CN102435434A - Device and method used for measuring axial and radial rigidity of magnetic suspension bearing - Google Patents

Device and method used for measuring axial and radial rigidity of magnetic suspension bearing Download PDF

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Publication number
CN102435434A
CN102435434A CN2011102553725A CN201110255372A CN102435434A CN 102435434 A CN102435434 A CN 102435434A CN 2011102553725 A CN2011102553725 A CN 2011102553725A CN 201110255372 A CN201110255372 A CN 201110255372A CN 102435434 A CN102435434 A CN 102435434A
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China
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displacement
centerdot
magnetic suspension
stator
rotor
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陈琛
马骁
尹成科
张亦柯
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SUZHOU TONGXIN MEDICAL INSTRUMENT CO Ltd
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SUZHOU TONGXIN MEDICAL INSTRUMENT CO Ltd
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Abstract

The invention discloses a device and a method for measuring the rigidity of a magnetic suspension bearing. The device mainly comprises three precise electronic control displacement tables, a turn table, three laser displacement sensors, a six-degree of freedom force/moment sensor, a tool converter, a mounting converter, a right angle fixing frame, a reference measuring plane and the magnetic suspension bearing, wherein the three precise electronic control displacement tables are controlled through a personal computer (PC); a stator of the magnetic suspension bearing is enabled to move in a certain direction in the horizontal plane, and a rotor of the magnetic suspension bearing is enabled to move in a vertical direction; force-displacement data is obtained through measuring the force borne by the rotor at a certain steeping point and the displacement of the stator/rotor relative to an equilibrium point for the time being; and the data is relatively processed through a selected fitting model, and then the rigidity in different positions in the direction is obtained. The device has the advantages of high precision, flexible measurement, high automation degree, good maneuverability and the like.

Description

Be used to measure magnetic suspension bearing axially, the device and method of radial rigidity
Technical field
The present invention relates to a kind of stiffness measurement device of magnetic suspension bearing, be in particular a kind of measurement mechanism of permanent magnetism rigidity and open-loop current rigidity of plate-like magnetic suspension bearing.
Background technology
Along with increasing substantially of modern rotating rotating speed, the influence of stability, dynamic perfromance, running accuracy etc. of honouring rotor-support-foundation system is increasing, is almost arranging the stability of total system in many occasions.And the bearing characteristics of bearing is studied, no matter bearing is to use which kind of principle and method, all is after all its support stiffness is studied with the supporting damping, the rigidity that only meets certain standard just can make system stable operation.Therefore to the stiffness measurement of magnetic suspension bearing, be the steps necessary that guarantees its normal and stable work.
Magnetic suspension bearing is defined as along the rigidity of certain direction: along the increment of needed this direction power of the unit displacement of this direction.Existing measuring method roughly has following two kinds:
(1) critical current mensuration
Shown in accompanying drawing 1a, 1b, monolateral gap was δ when rotor 3 overlapped with protection bearing 1 center 0The stationary rotor state is not shown in accompanying drawing 1b when switching on, and the rotor in the vertical direction has center displacement y 0=-δ 0
If the feeding winding current is I 2m, with I 2mValue begins to increase by 0, produces the controllable magnetic suspension power along the Y forward, through being installed in the sensor on X axle and the Y direction, seeks the critical value that rotor is suspended.This moment rotor horizontal direction X to make a concerted effort be zero, the stress of vertical direction Y is:
F c+F e＝G；
In the formula: F cBe controllable magnetic suspension power; F eThe magnetic pull that causes for rotor eccentricity; G is the rotor deadweight.And known:
F c＝K cI 2m，F e＝K ey 0；
K wherein cAnd K eBe current stiffness and displacement rigidity.So,
G＝K cI 2m+K ey 0；
Changing the rotor eccentricity shift value (establishes by y 0Become y 1) and along Y to controllable magnetic suspension power (establish winding current by I 2mBecome I 2m1), can get:
G＝K cI 2m1+K ey 1；
And then obtain K cAnd K e
(2) direct method of measurement
Fig. 2 (a) be two magnet rings over against the time axial force measuring principle figure.When measuring two magnet rings, place the adjustment ring 6 of fixed thickness two permanent-magnetic clamps 5, between 8, and make the closely suction mutually of two magnet rings earlier, measure the axial spacing l between two magnet rings at this moment over against axial force that axial spacing changes zThe pulling force T that applies as shown in the figure then increases the value of pulling force T gradually, up to top moving magnet ring just when pulled, can think the pulling force T of this moment and axial attractive force F zEquate.
When measuring radial force, when eccentric throw hour, the radial force that moving magnet ring 5 receives is less and axial therefore very big in the power of stiction, under the effect of stiction, moves magnet ring 5 and can keep motionless.At this moment keep adjustment ring 6 and middle dividing plate 7 and magnetostatic ring 8 invariant positions,, respectively draw once moving magnet ring respectively left and to the right in the identical position of eccentric throw, when top magnet ring just when pulled pulling force be designated as T respectively 1And T 2The pulling force situation of moving magnet ring such as Fig. 2 (b) use f under both of these case QuietThe stiction that the moving magnet ring of expression receives when just spurring magnet ring left, has:
F x+ T 1=f Quiet
When just spurring magnet ring to the right, have
F x+ f Quiet=T 2
Can get the value of radial force by last two formulas:
F x＝1/2(T 2-T 1)。
But when eccentric throw increased gradually, the stiction meeting was owing to axial force reduces, and radial force also can increase simultaneously.When the value of radial force increased to the value greater than stiction, even not to the Zola, top magnet ring also can be moved to the left.In this case, shown in Fig. 2 (c), apply certain pulling force earlier and make top magnet ring can keep motionless, increase pulling force then gradually, the pulling force of when top magnet ring just moves right, writing down at this moment is T 2Reduce pulling force then again gradually, the pulling force of when top magnet ring just is moved to the left, writing down at this moment is T 2'.
