CN109139691B - Control method suitable for drop recovery of vertical electromagnetic bearing rotor - Google Patents
Control method suitable for drop recovery of vertical electromagnetic bearing rotor Download PDFInfo
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- CN109139691B CN109139691B CN201811067431.4A CN201811067431A CN109139691B CN 109139691 B CN109139691 B CN 109139691B CN 201811067431 A CN201811067431 A CN 201811067431A CN 109139691 B CN109139691 B CN 109139691B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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Abstract
A control method suitable for drop recovery of a vertical electromagnetic bearing rotor belongs to the field of electromagnetic bearing control, and particularly relates to a control method for drop recovery of a large vertical electromagnetic bearing rotor. Aiming at the existing defects, the invention provides a rotor drop recovery control method which can ensure the safety of a vertical electromagnetic bearing system, is not easy to drop a rotor and has strong anti-jamming capability. In the invention, the sensor transmits signals to the controller in real time; the controller processes the signals and carries out data information exchange transmission with the upper computer in real time; the controller generates and outputs different control signals through a control algorithm; different control signals are respectively transmitted to the electromagnetic bearing through control currents required by coils in the electromagnetic bearing generated by the power amplifier, so that the degrees of freedom of the rotor in five directions are controlled, and the electromagnetic bearing outputs corresponding electromagnetic force according to different control currents so as to control the position of the rotor. The invention is mainly used for the falling recovery of the vertical electromagnetic bearing rotor.
Description
Technical Field
The invention belongs to the field of electromagnetic bearing control, and particularly relates to a control method for large-scale vertical electromagnetic bearing rotor drop recovery.
Background
The electromagnetic bearing has the advantages of no need of lubrication, no mechanical contact, no maintenance and replacement, active control and the like, becomes an ideal bearing of a high-speed rotor, and has wide application prospect in national defense and basic industrial departments such as an energy storage flywheel, aerospace, nuclear industry, high-speed machine tools, turbine machinery and the like.
However, when the electromagnetic bearing controller works normally, the rotor may have a tendency to fall due to external disturbance. Changes in the amplitude and phase of synchronous rotor vibration caused by collisions can impair the ability of the electromagnetic bearing controller to control rotor displacement. At present, the impact influence caused by falling collision of a rotor is rarely considered when an electromagnetic bearing control system is applied.
For a large-scale high-speed rotor falling, the impact load is overlarge and too concentrated, and local failure is easy to occur, so that the function of the system is lost. The collision process of the high-speed rotor falling and the auxiliary bearing is highly nonlinear, the dynamic analysis of the falling rotor is very complex, and the design difficulty of the controller is increased. The theoretical research on the falling of the electromagnetic bearing rotor is not comprehensive, and the practical application of the electromagnetic bearing system is limited. The stability of the electromagnetic bearing rotor system can be ensured only by a reasonably designed control strategy.
Therefore, a rotor drop recovery control method which can ensure the safety of the vertical electromagnetic bearing system, is not easy to drop and has strong anti-interference capability is needed.
Disclosure of Invention
Aiming at the defects of insecurity, easy falling of a rotor and poor anti-interference capability of the conventional vertical electromagnetic bearing system, the invention provides a rotor falling recovery control method which can ensure the safety of the vertical electromagnetic bearing system, difficult falling of the rotor and strong anti-interference capability.
The invention relates to a control method applicable to drop recovery of a vertical electromagnetic bearing rotor, which has the technical scheme that:
the invention relates to a control method suitable for drop recovery of a vertical electromagnetic bearing rotor, which comprises the following steps:
firstly, a sensor transmits a signal to a controller in real time;
secondly, the controller processes the signals and carries out data information exchange transmission with an upper computer in real time;
thirdly, the controller generates and outputs different control signals through a control algorithm;
fourthly, the different control signals respectively pass through a power amplifier to generate control current required by a coil in the electromagnetic bearing, and the control current is transmitted to the electromagnetic bearing; the electromagnetic bearings comprise an axial electromagnetic bearing, an upper radial electromagnetic bearing and a lower radial electromagnetic bearing; the electromagnetic bearing controls the freedom degrees of the rotor in five directions; the axial electromagnetic bearing controls the axial degree of freedom of the rotor, namely the displacement in the Z direction, and the axial rotation of the rotor is controlled by a motor; the X, Y, Z upper radial electromagnetic bearing and the lower radial electromagnetic bearing control the radial freedom degree of the rotor, namely X, Y direction translation and rotation;
and fifthly, outputting corresponding electromagnetic force by the electromagnetic bearing according to different control currents, and further controlling the position of the rotor.
