motor based on a preset magnetic levitation bearing protection accuracy prediction model, including the following steps: (1) Obtain the current operating parameters of the magnetic levitation motor and the environmental information of the current environment.

[0060] The operating parameters may specifically include at least one of the following: the shaft running accuracy of the magnetic levitation motor (specifically, the running accuracy value detected by the bearing controller), the motor current fluctuation amplitude, and the speed fluctuation amplitude; the environmental information may specifically include: ambient temperature and motor vibration (vibration of external structures such as the unit casing).

[0061] (2) The obtained operating parameters and environmental information are pre-processed to obtain the feature vector of the operating state of the magnetic levitation bearing.

[0062] Specifically, the acquired operating parameters and environmental information can be preprocessed, for example, by at least one of data cleaning or normalization. After preprocessing, the acquired operating parameters and environmental information are subjected to time-domain (e.g., time-domain feature extraction of shaft operating accuracy, motor current fluctuation amplitude, speed fluctuation amplitude, and ambient temperature) and frequency-domain (e.g., frequency-domain feature extraction of motor vibration) to construct a feature vector reflecting the operating state.

[0063] (3) Input the feature vector into the preset magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor.

[0064] The magnetic levitation bearing protection accuracy prediction model can be constructed based on the historical operating data of the magnetic levitation motor. Operating parameters (at least one of shaft operating accuracy, motor current fluctuation amplitude, and speed fluctuation amplitude) and environmental information (ambient temperature and motor vibration) from the historical operating data of the magnetic levitation motor are obtained as model inputs, and the optimal protection accuracy is output for model training.

[0065] The current operating parameters of the magnetic levitation motor and the environmental information of its current environment are acquired and input into a trained magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor. Preferably, the final magnetic levitation bearing protection accuracy of the magnetic levitation motor can be determined based on the predicted magnetic levitation bearing protection accuracy, combined with a preset safety margin and smooth transition strategy.

[0066] Safety margin is a preset offset introduced based on the optimal protection accuracy predicted by the model, to cope with risks such as model errors, unmodeled disturbances, and sudden changes in operating conditions. Smooth transition strategies are used to avoid drastic changes in protection thresholds within a short period, preventing "oscillations" or "malfunctions" in the protection system. For example, a moving weighted average can be used to weight the thresholds output by several consecutive rounds of the model, suppressing sudden changes; or a rate-of-change limit can be used, specifying the maximum change in the threshold per unit time, such as no more than ±2% per minute.

[0067] The judgment unit 120 is used to determine whether the current displacement of the magnetic levitation bearing is within the range of the protection accuracy obtained by the acquisition unit.

[0068] Specifically, the current displacement of the magnetic bearing of the magnetic levitation motor is acquired, and it is determined whether the current displacement of the magnetic bearing is within the range of the protection accuracy acquired by the acquisition unit. For example, the controller selects the corresponding protection accuracy according to the current speed range and compares it with the displacement signal being monitored to determine whether the current displacement of the magnetic bearing is within the range of the protection accuracy.

[0069] The execution unit 130 is used to execute a preset protection mechanism if the judgment unit 120 determines that the current displacement of the magnetic levitation bearing exceeds the range of the protection accuracy.

[0070] Specifically, if the real-time displacement value of the magnetic levitation bearing exceeds the corresponding protection accuracy range, the controller triggers the corresponding protection mechanism, such as controlling the compressor to reduce the preset frequency value (the reduced frequency value can be determined according to the value exceeding the protection accuracy), alarming, or stopping; if it is determined that the current displacement of the magnetic levitation bearing does not exceed the protection accuracy range, then normal operation is maintained.

[0071] The present invention also provides a storage medium corresponding to the control method of the magnetic levitation motor, wherein a computer program is stored thereon, and the computer program, when executed by a processor, implements the steps of any of the aforementioned methods.

[0072] The present invention also provides a bearing controller corresponding to the control method of the magnetic levitation motor, including a processor, a memory, and a computer program stored in the memory that can run on the processor, wherein the processor executes the computer program to implement the steps of any of the aforementioned methods.

[0073] The present invention also provides a bearing controller corresponding to the control device of the magnetic levitation motor, including any of the control devices described above.

[0074] The present invention also provides a computer program product corresponding to the control method of the magnetic levitation motor, including a computer program that, when executed by a processor, implements the steps of any of the aforementioned methods.