When moving magnet ring just moves right, have:
F x+ f Quiet=T 2
When moving magnet ring just is moved to the left, have:
T 2'+f Quiet=F x
Can get this locational radial force by last two formulas:
F x＝1/2(T 2+T 2’)。
Can find that by above narration there is following problem in said method:
1. the critical current method need judge whether rotor is in critical point, and the above-mentioned direct method of measurement also need find the critical point of the application of force, because critical point is difficult for finding, only relying on constantly, test just can search out; And the object that is in critical point is unstable, and therefore the operation easier of two kinds of methods is big, is difficult for measuring the magnetic suspension bearing rigidity of optional position and any direction, and the rigidity precision of measuring is not high;
2. the above-mentioned direct method of measurement is introduced stiction, and measuring process is wayward, and measuring accuracy is not high;
3. above-mentioned two kinds of measuring methods can only be measured the radial rigidity of bearing, can't measure axial rigidity;
4. above-mentioned two kinds of measuring method automaticities are very low.
Summary of the invention
The objective of the invention is to solve above-mentioned technical matters; A kind of high precision measuring device that does not receive magnetic suspension bearing rigidity critical point restriction, energy measurement optional position and any direction is provided, and a kind of magnetic suspension bearing stiffness measurement method of this device of application is provided.
The object of the invention will be achieved through following technical scheme:
A kind of be used to measure magnetic suspension bearing axially, the device of radial rigidity, comprise vertically each other be provided with, also orthogonal three the displacement platforms of its direction of motion, be respectively X, Y, the accurate automatically controlled displacement platform of Z direction; And be respectively applied for the laser displacement sensor of measuring said X, Y, the accurate automatically controlled displacement platform displacement of Z direction, be respectively X, Y, Z direction laser displacement sensor;
The accurate automatically controlled displacement platform of said Y direction is arranged on the accurate automatically controlled displacement platform of said directions X through the directions X objective table that is fixed on the accurate automatically controlled displacement platform of said directions X relatively movably; Be fixed with Y direction objective table on the accurate automatically controlled displacement platform of said Y direction, said Y direction objective table head lamp brush guard pivot is provided with a universal stage, and said universal stage is used for fixing the stator of said magnetic suspension bearing;
The accurate automatically controlled displacement platform of said Z direction closely is connected with the side of corner steady always through fixing Z direction objective table on it; Underrun one mounting converter of said right angle fixed mount is fixed one power/torque sensor, and said power/torque sensor is through the rotor of the fixing said magnetic suspension bearing of instrument dress parallel operation.
Preferably, the accurate automatically controlled displacement platform of said Y direction is provided with a directions X reference measure face that cooperates with said directions X laser displacement sensor, and a Y direction reference measure face that cooperates with said Y direction laser displacement sensor; Said directions X reference measure face is vertical with the Laser emission direction of said directions X laser displacement sensor, and said Y direction reference measure face is vertical with the Laser emission direction of said Y direction laser displacement sensor.
Preferably, said power/torque sensor is six degree of freedom power/torque sensor.
Preferably, the accurate automatically controlled displacement platform of said X, Y, Z direction, and X, Y, Z direction laser displacement sensor, and the control end of power/torque sensor all is connected in a control center.
The present invention also disclosed a kind of be used to measure magnetic suspension bearing axially, the measuring method of the device of radial rigidity, comprise the steps:
The first, the stator of said magnetic suspension bearing is clamped on the said universal stage, the rotor of said magnetic suspension bearing is clamped on the said instrument dress parallel operation;
The second, the stator and the rotor of said magnetic suspension bearing are adjusted to initial rest position;
The 3rd, when measuring radial rigidity, fixed rotor, rotatable stator in surface level, the direction that desire is measured is identical with the stator moving direction;
The 4th, in surface level, move stator with certain step-length along directions X (Y direction), measure each suffered magnetic force of step rotor and this moment stator with respect to the displacement of equilibrium point;
The 5th, the data that obtain according to the 4th step are drawn the force-displacement curve of stator earlier, select suitable model of fit that power is expressed as the function of displacement, i.e. F=f (x) (F=f (y)), and wherein F is a power, x (y) is displacement;
The 6th, model of fit F=f (x) (F=f (the y)) both sides of the 5th step to displacement x (y) differentiate, are obtained rigidity and the funtcional relationship of this direction displacement on this direction;
The 7th, when measuring axial rigidity, fixed stator, on the Z direction with a fixed step size movable rotor, measure the suffered magnetic force of every bit rotor and this moment rotor with respect to the displacement of equilibrium point;
The 8th, repeat the 4th to the 6th step, draw the force-displacement curve of rotor earlier; Select suitable model of fit power to be expressed as the function of displacement again; And then differentiate obtains the funtcional relationship of rigidity and the displacement of Z direction.
Preferably, the initial rest position of said second step is that rotor suffered making a concerted effort in stator is zero position.
Preferably, be that zero initial rest position is that the absolute value of the measured value of said six degree of freedom power/torque sensor on all directions is less than preset threshold said making a concerted effort.
Preferably; In the third step; After the relative position of stator and rotor enters into the monitored space that interaction force is arranged between said stator and the rotor; The rotor stress data that records through the force transducer of this current moment and previous moment relatively, and, judge the sense of displacement of current stator: if the absolute value of the power of this moment force sensor measuring is less than the absolute value of the power of previous moment force sensor measuring according to the sense of displacement of previous moment stator; And the direction of the power of twice measurement is identical, and then the sense of displacement in this current moment of stator should be identical with the sense of displacement in a last moment; If constantly the absolute value of force sensor measuring power is greater than the absolute value of previous moment force sensor measuring power for this, or the power of twice measurement is in the opposite direction, and then the sense of displacement in stator this current moment should be opposite with the sense of displacement in a last moment.