Further: in step one, the sensors include a current sensor and a rotor displacement sensor, and the current sensor and the rotor displacement sensor transmit a coil current signal of the electromagnetic bearing and a displacement signal of the rotor to the controller 12 in real time.
Further: in the third step, the controller solves the suspension force according to the electromagnetic bearing suspension instruction and the feedback rotor displacement signal, calculates the coil current instruction of the electromagnetic bearing, compares the coil current instruction of the electromagnetic bearing with the feedback coil current, and outputs the current control quantity of the electromagnetic bearing coil through a control algorithm.
Further: the control algorithm is a PID control algorithm, in the PID control algorithm, a rotor adopts a rigid body model, and an electromagnetic bearing is a linear model fm＝Ki*ic+ks*s，
Wherein f ismAs a function of the input current, KiTo the current stiffness, icTo control the current, ksIs the stiffness of displacement in one direction and s is the displacement in one direction.
Further: the PID control algorithm comprises an electromagnetic force calculation module, a rotor dynamics analysis and calculation module and a falling collision and friction calculation module, and the calculation modes of the electromagnetic force calculation module, the falling collision and friction calculation module and the rotor dynamics analysis and calculation module are respectively as follows:
1) electromagnetic force calculation module
Based on the formula:
wherein, KsTo displacement stiffness, KiIs the current stiffness; x is the number ofa、ya、xb、ybZ is the radial and axial displacement signals of the rotor in the direction of the displacement sensor X, Y, Z, which respectively represent the rotor displacement and the axial displacement of the rotor at the interface of the upper and the lower sensors of the rotor, and finally the radial and the axial displacement signals of the rotor are converted into the axial displacement signals through a coordinate transformation matrixThe final degree of freedom can be expressed as five directions of the rotor; i.e. ixa、iya、ixb、iyb、izFive-way electromagnetic bearing coil control current signal respectively representing five degrees of freedom of corresponding rotor, Fxa、Fya、Fxb、Fyb、FzRespectively representing corresponding electromagnetic forces;
2) rotor dynamics analysis and calculation module
Adding a collision force calculation module into a vertical rotor dynamics calculation module:
wherein x, y and z respectively represent the displacement of the rotor centroid X, Y, Z direction, thetaxAnd thetayRepresenting the rotation angle of the rotor center of mass around the X direction and the Y direction;
and
representing the angular velocity of the rotor's center of mass about the X and Y directions,
and
representing the angular acceleration of the rotor mass center around the X and Y directions; mg is rotor gravity, ITIs the moment of inertia of the rotor pole, FmRepresenting an electromagnetic force, FcShowing collision force, f showing centrifugal force applied to the rotor, subscripts x, y, z showing X, Y, Z direction, subscripts a and b showing upper and lower ends of the rotor, sa、sbRespectively representing the distances between the upper and lower electromagnetic bearings and the center of mass of the rotor, la、lbRespectively representing the distances of the upper and lower auxiliary bearings from the center of mass, IPIs the moment of inertia of the rotor about its own axis of rotation,
is the rotational angular velocity of the rotor about its own axis of rotation;
3) fall collision calculation module
For a vertical electromagnetic bearing:
the radial collision of the rotor and the auxiliary bearing belongs to a line collision type, the axial collision belongs to a surface collision type, and the rolling friction occurs when the tangential speeds of the rotor and the inner ring of the auxiliary bearing are completely equal in value;
based on the hertzian contact formula:
wherein F is the collision force and the collision embedding depth,
the time is a first differential quantity of time, K is contact rigidity, C is collision damping, e is a collision contact coefficient, the value of the collision contact coefficient is selected according to the collision type, and for point contact collision, e is 3/2; for a line contact collision, e-10/9; for a face-contact collision, e is 1; obtaining various types of collision force according to the calculation;
axial friction torque:
wherein, TzAs axial friction torque, muzAs coefficient of friction of axial collision surface, Fc,zAs axial collision force, Rb1、Rb2Respectively showing the radii of the inner and outer races of the auxiliary bearing.