[0075] Accordingly, the solution provided by the present invention identifies the current speed range based on the current speed and dynamically selects the corresponding protection accuracy value, thereby achieving fine control of the high-speed shaft of the magnetic levitation motor. This can effectively improve the frequency ramp-up capability of the motor when running at low speed, while enhancing the stability when running at high speed.

[0076] This invention sets a stepped protection accuracy based on the shaft's operating speed. When the speed is low, a larger proportion (e.g., 90%) of the protection accuracy value is used to improve the shaft's frequency increase passability. When the speed is high, a smaller proportion (e.g., 85%, 80%) of the protection accuracy value is used to improve operating accuracy and reliability.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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 magnetic levitation motor, characterized in that, include: The current magnetic bearing protection accuracy of the magnetic levitation motor can be obtained based on the current rotation speed of the magnetic levitation motor, or based on a preset magnetic bearing protection accuracy prediction model. Determine whether the current displacement of the magnetic levitation bearing is within the range of the acquired protection accuracy; If it is determined that the current displacement of the magnetic levitation bearing exceeds the range of the protection accuracy, then the preset protection mechanism is executed.

2. The method according to claim 1, characterized in that, The current magnetic bearing protection accuracy of the magnetic levitation motor is obtained based on its current rotational speed, including: Determine the current speed of the magnetic levitation motor within one or more preset speed ranges; wherein, different speed ranges within the two or more speed ranges correspond to different magnetic levitation bearing protection accuracies; Based on the determined speed range of the current rotational speed of the magnetic levitation motor within the two or more speed ranges, the current magnetic levitation bearing protection accuracy of the magnetic levitation motor is determined.

3. The method according to claim 2, characterized in that, The different magnetic levitation bearing protection accuracies corresponding to different speed ranges in the two or more speed ranges include: The different percentages of the mechanical protection clearance of the magnetic levitation bearing correspond to different speed ranges in the two or more speed ranges.

4. The method according to claim 3, characterized in that, The different percentages of the mechanical protection clearance of the magnetic levitation bearing corresponding to different speed ranges in the two or more speed ranges include: For the speed range of 0% to 30% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing. For the speed range of 30% to 70% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 85% of the mechanical protection clearance of the magnetic levitation bearing. For the speed range of 70% to 100% of the rated speed, the corresponding protection accuracy of the magnetic levitation bearing is 90% of the mechanical protection clearance of the magnetic levitation bearing.

5. The method according to claim 1, characterized in that, The current magnetic levitation bearing protection accuracy of the magnetic levitation motor is obtained based on a preset magnetic levitation bearing protection accuracy prediction model, including: Obtain the current operating parameters of the magnetic levitation motor and the environmental information of the current environment; The obtained operating parameters and environmental information are pre-processed to obtain the feature vector of the operating state of the magnetic levitation bearing; The feature vector is input into a preset magnetic levitation bearing protection accuracy prediction model to predict the current magnetic levitation bearing protection accuracy of the magnetic levitation motor.

6. A control device for a magnetic levitation motor, characterized in that, include: The acquisition unit is used to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotation speed of the magnetic levitation motor, or to acquire the current magnetic bearing protection accuracy of the magnetic levitation motor based on a preset magnetic bearing protection accuracy prediction model. The judgment unit is used to determine whether the current displacement of the magnetic levitation bearing is within the range of the protection accuracy obtained by the acquisition unit; An execution unit is configured to execute a preset protection mechanism if the judgment unit determines that the current displacement of the magnetic levitation bearing exceeds the range of the protection accuracy.

7. The apparatus according to claim 6, characterized in that, The acquisition unit acquires the current magnetic bearing protection accuracy of the magnetic levitation motor based on the current rotational speed of the magnetic levitation motor, including: Determine the current speed of the magnetic levitation motor within one or more preset speed ranges; wherein, different speed ranges within the two or more speed ranges correspond to different magnetic levitation bearing protection accuracies; Based on the determined speed range of the current rotational speed of the magnetic levitation motor within the two or more speed ranges, the current magnetic levitation bearing protection accuracy of the magnetic levitation motor is determined.

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, The bearing controller includes a processor, a memory, and a computer program stored in the memory that can run on the processor. When the processor executes the program, it implements the steps of the method according to any one of claims 1-5. Alternatively, the bearing controller includes a control device according to 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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