Preferably, the match form of radial permanent magnet rigidity and displacement curve uses the polynomial expression method to carry out match, and the fit equation form is following,
k p(x)＝(a P1+3a P3x 2+…+(2n-1)a P(2n-1)x 2(n-1))
K wherein pBe radial permanent magnet rigidity, it is characterized in that polynomial fitting only is made up of the even number order polynomial of relative displacement x.
Preferably, the model of fit of open-loop current rigidity is the fitting of a polynomial form, and the fitting of a polynomial model of its radial force and displacement and electric current does
F re ( x , i N ) = ( a P 1 x + a P 3 x 3 + · · · + a P ( 2 n - 1 ) x 2 n - 1 ) + ( b 12 m x 2 m + · · · + b 12 x 2 + b 10 ) i N + ( b 2 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 12 x 3 + b 21 x ) i N 2 + ( b 32 m x 2 m + · · · + b 32 x 2 + b 30 ) i N 3 + ( b 4 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 43 x 3 + b 41 x ) i N 4 + · · · + ( b ( 2 l - 1 ) 2 m x 2 m + · · · + b ( 2 l - 1 ) 2 x 2 + b ( 2 l - 1 ) 0 ) i N ( 2 l - 1 )
F wherein ReBe rotor suffered power in stator, x is the displacement of rotor with respect to the equilibrium position, i NBe the electric current number of turn, a and b are fitting coefficient, and n, m and l are the item number of match, power F ReOnly form with the polynomial fitting that electric current is irrelevant by the odd number order polynomial of relative displacement x; The coefficient of electric current odd number order polynomial only is made up of the even number order polynomial of relative displacement, and the coefficient of electric current even number order polynomial only is made up of the odd number order polynomial of relative displacement.
Beneficial effect of the present invention is embodied in:
1, measuring accuracy is high;
2, can measure the rigidity of magnetic suspension bearing optional position and any direction---flexibly;
3, can all control measurement by PC---automaticity is high, handling good.
Description of drawings
Fig. 1 a is a magnetic suspension bearing stiffness coefficient actual measurement platform front view in the critical current mensuration;
Fig. 1 b is the protection bearing and the initial position of rotor synoptic diagram of magnetic suspension bearing stiffness coefficient actual measurement platform in the critical current mensuration;
Fig. 2 a is that the axial force of the direct method of measurement is measured;
Fig. 2 b is that direct method of measurement eccentric throw radial force hour is measured;
Fig. 2 c is that the radial force of direct method of measurement eccentric throw when big measured;
Fig. 3 a is magnetic suspension bearing stiffness measurement device one-piece construction figure;
Fig. 3 b is the assembly explosive view of magnetic suspension rotor to right angle fixed mount;
Fig. 4-Fig. 7 is the synoptic diagram of four kinds of measurement points and matched curve.
Wherein:
1-protects bearing;
The 2-stator;
The 3-rotor;
The 4-winding;
5-moves magnet ring;
6-adjusts ring;
The 7-dividing plate;
The magnetostatic ring of 8-;
The accurate automatically controlled displacement platform of 9-Z direction;
The objective table of the accurate automatically controlled displacement platform of 10-Z direction;
11-right angle fixed mount;
12-six degree of freedom power/torque sensor;
13-magnetic suspension bearing rotor;
14-Y direction laser displacement sensor;
15-Z direction laser displacement sensor (heavy line is a laser);
16-Y direction reference measure face;
17-X direction laser displacement sensor;
18-X direction reference measure face;
The objective table of the accurate automatically controlled displacement platform of 19-Y direction;
20-magnetic suspension bearing stator;
The 21-universal stage;
The objective table of the accurate automatically controlled displacement platform of 22-X direction;
The accurate automatically controlled displacement platform of 23-Y direction;
The accurate automatically controlled displacement platform of 24-X direction;
The 25-mounting converter;
26-instrument converter.
Embodiment
The invention provides a kind of be used to measure magnetic suspension bearing axially, the device of radial rigidity; Shown in Fig. 3 a, 3b; Comprise each other vertically be provided with, also orthogonal three the displacement platforms of its direction of motion, be respectively the accurate automatically controlled displacement platform of the accurate automatically controlled displacement platform of directions X 24, Y direction 23, the accurate automatically controlled displacement platform 9 of Z direction; And be respectively applied for the laser displacement sensor (heavy line is a laser) of measuring said X, Y, the accurate automatically controlled displacement platform displacement of Z direction, be respectively directions X laser displacement sensor 17, Y direction laser displacement sensor 14, Z direction laser displacement sensor 15;
The accurate automatically controlled displacement platform 23 of said Y direction is fixed in directions X objective table 22 on the accurate automatically controlled displacement platform 24 of said directions X through one and is arranged on the accurate automatically controlled displacement platform of said directions X 24 relatively movably; Generally between accurate automatically controlled displacement platform 23 of Y direction and directions X objective table 22, be provided with chute and slide block.
Be fixed with Y direction objective table 19 on the accurate automatically controlled displacement platform 23 of said Y direction, said Y direction objective table 19 head lamp brush guard pivots are provided with a universal stage 21, and said universal stage 21 is used for fixing the stator 20 of said magnetic suspension bearing;
The accurate automatically controlled displacement platform 9 of said Z direction is through the fixing Z direction objective table 10 fixing sides of corner steady 11 always on it; Underrun one mounting converter 25 fixing six degree of freedom power/torque sensors 12 of said right angle fixed mount 11, said six degree of freedom power/torque sensor 12 is through the rotor 13 of instrument dress parallel operation 26 fixing said magnetic suspension bearings.