A control system suitable for a control method of falling recovery of a vertical electromagnetic bearing rotor comprises a vertical electromagnetic bearing and a control system, wherein the vertical electromagnetic bearing comprises a rotor, an upper auxiliary bearing, a lower auxiliary bearing, an electromagnetic bearing, a motor, a frequency converter and a rotor displacement sensor, the electromagnetic bearing comprises an axial electromagnetic bearing, an upper radial electromagnetic bearing and a lower radial electromagnetic bearing, the rotor displacement sensor comprises an upper displacement sensor and a lower displacement sensor, the upper auxiliary bearing, the axial electromagnetic bearing, the upper radial electromagnetic bearing, the motor, the lower radial electromagnetic bearing and the lower auxiliary bearing are sequentially arranged on the side surface of the rotor from top to bottom, the upper auxiliary bearing is used for bearing axial and radial impact of the rotor, the lower auxiliary bearing is used for bearing radial impact of the rotor, the output end of the frequency converter is connected with the input end of the motor, and the output end of the motor is connected with the rotor, the motor is used for controlling the axial rotation of the rotor, the upper displacement sensor is arranged between the upper auxiliary bearing and the rotor, and the lower auxiliary bearing is arranged between the lower auxiliary bearing and the rotor;
the control system comprises an upper computer, a controller, a power amplifier and a sensor, wherein the upper computer is in two-way connection with the controller, the axial electromagnetic bearing, the upper radial electromagnetic bearing and the lower radial electromagnetic bearing are respectively connected with the output end of the controller through the power amplifier, the upper displacement sensor and the lower displacement sensor are both connected with the input end of the controller, and a control algorithm is integrated in the controller.
The control method suitable for the drop recovery of the vertical electromagnetic bearing rotor has the beneficial effects that:
the invention relates to a control method suitable for falling recovery of a vertical electromagnetic bearing rotor, which ensures that an electromagnetic bearing system can automatically adjust and control the rotor to recover a suspension position when the rotor falls and collides due to strong disturbance. The rotor position recovery control is introduced into the electromagnetic bearing rotor control system when the rotor falls into a catastrophe, so that the influence of the falling accident of the rotor is reduced when the rotor is collided with the auxiliary bearing due to overlarge disturbance displacement, and the safety of the electromagnetic bearing rotor system is greatly ensured. The rotor drop recovery control method can ensure the safety of the vertical electromagnetic bearing system, and has the advantages of difficult rotor drop and strong anti-interference capability.
Drawings
FIG. 1 is a flow chart of a method for controlling the recovery of a falling rotor of an electromagnetic bearing;
FIG. 2 is a schematic structural diagram of a vertical electromagnetic bearing rotor;
FIG. 3 is a block diagram of an electromagnetic bearing rotor control system;
FIG. 4 is a timing diagram of the PID control algorithm;
FIG. 5 is a schematic diagram of an electromagnetic force calculation module;
fig. 6 is a schematic diagram of a rotor drop impact module.
In the figure: the rotor is 1, the axial electromagnetic bearing is 2, the upper radial electromagnetic bearing is 3, the lower radial electromagnetic bearing is 4, the upper auxiliary bearing is 5, the lower auxiliary bearing is 6, the motor is 7, the frequency converter is 8, the upper displacement sensor is 9, the lower displacement sensor is 10, the power amplifier is 11, and the controller is 12.
Detailed Description
The technical solutions of the present invention are further described below with reference to the following examples, but the present invention is not limited thereto, and any modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Example 1
The embodiment is described with reference to fig. 1 to 6, and in this embodiment, the control method for drop recovery of a vertical electromagnetic bearing rotor according to the present invention includes the following steps:
step one, the sensor transmits a signal to the controller 12 in real time;
step two, the controller 12 processes the signals and carries out data information exchange transmission with an upper computer in real time;
step three, the controller 12 generates and outputs different control signals through a control algorithm;
fourthly, the different control signals respectively pass through a power amplifier 11 to generate control current required by a coil in the electromagnetic bearing, and the control current is transmitted to the electromagnetic bearing; the electromagnetic bearings comprise an axial electromagnetic bearing 2, an upper radial electromagnetic bearing 3 and a lower radial electromagnetic bearing 4; the electromagnetic bearing controls the degrees of freedom of the rotor 1 in five directions; the axial electromagnetic bearing 2 controls the axial degree of freedom of the rotor 1, namely the displacement in the Z direction, and the axial rotation of the rotor 1 is controlled by a motor 7; the X, Y, Z upper radial electromagnetic bearing 3 and the lower radial electromagnetic bearing 4 control the radial freedom degree of the rotor 1, namely X, Y direction translation and rotation;
and step five, outputting corresponding electromagnetic force by the electromagnetic bearing according to different control currents, and further controlling the position of the rotor 1.