Preferably, the accurate automatically controlled displacement platform 23 of said Y direction is provided with a directions X reference measure face 18 that cooperates with said directions X laser displacement sensor 17, and a Y direction reference measure face 16 that cooperates with said Y direction laser displacement sensor 14; Said directions X reference measure face 18 is vertical with the Laser emission direction of said directions X laser displacement sensor 17, and said Y direction reference measure face 16 is vertical with the Laser emission direction of said Y direction laser displacement sensor 14.
Preferably, the accurate automatically controlled displacement platform of said X, Y, Z direction, and X, Y, Z direction laser displacement sensor, and the control end of power/torque sensor all is connected in a control center, whole-course automation is controlled like this, and is handling good.
The concrete connected mode of apparatus of the present invention is following:
1, be fixed on magnetic suspension bearing rotor 13 on the measurement face of six degree of freedom power/torque sensor 12 through instrument converter 26;
2, the installed surface with six degree of freedom power/torque sensor is fixed on the right angle fixed mount 11 through mounting converter 25;
3, right angle fixed mount 11 is installed on the objective table 10 of the automatically controlled precision displacement table 9 of Z direction;
4, magnetic suspension bearing stator 20 is connected with universal stage 21, again universal stage is fixed on the objective table 19 of the automatically controlled precision displacement table 23 of Y direction;
5, the automatically controlled precision displacement table of Y direction is installed on the objective table 22 of the accurate automatically controlled displacement platform 24 of directions X, and makes the moving direction of two displacement platforms vertical;
6, the reference measure face 18 and 16 of directions X and Y direction is installed on the objective table of the automatically controlled precision displacement table of Y direction;
7, related controlled quentity controlled variable in this device---initiatively move automatically controlled displacement platform move---power that six degree of freedom power/torque sensor is measured and the displacement of laser displacement sensor measurement to input, measuring amount; All can use PC to carry out programming Control and read, thereby realize automatic measurement.
The present invention also disclosed a kind of be used to measure magnetic suspension bearing axially, the measuring method of the device of radial rigidity, comprise the steps:
The first, the stator of said magnetic suspension bearing is clamped on the said universal stage, the rotor of said magnetic suspension bearing is clamped on the said instrument dress parallel operation;
The second, the stator and the rotor of said magnetic suspension bearing are adjusted to initial rest position; Be specially, move the objective table of the automatically controlled precision displacement table of Z direction, the magnetic suspension bearing rotor is moved in the Z direction; Move the objective table of automatically controlled precision displacement table in directions X and Y direction, the magnetic suspension bearing stator is moved in surface level; Slowly the magnetic suspension bearing rotor is fallen in the magnetic suspension bearing stator, the relative position of adjusting magnetic suspension bearing rotor and stator again serves as zero position to find the magnetic suspension bearing rotor to make a concerted effort.
The 3rd, when measuring radial rigidity, fixed rotor, rotatable stator in surface level, the direction that desire is measured is identical with the stator moving direction;
The 4th, in surface level, move stator with certain step-length along directions X (Y direction), measure each suffered magnetic force of step rotor and this moment stator with respect to the displacement of equilibrium point;
The 5th, the data that obtain according to the 4th step are drawn the force-displacement curve of stator earlier, select suitable model of fit that power is expressed as the function of displacement, i.e. F=f (x) (F=f (y)), and wherein F is a power, x (y) is displacement;
The 6th, model of fit F=f (x) (F=f (the y)) both sides of the 5th step to displacement x (y) differentiate, are obtained rigidity and the funtcional relationship of this direction displacement on this direction;
The concrete process of measuring the radial magnetic bearing force-displacement curve is: rotate said universal stage, and the stator direction of adjustment magnetic suspension bearing, the magnetic suspension bearing rigidity direction that desire is measured is parallel with directions X (Y direction); Fixedly the magnetic suspension bearing rotor makes the objective table of the automatically controlled displacement platform of directions X (Y direction) move about 450 μ m along X negative sense (Y negative sense), is that stepping is moved along X forward (Y forward) with 100 μ m again, approximately moves 9 and goes on foot to X forward (Y forward) 450 μ m places; Measure the power of the suffered directions X (Y direction) of each step magnetic suspension rotor with the power of six degree of freedom/torque sensor, and the displacement of measuring directions X (Y direction) the reference measure face of correspondence with it with directions X (Y direction) laser displacement sensor is as the displacement of magnetic suspension bearing stator in directions X (Y direction); Obtain the magnetic suspension bearing force-displacement curve of directions X (Y direction).
Wherein, when the magnetic suspension bearing force-displacement curve of measured X direction and Y direction, measured displacement is the displacement of magnetic suspension bearing stator, so will measure negatively to the displacement of measuring, obtains the displacement of magnetic suspension bearing rotor.
The 7th, when measuring axial rigidity, fixed stator, on the Z direction with a fixed step size movable rotor, measure the suffered magnetic force of every bit rotor and this moment rotor with respect to the displacement of equilibrium point;
The 8th, repeat the 4th to the 6th step, draw the force-displacement curve of rotor earlier; Select suitable model of fit power to be expressed as the function of displacement again; And then differentiate obtains the funtcional relationship of rigidity and the displacement of Z direction.
The concrete process of measuring the axial magnetic suspension bearing force-displacement curve is: fixing magnetic suspension bearing stator; Make the automatically controlled displacement platform of Z direction objective table move about 500 μ m along the Z negative sense; Be that stepping is moved along the Z forward with 100 μ m again, approximately move 10 and go on foot to Z forward 500 μ m places; Measure the suffered Z direction power of magnetic suspension rotor in each step with the power/torque sensor of six degree of freedom, and the displacement of measuring three corner steadies with Z direction laser displacement sensor is as the displacement of magnetic suspension bearing rotor in the Z direction; Obtain the magnetic suspension bearing force-displacement curve of Z direction.
Preferably, the initial rest position of said second step is that rotor suffered making a concerted effort in stator is zero position.Specifically, also can be: be that zero initial rest position is that the absolute value of the measured value of said six degree of freedom power/torque sensor on all directions is less than preset threshold said making a concerted effort.
In the third step; After the relative position of stator and rotor enters into the monitored space that interaction force is arranged between said stator and the rotor; The rotor stress data that records through the force transducer of this current moment and previous moment relatively; And according to the sense of displacement of previous moment stator; Judge the sense of displacement of current stator: if the absolute value of the power of this moment force sensor measuring is less than the absolute value of the power of previous moment force sensor measuring, and the direction of the power of twice measurement is identical, and then the sense of displacement in this current moment of stator should be identical with the sense of displacement in a last moment; If constantly the absolute value of force sensor measuring power is greater than the absolute value of previous moment force sensor measuring power for this, or the power of twice measurement is in the opposite direction, and then the sense of displacement in stator this current moment should be opposite with the sense of displacement in a last moment.
Can be as required, select the direction measured, promptly can a measurement axis to rigidity, or only measure rigidity radially; Also can adjust the order that axial rigidity is measured and radial rigidity is measured arbitrarily.
Wherein, model of fit is selected according to concrete measurement data, and for example power and displacement are approximated to linear relationship, i.e. a fitting of a polynomial power of available displacement; If become curved line relation, form match power such as the polynomial expression of available displacement, index, logarithm or sine.Illustrate the process of choosing of model of fit below:
(1) linear fit.Measurement data is seen table 1, and it is that displacement, ordinate are in the X-Y scheme of power that measurement data is drawn in horizontal ordinate, and the power and the displacement that can observe measurement are approximate linear, therefore choose straight line (linearity) match, and the point and the matched curve of measurement are as shown in Figure 4.
Table 1 measurement data
F(N) x(mm) F(N) x(mm)
-19.858 -0.46171 0.68 0.007385
-18.802 -0.44343 1.457 0.026949
-17.803 -0.42475 2.283 0.053462
-16.752 -0.40731 3.075 0.072142
-15.773 -0.38365 3.915 0.090822
-14.749 -0.36372 4.721 0.110062
-13.812 -0.34006 5.595 0.128182
-12.832 -0.31995 6.416 0.153724
-11.932 -0.30021 7.256 0.174159
-10.992 -0.28029 8.097 0.196675
-10.118 -0.25295 9.001 0.215355
-9.239 -0.2367 9.857 0.235318
-8.403 -0.21674 10.767 0.25396
-7.503 -0.19811 11.683 0.277621
-6.672 -0.17644 12.639 0.300037
-5.819 -0.15208 13.588 0.318257
-4.99 -0.13152 14.602 0.337397
-4.144 -0.11125 15.63 0.357883
-3.361 -0.09349 16.67 0.378531
-2.532 -0.07232 17.715 0.4034
-1.727 -0.05143 18.867 0.420834
-0.912 -0.03247 19.973 0.440535
-0.168 -0.0113
Use the function of displacement match power to be: F=42.115x+0.3786
First order derivative is asked to displacement x in both sides, promptly obtains the funtcional relationship of rigidity about displacement: k=0x+42.115.
This routine fitting result shows, rigidity and location independent are 42.115N/mm in the moving range of (0.5 ,+0.5) mm.
(2) trigonometric function match.Measurement data is seen table 2, and it is displacement that measurement data is drawn in horizontal ordinate, and ordinate is in the X-Y scheme of power, can observe the power and the approximate sine relation that is of displacement of measurement, therefore chooses the sine function match, and the point and the matched curve of measurement are as shown in Figure 5.
Table 2 measurement data
F(N) x(mm) F(N) x(mm)
19.8 -0.46171 18.4 0.007385
19.2 -0.44343 16.6 0.026949
17.8 -0.42475 14.2 0.053462
16 -0.40731 11.4 0.072142
12.8 -0.38365 7 0.090822
9.6 -0.36372 2.8 0.110062
5.2 -0.34006 -0.8 0.128182
1.2 -0.31995 -4.6 0.153724
-2.8 -0.30021 -8.4 0.174159
-6.6 -0.28029 -12 0.196675
-11.4 -0.25295 -15.4 0.215355
-14 -0.2367 -17.4 0.235318
-16.6 -0.21674 -19 0.25396
-18.4 -0.19811 -19.8 0.277621
-19.6 -0.17644 18.4 0.300037
-20 -0.15208 16.6 0.318257
-19.4 -0.13152 14.2 0.337397
-18 -0.11125 11.4 0.357883
-16 -0.09349 7 0.378531
-13.2 -0.07232 2.8 0.4034
-9.8 -0.05143 -0.8 0.420834
-6.4 -0.03247 -4.6 0.440535
19.8 -0.0113 -8.4 0.461046
Use the function of displacement match power to be: F=20*sin (100*x)
First order derivative is asked to displacement x in both sides, promptly obtains the funtcional relationship of rigidity about displacement: k=2000*cos (100*x).
This routine fitting result shows that rigidity is the function of position, and the rigidity of diverse location is different, and its concrete funtcional relationship is shown in the following formula.
(3) fitting of a polynomial.Measurement data is seen table 3, and it is displacement that measurement data is drawn in horizontal ordinate, and ordinate is in the X-Y scheme of power, can observe the power and the displacement approximation relation of measurement, chooses the polynomial function match, and the point and the matched curve of measurement are as shown in Figure 6.