More specifically: in step one, the sensors include a current sensor and a rotor displacement sensor, and the current sensor and the rotor displacement sensor transmit coil current signals of the electromagnetic bearing and displacement signals of the rotor 1 to the controller 12 in real time.
More specifically: in the third step, the controller 12 solves the levitation force according to the electromagnetic bearing levitation instruction and the fed back rotor 1 displacement signal, calculates the coil current instruction of the electromagnetic bearing, compares the coil current instruction of the electromagnetic bearing with the feedback coil current, and outputs the electromagnetic bearing coil current control quantity through a control algorithm.
More specifically: the control algorithm is a PID control algorithm, in the PID control algorithm, a rotor 1 adopts a rigid body model, and an electromagnetic bearing is a linear model fm＝Ki*ic+ks*s，
Wherein f ismAs a function of the input current, KiTo the current stiffness, icTo control the current, ksIs the stiffness of displacement in one direction and s is the displacement in one direction.
More specifically: the PID control algorithm comprises an electromagnetic force calculation module, a rotor dynamics analysis and calculation module and a falling collision and friction calculation module, and the calculation modes of the electromagnetic force calculation module, the falling collision and friction calculation module and the rotor dynamics analysis and calculation module are respectively as follows:
1) electromagnetic force calculation module
Based on the formula:
wherein, KsTo displacement stiffness, KiIs the current stiffness; x is the number ofa、ya、xb、ybAnd z are radial and axial displacement signals of the rotor 1 in the direction of the displacement sensor X, Y, Z, which respectively represent the upper and lower parts of the rotor 1The displacement of the rotor 1 and the axial displacement of the rotor 1 on the interfaces of the two sensors can be finally expressed as the degrees of freedom of the rotor 1 in five directions through a coordinate transformation matrix; i.e. ixa、iya、ixb、iyb、izFive-way electromagnetic bearing coil control current signal respectively representing five degrees of freedom of corresponding rotor 1, Fxa、Fya、Fxb、Fyb、FzRespectively representing corresponding electromagnetic forces;
2) rotor dynamics analysis and calculation module
Adding a collision force calculation module into a vertical rotor dynamics calculation module:
wherein x, y and z respectively represent the displacement of the center of mass X, Y, Z of the rotor 1 in the direction of thetaxAnd thetayThe rotation angle of the center of mass of the rotor 1 around the X direction and the Y direction is represented;
and
representing the angular velocity of the rotor 1 in rotation about the X and Y directions at its center of mass,
and
representing the angular acceleration of the rotation of the center of mass of the rotor 1 around the X and Y directions; mg is rotor 1 weight, ITIs the 1-pole moment of inertia of the rotor, FmRepresenting an electromagnetic force, FcDenotes the collision force, f denotes the centrifugal force applied to the rotor 1, subscripts x, y, and z denote X, Y, Z directions, subscripts a and b denote the upper and lower ends of the rotor 1, and sa、sbRespectively represents the distance between the upper and lower electromagnetic bearings and the center of mass of the rotor 1, la、lbRespectively representing the distances of the upper and lower auxiliary bearings from the center of mass, IPThe rotor rotating around the rotorThe moment of inertia of the shaft is,
is the rotational angular velocity of the rotor about its own axis of rotation;
3) fall collision calculation module
For a vertical electromagnetic bearing:
the radial collision of the rotor 1 and the auxiliary bearing belongs to a line collision type, the axial collision belongs to a surface collision type, and the rolling friction occurs when the tangential speeds of the rotor 1 and the inner ring of the auxiliary bearing are completely equal in value;
based on the hertzian contact formula:
wherein F is the collision force and the collision embedding depth,
the time is a first differential quantity of time, K is contact rigidity, C is collision damping, e is a collision contact coefficient, the value of the collision contact coefficient is selected according to the collision type, and for point contact collision, e is 3/2; for a line contact collision, e-10/9; for a face-contact collision, e is 1; obtaining various types of collision force according to the calculation;
axial friction torque:
wherein, TzAs axial friction torque, muzAs coefficient of friction of axial collision surface, Fc,zAs axial collision force, Rb1、Rb2Respectively showing the radii of the inner and outer races of the auxiliary bearing.