Table 3 measurement data
F(N) x(mm) F(N) x(mm)
20.43 -0.46171 0.005 0.007385
18.9 -0.44343 0.07 0.026949
17.15 -0.42475 0.29 0.053462
15.99 -0.40731 0.52 0.072142
14.15 -0.38365 0.83 0.090822
12.75 -0.36372 1.23 0.110062
11.17 -0.34006 1.66 0.128182
9.91 -0.31995 2.4 0.153724
8.74 -0.30021 3.09 0.174159
7.64 -0.28029 3.94 0.196675
6.24 -0.25295 4.77 0.215355
5.47 -0.2367 5.67 0.235318
4.6 -0.21674 6.61 0.25396
3.84 -0.19811 7.92 0.277621
3.05 -0.17644 9.27 0.300037
2.27 -0.15208 10.45 0.318257
1.7 -0.13152 11.76 0.337397
1.23 -0.11125 13.25 0.357883
0.86 -0.09349 14.87 0.378531
0.51 -0.07232 16.93 0.4034
0.27 -0.05143 18.45 0.420834
0.1 -0.03247 20.28 0.440535
0.01 -0.0113 22.22 0.461046
Use the function of displacement match power to be: F=9.4911x 3+ 100.09x 2+ 0.0475x-0.0044.
First order derivative is asked to displacement x in both sides, promptly obtains the funtcional relationship of rigidity about displacement:
k＝28.4733x 2+200.18x+0.0475。
This routine fitting result shows that rigidity is the function of position, and the rigidity of diverse location is different, and its concrete funtcional relationship is shown in the following formula.
(4) exponential fitting.Measurement data is seen table 4, and it is displacement that measurement data is drawn in horizontal ordinate, and ordinate is in the X-Y scheme of power, can observe the power of measurement and the approximation relation of displacement, chooses the function match of exponential form, and the point and the matched curve of measurement are as shown in Figure 7.
Table 4 measurement data
F(N) x(mm) F(N) x(mm)
21.58 -0.46171 13.49 0.007385
21.18 -0.44343 13.23 0.026949
20.79 -0.42475 12.89 0.053462
20.43 -0.40731 12.66 0.072142
19.95 -0.38365 12.41 0.090822
19.56 -0.36372 12.19 0.110062
19.1 -0.34006 11.97 0.128182
18.72 -0.31995 11.67 0.153724
18.37 -0.30021 11.42 0.174159
17.99 -0.28029 11.18 0.196675
17.52 -0.25295 10.96 0.215355
17.24 -0.2367 10.74 0.235318
16.9 -0.21674 10.54 0.25396
16.57 -0.19811 10.31 0.277621
16.23 -0.17644 10.08 0.300037
15.84 -0.15208 9.9 0.318257
15.52 -0.13152 9.7 0.337397
15.21 -0.11125 9.5 0.357883
14.94 -0.09349 9.32 0.378531
14.61 -0.07232 9.07 0.4034
14.31 -0.05143 8.92 0.420834
14.04 -0.03247 8.76 0.440535
13.76 -0.0113 8.57 0.461046
Use the function of displacement match power to be: F=13.599e -x
First order derivative is asked to displacement x in both sides, promptly obtains the funtcional relationship of rigidity about displacement:
k＝-13.599e -x。
This routine fitting result shows that rigidity is the function of position, and the rigidity of diverse location is different, and its concrete funtcional relationship is shown in the following formula.
More than illustrational all be the fit procedure of permanent magnetism rigidity and displacement curve; If magnetic suspension bearing also receives the effect of the electromagnetic force of open-loop current; Below be exemplified as fitting of a polynomial, then the fitting of a polynomial model of the radial force of permanent magnetism off-set magnetic suspension bearing and displacement and electric current does
F re ( x , i N ) = ( a P 1 x + a P 3 x 3 + · · · + a P ( 2 n - 1 ) x 2 n - 1 ) + ( b 12 m x 2 m + · · · + b 12 x 2 + b 10 ) i N + ( b 2 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 12 x 3 + b 21 x ) i N 2 + ( b 32 m x 2 m + · · · + b 32 x 2 + b 30 ) i N 3 + ( b 4 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 43 x 3 + b 41 x ) i N 4 + · · · + ( b ( 2 l - 1 ) 2 m x 2 m + · · · + b ( 2 l - 1 ) 2 x 2 + b ( 2 l - 1 ) 0 ) i N ( 2 l - 1 )
F wherein ReBe rotor suffered power in stator, x is the displacement of rotor with respect to the equilibrium position, i NBe the electric current number of turn, a and b are fitting coefficient, and n, m and l are the item number of match, power F ReOnly form with the polynomial fitting that electric current is irrelevant by the odd number order polynomial of relative displacement x; The coefficient of electric current odd number order polynomial only is made up of the even number order polynomial of relative displacement, and the coefficient of electric current even number order polynomial only is made up of the odd number order polynomial of relative displacement.
The match form of radial permanent magnet rigidity and displacement curve uses the polynomial expression method to carry out match, and the fit equation form is following, k p(x)=(a P1+ 3a P3x 2+ ... + (2n-1) a P (2n-1)x 2 (n-1)) k wherein pBe radial permanent magnet rigidity, it is characterized in that polynomial fitting only is made up of the even number order polynomial of relative displacement x.
The present invention still has numerous embodiments, and all employing equivalents or equivalent transformation and all technical schemes of forming all drop within protection scope of the present invention.