A control system suitable for a control method of falling recovery of a vertical electromagnetic bearing rotor comprises a vertical electromagnetic bearing and a control system, wherein the vertical electromagnetic bearing comprises a rotor 1, an upper auxiliary bearing 5, a lower auxiliary bearing 6, an electromagnetic bearing, a motor 7, a frequency converter 8 and a rotor displacement sensor, the electromagnetic bearing comprises an axial electromagnetic bearing 2, an upper radial electromagnetic bearing 3 and a lower radial electromagnetic bearing 4, the rotor displacement sensor comprises an upper displacement sensor 9 and a lower displacement sensor 10, the upper auxiliary bearing 5, the axial electromagnetic bearing 2, the upper radial electromagnetic bearing 3, the motor 7, the lower radial electromagnetic bearing 4 and the lower auxiliary bearing 6 are sequentially arranged on the side surface of the rotor 1 from top to bottom, the upper auxiliary bearing 5 is used for bearing axial and radial impact of the rotor 1, and the lower auxiliary bearing 6 is used for bearing radial impact of the rotor 1, the output end of the frequency converter 8 is connected with the input end of the motor 7, the output end of the motor 7 is connected with the rotor 1, the motor 7 is used for controlling the axial rotation of the rotor 1, the upper displacement sensor 9 is arranged between the upper auxiliary bearing 5 and the rotor 1, and the lower auxiliary bearing 6 is arranged between the lower auxiliary bearing 6 and the rotor 1;
the control system comprises an upper computer, a controller 12, a power amplifier 11 and a sensor, wherein the upper computer is in two-way connection with the controller 12, the axial electromagnetic bearing 2, the upper radial electromagnetic bearing 3 and the lower radial electromagnetic bearing 4 are respectively connected with the output end of the controller 12 through the power amplifier 11, the upper displacement sensor 9 and the lower displacement sensor 10 are both connected with the input end of the controller 12, and a control algorithm is integrated in the controller 12.
In the present invention, the electromagnetic bearing controls the degrees of freedom of the rotor 1 in five directions, namely: x and y direction translation and rotation, and z direction translation. The axial electromagnetic bearing 2 controls the axial displacement z of the vertical rotor, the upper radial electromagnetic bearing 3 and the lower radial electromagnetic bearing 4 control the radial degree of freedom of the rotor, and the translation and the rotation in the x and y directions are realized. The rotor axial rotation is controlled by a motor 7.
The two ends of the rotor 1 are respectively provided with an upper auxiliary bearing 5 and a lower auxiliary bearing 6, so as to provide temporary auxiliary support for the falling rotor. Wherein: the upper auxiliary bearing 5 is subjected to axial and radial impacts, and the lower auxiliary bearing 6 is subjected to radial impacts.
Electromagnetic bearing rotor system control principle:
the main part of the active control of the electromagnetic bearing is the acquisition of the state parameters of the control system and the realization of a control algorithm. The electromagnetic bearing rotor overall control system includes: host computer, controller 12, power amplifier 11, electromagnetic bearing, rotor 1, sensor etc..
The main working flow is as follows: the sensor (electromagnetic bearing current sensor, rotor displacement sensor, etc.) transmits signals such as coil current and rotor 1 position change to the controller 12 (realizing active control of the respective degrees of freedom of the rotor 1) in real time, the controller 12 performs signal processing (solving the suspension force according to the electromagnetic bearing suspension instruction and the feedback rotor 1 displacement signal, solving the electromagnetic bearing coil winding current instruction, comparing the electromagnetic bearing coil winding current instruction with the feedback coil current, outputting the electromagnetic bearing coil current control quantity through a control algorithm), and performing real-time data alternating-current transmission with an upper computer. The controller 12 generates a control signal through a control algorithm, generates a control current required by a magnetic bearing coil through the power amplifier 11, transmits the control current to the electromagnetic bearing for execution, and changes the electromagnetic force through the control current so as to control the position of the rotor 1 to suspend.
The electromagnetic bearing falling rotor recovery control algorithm flow chart is as follows: adding into a DSP system:
when the suspension rotor 1 is subjected to strong disturbances, the rotor 1 displacement varies and has a tendency to fall. The displacement sensor transmits the displacement change signal to a collision calculation module in the controller 12, determines whether a collision occurs and performs collision force solution (magnitude, phase). And then, transmitting the predicted collision force to a DSP system and an electromagnetic bearing actuator, solving the required suspension force according to the collision force borne by the rotor 1, adjusting the control current, and restoring the collision rotor to the suspension state again by changing the corresponding electromagnetic force.
Claims (3)
1. A control method suitable for drop recovery of a vertical electromagnetic bearing rotor is characterized by comprising the following steps:
firstly, a sensor transmits a signal to a controller (12) in real time;
step two, the controller (12) processes the signals and carries out data information exchange transmission with an upper computer in real time;
thirdly, the controller (12) generates and outputs different control signals through a control algorithm; the controller (12) solves the suspension force according to the electromagnetic bearing suspension instruction and the feedback rotor (1) displacement signal, calculates a coil current instruction of the electromagnetic bearing, compares the coil current instruction of the electromagnetic bearing with the feedback coil current, and outputs the current control quantity of the electromagnetic bearing coil through a control algorithm;
the control algorithm is a PID control algorithm, in the PID control algorithm, a rotor (1) adopts a rigid body model, and an electromagnetic bearing is a linear model fm＝Ki*ic+ks*s，
Wherein f ismAs a function of the input current, KiTo the current stiffness, icTo control the current, ksIs a certain direction displacement stiffness, s is a certain direction displacement;
the PID control algorithm comprises an electromagnetic force calculation module, a rotor dynamics analysis and calculation module and a falling collision and friction calculation module, and the calculation modes of the electromagnetic force calculation module, the falling collision and friction calculation module and the rotor dynamics analysis and calculation module are respectively as follows:
1) electromagnetic force calculation module
Based on the formula:
wherein, KsTo displacement stiffness, KiIs the current stiffness; x is the number ofa、ya、xb、ybZ is a radial and axial displacement signal of the rotor (1) in the direction of the displacement sensor X, Y, Z, respectively represents the radial displacement of the rotor (1) and the axial displacement of the rotor (1) on the upper and lower displacement sensor interfaces of the rotor (1), and finally can be represented as the degree of freedom of the rotor (1) in five directions through a coordinate transformation matrix; i.e. ixa、iya、ixb、iyb、izFive electromagnetic bearing coil control current signals respectively representing five degrees of freedom of the corresponding rotor (1), Fxa、Fya、Fxb、Fyb、FzRespectively representing corresponding electromagnetic forces;
2) rotor dynamics analysis and calculation module
Adding a collision force calculation module into a vertical rotor dynamics calculation module:
wherein x, y and z respectively represent the displacement of the center of mass X, Y, Z of the rotor (1) in the direction of thetaxAnd thetayThe rotation angle of the center of mass of the rotor (1) around the X direction and the Y direction is represented;
and
representing the angular velocity of the rotation of the center of mass of the rotor (1) around the X and Y directions,
and
representing the angular acceleration of the rotor (1) about the rotation of the center of mass in the X and Y directions; mg is rotor (1) weight, ITIs the moment of inertia of the rotor (1) pole, FmRepresenting an electromagnetic force, FcDenotes the collision force, f denotes the centrifugal force applied to the rotor (1), subscripts x, y, z denote X, Y, Z directions, subscripts a and b denote the upper and lower ends of the rotor (1), sa、sbRespectively represents the distance between the upper and lower electromagnetic bearings and the mass center of the rotor (1) |a、lbRespectively representing the distances of the upper and lower auxiliary bearings from the center of mass, IPIs the moment of inertia of the rotor about its own axis of rotation,
is the rotational angular velocity of the rotor about its own axis of rotation;
3) fall collision calculation module
For a vertical electromagnetic bearing:
the radial collision of the rotor (1) and the auxiliary bearing belongs to a line collision type, the axial collision belongs to a surface collision type, and the rolling friction occurs when the tangential speeds of the rotor (1) and the inner ring of the auxiliary bearing are completely equal in value;