Claims (10)

  1. One kind be used to measure magnetic suspension bearing axially, the device of radial rigidity, it is characterized in that: comprise vertically each other be provided with, also orthogonal three the displacement platforms of its direction of motion, be respectively X, Y, the accurate automatically controlled displacement platform of Z direction; And be respectively applied for the laser displacement sensor of measuring said X, Y, the accurate automatically controlled displacement platform displacement of Z direction, be respectively X, Y, Z direction laser displacement sensor;
    The accurate automatically controlled displacement platform of said Y direction is arranged on the accurate automatically controlled displacement platform of said directions X through the directions X objective table that is fixed on the accurate automatically controlled displacement platform of said directions X relatively movably; Be fixed with Y direction objective table on the accurate automatically controlled displacement platform of said Y direction, said Y direction objective table head lamp brush guard pivot is provided with a universal stage, and said universal stage is used for fixing the stator of said magnetic suspension bearing;
    The accurate automatically controlled displacement platform of said Z direction closely is connected with the side of corner steady always through fixing Z direction objective table on it; Underrun one mounting converter of said right angle fixed mount is fixed one power/torque sensor, and said power/torque sensor is through the rotor of the fixing said magnetic suspension bearing of instrument dress parallel operation.
  2. 2. according to claim 1 be used to measure magnetic suspension bearing axially, the device of radial rigidity; It is characterized in that: the accurate automatically controlled displacement platform of said Y direction is provided with a directions X reference measure face that cooperates with said directions X laser displacement sensor, and a Y direction reference measure face that cooperates with said Y direction laser displacement sensor; Said directions X reference measure face is vertical with the Laser emission direction of said directions X laser displacement sensor, and said Y direction reference measure face is vertical with the Laser emission direction of said Y direction laser displacement sensor.
  3. 3. according to claim 1 be used to measure magnetic suspension bearing axially, the device of radial rigidity, it is characterized in that: said power/torque sensor is six degree of freedom power/torque sensor.
  4. 4. according to claim 1 be used to measure magnetic suspension bearing axially, the device of radial rigidity; It is characterized in that: said X, Y, the accurate automatically controlled displacement platform of Z direction; And X, Y, Z direction laser displacement sensor, and the control end of power/torque sensor all is connected in a control center.
  5. One kind use claim 1 described be used to measure magnetic suspension bearing axially, the measuring method of the device of radial rigidity, it is characterized in that: comprise the steps,
    The first, the stator of said magnetic suspension bearing is clamped on the said universal stage, the rotor of said magnetic suspension bearing is clamped on the said instrument dress parallel operation;
    The second, the stator and the rotor of said magnetic suspension bearing are adjusted to initial rest position;
    The 3rd, when measuring radial rigidity, fixed rotor, rotatable stator in surface level, the direction that desire is measured is identical with the stator moving direction;
    The 4th, in surface level, move stator with certain step-length along directions X or Y direction, measure each suffered magnetic force of step rotor and this moment stator with respect to the displacement of equilibrium point;
    The 5th, the data that obtain according to the 4th step are drawn the force-displacement curve of stator earlier, select suitable model of fit that power is expressed as the function of displacement, i.e. F=f (x) or F=f (y), and wherein F is a power, x or y are displacement;
    The 6th, the model of fit F=f (x) of the 5th step or F=f (y) both sides to displacement x or y differentiate, are obtained rigidity and the funtcional relationship of this direction displacement on this direction;
    The 7th, when measuring axial rigidity, fixed stator, on the Z direction with a fixed step size movable rotor, measure the suffered magnetic force of every bit rotor and this moment rotor with respect to the displacement of equilibrium point;
    The 8th, repeat the 4th to the 6th step, draw the force-displacement curve of rotor earlier; Select suitable model of fit power to be expressed as the function of displacement again; And then differentiate obtains the funtcional relationship of rigidity and the displacement of Z direction.
  6. 6. according to claim 5 be used to measure magnetic suspension bearing axially, the method for radial rigidity, it is characterized in that: the initial rest position of said second step is that rotor suffered making a concerted effort in stator is zero position.
  7. 7. according to claim 6 be used to measure magnetic suspension bearing axially, the method for radial rigidity, it is characterized in that: be that zero initial rest position is that the absolute value of the measured value of said six degree of freedom power/torque sensor on all directions is less than preset threshold said making a concerted effort.
  8. 8. according to claim 7 be used to measure magnetic suspension bearing axially, the method for radial rigidity; It is characterized in that: in the third step; After the relative position of stator and rotor enters into the monitored space that interaction force is arranged between said stator and the rotor; The rotor stress data that records through the force transducer of this current moment and previous moment relatively; And according to the sense of displacement of previous moment stator; Judge the sense of displacement of current stator: if the absolute value of the power of this moment force sensor measuring is less than the absolute value of the power of previous moment force sensor measuring, and the direction of the power of twice measurement is identical, and then the sense of displacement in this current moment of stator should be identical with the sense of displacement in a last moment; If constantly the absolute value of force sensor measuring power is greater than the absolute value of previous moment force sensor measuring power for this, or the power of twice measurement is in the opposite direction, and then the sense of displacement in stator this current moment should be opposite with the sense of displacement in a last moment.
  9. 9. according to claim 8 be used to measure magnetic suspension bearing axially, the method for radial rigidity, it is characterized in that: the match form use polynomial expression method of radial permanent magnet rigidity and displacement curve is carried out match, and the fit equation form is following,
    k p(x)＝(a P1+3a P3x 2+…+(2n-1)a P(2n-1)x 2(n-1))
    K wherein pBe radial permanent magnet rigidity, it is characterized in that polynomial fitting only is made up of the even number order polynomial of relative displacement x.