based on the hertzian contact formula:
wherein F is the collision force and the collision embedding depth,
the time is a first differential quantity of time, K is contact rigidity, C is collision damping, e is a collision contact coefficient, the value of the collision contact coefficient is selected according to the collision type, and for point contact collision, e is 3/2; for a line contact collision, e-10/9; for a face-contact collision, e is 1; obtaining various types of collision force according to the calculation;
axial friction torque:
wherein, TzAs axial friction torque, muzAs coefficient of friction of axial collision surface, Fc,zAs axial collision force, Rb1、Rb2Respectively showing the radiuses of the inner ring and the outer ring of the auxiliary bearing;
fourthly, the different control signals respectively pass through a power amplifier (11) to generate control current required by a coil in the electromagnetic bearing, and the control current is transmitted to the electromagnetic bearing; the electromagnetic bearings comprise an axial electromagnetic bearing (2), an upper radial electromagnetic bearing (3) and a lower radial electromagnetic bearing (4); the electromagnetic bearing controls the freedom degrees of the rotor (1) in five directions; the axial electromagnetic bearing (2) controls the axial degree of freedom of the rotor (1), namely the displacement in the Z direction, and the axial rotation of the rotor (1) is controlled by a motor (7); x, Y, Z the upper radial electromagnetic bearing (3) and the lower radial electromagnetic bearing (4) control the radial freedom of the rotor (1), namely the X, Y direction translation and rotation;
and fifthly, outputting corresponding electromagnetic force by the electromagnetic bearing according to different control currents, and further controlling the position of the rotor (1).
2. The control method for the drop recovery of the vertical electromagnetic bearing rotor is characterized in that in the step one, the sensors comprise a current sensor and a rotor displacement sensor, and the current sensor and the rotor displacement sensor transmit coil current signals of the electromagnetic bearing and displacement signals of the rotor (1) to the controller (12) in real time.
3. A control system suitable for a vertical electromagnetic bearing rotor drop recovery control method according to claim 1 or 2, and comprising a vertical electromagnetic bearing and a control system, wherein the vertical electromagnetic bearing comprises a rotor (1), an upper auxiliary bearing (5), a lower auxiliary bearing (6), an electromagnetic bearing, a motor (7), a frequency converter (8) and a rotor displacement sensor, the electromagnetic bearing comprises an axial electromagnetic bearing (2), an upper radial electromagnetic bearing (3) and a lower radial electromagnetic bearing (4), the rotor displacement sensor comprises an upper displacement sensor (9) and a lower displacement sensor (10), the upper auxiliary bearing (5), the axial electromagnetic bearing (2), the upper radial electromagnetic bearing (3), the lower radial electromagnetic bearing (4) and the lower auxiliary bearing (6) are sequentially arranged on the side of the rotor (1) from top to bottom and are symmetrically arranged, the upper auxiliary bearing (5) is used for bearing axial and radial impact of the rotor (1), the lower auxiliary bearing (6) is used for bearing radial impact of the rotor (1), the motor (7) is positioned between the upper radial electromagnetic bearing (3) and the lower radial electromagnetic bearing (4), the input end of the motor (7) is connected with the output end of the frequency converter (8), and the output end of the motor (7) is connected with the rotor (1) and used for controlling axial rotation of the rotor (1); the upper displacement sensor (9) is arranged between the upper auxiliary bearing (5) and the rotor (1), and the lower auxiliary bearing (6) is arranged between the lower auxiliary bearing (6) and the rotor (1);
the control system comprises an upper computer, a controller (12), a power amplifier (11) and a sensor, wherein the upper computer is in two-way connection with the controller (12), the axial electromagnetic bearing (2), the upper radial electromagnetic bearing (3) and the lower radial electromagnetic bearing (4) are respectively connected with the output end of the controller (12) through the power amplifier (11), the upper displacement sensor (9) and the lower displacement sensor (10) are both connected with the input end of the controller (12), and an integrated control algorithm is arranged in the controller (12).
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| CN110486381B (en) * | 2019-07-22 | 2020-11-27 | 苏州百狮腾电气有限公司 | Remote control system of magnetic suspension bearing |
| CN112504677B (en) * | 2021-02-05 | 2021-04-30 | 天津飞旋科技有限公司 | Method and device for detecting wear data of protective bearing |
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