  10. 10. according to claim 9 be used to measure magnetic suspension bearing axially, the method for radial rigidity, it is characterized in that: the model of fit of open-loop current rigidity is the fitting of a polynomial form, the fitting of a polynomial model of its radial force and displacement and electric current does
    F re ( x , i N ) = ( a P 1 x + a P 3 x 3 + · · · + a P ( 2 n - 1 ) x 2 n - 1 ) + ( b 12 m x 2 m + · · · + b 12 x 2 + b 10 ) i N + ( b 2 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 12 x 3 + b 21 x ) i N 2 + ( b 32 m x 2 m + · · · + b 32 x 2 + b 30 ) i N 3 + ( b 4 ( 2 l - 1 ) x ( 2 l - 1 ) + · · · + b 43 x 3 + b 41 x ) i N 4 + · · · + ( b ( 2 l - 1 ) 2 m x 2 m + · · · + b ( 2 l - 1 ) 2 x 2 + b ( 2 l - 1 ) 0 ) i N ( 2 l - 1 )
    F wherein ReBe rotor suffered power in stator, x is the displacement of rotor with respect to the equilibrium position, i NBe the electric current number of turn, a and b are fitting coefficient, and n, m and l are the item number of match, power F ReOnly form with the polynomial fitting that electric current is irrelevant by the odd number order polynomial of relative displacement x; The coefficient of electric current odd number order polynomial only is made up of the even number order polynomial of relative displacement, and the coefficient of electric current even number order polynomial only is made up of the odd number order polynomial of relative displacement.
CN2011102553725A 2011-08-31 2011-08-31 Device and method used for measuring axial and radial rigidity of magnetic suspension bearing Pending CN102435434A (en)

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CN104792482A (en) * 2015-03-25 2015-07-22 南京航空航天大学 Accurate magnetic levitation bearing dynamic stiffness testing method
CN106153337A (en) * 2016-06-22 2016-11-23 东南大学 A kind of Permanent-magnet bearing axial carrying capacity test device
CN106840668A (en) * 2016-12-13 2017-06-13 北京航天控制仪器研究所 The device for testing stiffness and method of testing of a kind of magnetic suspension bearing
CN107907747A (en) * 2017-12-19 2018-04-13 陕西航天时代导航设备有限公司 A kind of magnetic suspension element inductors output characteristics test fixture and test method
CN108426692A (en) * 2018-04-27 2018-08-21 山东科技大学 Magnetic suspension rotor experimental bench and progress magnetic suspension rotor test analysis method
CN109676612A (en) * 2019-02-28 2019-04-26 谢立波 Robot magnetic suspension intelligent flexible retarder system and its control method
CN110057582A (en) * 2019-05-23 2019-07-26 河南科技大学 Hydrostatic bearing radial rigidity test device
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CN110296800A (en) * 2019-07-16 2019-10-01 哈尔滨理工大学 A kind of device for the measurement of blood pump magnetic suspension motor axial rigidity
CN110441056A (en) * 2019-09-09 2019-11-12 合肥工业大学 A kind of non-contact type mechanical can transmit testing stand and its test method
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CN117811454A (en) * 2024-02-29 2024-04-02 广东美的暖通设备有限公司 Magnetic suspension rotor suspension position control method and device and centrifugal compressor

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CN104792482A (en) * 2015-03-25 2015-07-22 南京航空航天大学 Accurate magnetic levitation bearing dynamic stiffness testing method
CN106153337A (en) * 2016-06-22 2016-11-23 东南大学 A kind of Permanent-magnet bearing axial carrying capacity test device
CN106153337B (en) * 2016-06-22 2018-07-20 东南大学 A kind of Permanent-magnet bearing axial carrying capacity test device
CN106840668A (en) * 2016-12-13 2017-06-13 北京航天控制仪器研究所 The device for testing stiffness and method of testing of a kind of magnetic suspension bearing
CN106840668B (en) * 2016-12-13 2019-02-15 北京航天控制仪器研究所 A kind of device for testing stiffness and test method of magnetic suspension bearing
CN107907747A (en) * 2017-12-19 2018-04-13 陕西航天时代导航设备有限公司 A kind of magnetic suspension element inductors output characteristics test fixture and test method
CN107907747B (en) * 2017-12-19 2024-06-07 陕西航天时代导航设备有限公司 Magnetic suspension element inductance output characteristic test tool and test method
CN108426692A (en) * 2018-04-27 2018-08-21 山东科技大学 Magnetic suspension rotor experimental bench and progress magnetic suspension rotor test analysis method
CN108426692B (en) * 2018-04-27 2023-12-08 唐山森普矿山装备有限公司 Magnetic suspension rotor experiment table and magnetic suspension rotor test analysis method
CN109676612A (en) * 2019-02-28 2019-04-26 谢立波 Robot magnetic suspension intelligent flexible retarder system and its control method
CN109676612B (en) * 2019-02-28 2024-03-19 谢立波 Robot magnetic suspension intelligent flexible speed reducer system and control method thereof
CN110188416A (en) * 2019-05-14 2019-08-30 燕山大学 A kind of electric control permanent magnet flange fixing installation magnetic coupling calculation method
CN110057582B (en) * 2019-05-23 2021-09-24 河南科技大学 Hydrostatic bearing radial rigidity testing arrangement
CN110057582A (en) * 2019-05-23 2019-07-26 河南科技大学 Hydrostatic bearing radial rigidity test device
CN110296800A (en) * 2019-07-16 2019-10-01 哈尔滨理工大学 A kind of device for the measurement of blood pump magnetic suspension motor axial rigidity
CN110441056B (en) * 2019-09-09 2021-02-05 合肥工业大学 Non-contact mechanical energy transfer test bed and test method thereof
CN110441056A (en) * 2019-09-09 2019-11-12 合肥工业大学 A kind of non-contact type mechanical can transmit testing stand and its test method
CN110595776A (en) * 2019-10-28 2019-12-20 北京昆腾迈格技术有限公司 Axial magnetic bearing rigidity testing device
CN110836774A (en) * 2019-12-16 2020-02-25 四川九天真空科技有限公司 Electromagnetic bearing test tool
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Application publication date: 20120502