CN102632256B - Gas magnetic bearing electric spindle and control system thereof - Google Patents
Gas magnetic bearing electric spindle and control system thereof Download PDFInfo
- Publication number
- CN102632256B CN102632256B CN201210121752.4A CN201210121752A CN102632256B CN 102632256 B CN102632256 B CN 102632256B CN 201210121752 A CN201210121752 A CN 201210121752A CN 102632256 B CN102632256 B CN 102632256B
- Authority
- CN
- China
- Prior art keywords
- radial
- bearing
- control system
- magnetic bearing
- displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a gas magnetic bearing electric spindle and a control system thereof. The gas magnetic bearing electric spindle structurally comprises a radial-axial auxiliary bearing, a radial displacement sensor, a radial displacement sensor bracket, a radial hybrid magnetic bearing, a limiting sleeve, a high-speed motor, a steel cylinder, an axial thrust gas bearing, a radial auxiliary bearing, a rotating shaft, a front end cover and a rear end cover. For the spindle with the novel structure, the invention provides a fuzzy control system of the gas magnetic bearing electric spindle based on a rough set theory method. The fuzzy control system comprises a controller, a power amplification module, a prototype body and a displacement detection module. Compared with a conventional fuzzy control system, the control system introduces a fuzzy control method of a rough set theory, simplifies original fuzzy control rules, and can effectively remove redundant information knowledge, so that the control system is more simple and easier to control, the dynamic performance of a spindle system is improved, and the performance of the control system can be effectively enhanced.
Description
Technical field
The invention belongs to mechanical manufacturing field and control technology field, be specifically related to a kind of gas magnetic bearing electricity main shaft and the design of Fuzzy Control based on Rough Set method for this main shaft.
Background technology
Along with scientific and technical development, ultraprecise is processed to have become and in international competition, is obtained one of successful key technology, and the most important condition that realizes ultraprecise processing is Ultra-precision CNC Machine.The central factor that affects ultra-precision machine tool precision is the rotating accuracy of main shaft, and main shaft will reach high rotating accuracy, stability of rotation, friction, and key is the structure of accurate main shaft used and the Control System Design of main shaft.
The magnetic bearing of existing gas magnetic bearing main shaft all adopts active magnetic bearings (for example publication number CN 101217243; The Chinese patent of publication number CN 10127240), than active magnetic bearings, the magnetic field that hybrid magnetic suspension bearing utilizes permanent magnet to produce, replace the quiescent biasing magnetic field that in Active Magnetic Suspending Bearing, electromagnet produces, power attenuation is reduced greatly, reduce the number of ampere turns of electromagnet, dwindled magnetic bearing volume, and improved the usefulness of magnetic bearing.
Controller design aspect in control system, in engineering, the PID controllers that adopt are controlled main shaft more.But the method too relies on the model parameter of control object, and robustness is poor, for the complicated and extremely accurate control of this class of gas magnetic bearing electricity main shaft, adopt merely PID controller, be difficult to meet the accurate requirement of controlling of system.And fuzzy control utilizes human expert's experience, show for control non-linear, complex object the advantage that robustness is good, control performance is high.But fuzzy control rule is to obtain according to people's summary of experience, conventionally sufficiently complete and subjectivity is strong, and in the time that input, output number and linguistic variable divided rank increase, fuzzy control rule number increases sharply, bring difficulty to the design of fuzzy controller, also can affect the performance of fuzzy control.A large amount of empirical datas can effectively be analyzed and process to Rough Set, and therefrom find implicit knowledge, discloses potential rule, is specially adapted to Based Intelligent Control.
Summary of the invention
The object of the invention is the deficiency existing for prior art, a kind of new gas magnetic bearing electricity main shaft that one is reasonable in design, low in energy consumption, volume is little, lightweight, convenient processing and manufacture also can improve ultraprecise spindle rotation accuracy, assurance rigidity is provided.And for the main shaft of this new structure, design a kind of control system with the gas magnetic bearing electricity main shaft fuzzy controller based on Rough Set method, make control system simpler, be easier to control, the dynamic property of axis system improves, and can effectively improve the performance of control system.
The technical scheme that realizes the object of the invention is:
A kind of gas magnetic bearing electricity main shaft, comprise radial-axial auxiliary bearing, radial displacement transducer, radial displacement transducer support, radial hybrid magnetic bearing, spacing collar, high-speed electric expreess locomotive, steel cylinder, radial gas bearing provided, axial thrust gas bearing, radially auxiliary bearing, rotating shaft, drive end bearing bracket and rear end cap, wherein, radial-axial auxiliary bearing adopts angular contact ball bearing; Radially auxiliary bearing adopts cylinder roller bearing; Radial displacement transducer adopts current vortex sensor, is arranged on radial displacement transducer support; Radial hybrid magnetic bearing is four field structure magnetic bearings, and its biasing magnetic flux is produced by the permanent magnet of axial charging, controls magnetic flux and is produced by the control coil that is connected with DC current; High-speed electric expreess locomotive is built-in variable-frequency motor; Spacing collar is used for fixing in main shaft each part in axial installation site.
For above-mentioned gas magnetic bearing electricity main shaft, the technical scheme that control system of the present invention adopts is:
A kind of control system of gas magnetic bearing electricity main shaft, formed by controller, power amplifier module, model machine body and displacement detection module, wherein, described controller comprises the 2nd PID controller and power and the current transformation under the PID controller under online adjustment of fuzzy tuning rule based on Rough Set method, the online adjustment of fuzzy tuning rule based on Rough Set method; Described power amplifier module comprises current track inverter; Described model machine body comprises radial hybrid magnetic bearing and rotating shaft front end; Described displacement detection module comprises the first displacement transducer, second displacement sensor and displacement interface circuit; The radial position of described rotating shaft front end is carried out differential detection by current vortex the first displacement transducer, second displacement sensor, and the displacement signal detecting, by the processing of described displacement interface circuit, is exported the output signal of displacement after modulation
x,
y, and with given reference position signal
x *,
y *compare the deviation obtaining
e x ,
e y and rate of change
de x ,
de y the 2nd PID controller processing under a PID controller and the online adjustment of fuzzy tuning rule under adjusting by the fuzzy tuning rule based on Rough Set method is online, adjusts parameter in real time
k p,
k i,
k dsize, thereby obtain PID controller power output signal
f xx with
f yy , then through exertin and current transformation output three-phase current reference signal
i a *,
i b *,
i c *, finally by crossing the processing of stagnant ring comparing element, by current track inverter output three-phase current
i a,
i b, i
cdrive the coil of described radial hybrid magnetic bearing.
In the present invention, the described control system based on fuzzy control adopts the Fuzzy PID based on Rough Set method.The method for simplifying of application Knowledge in Rough Sets Theory expression system decision rule is simplified original fuzzy control rule, obtains rough set fuzzy control rule.In fuzzy control, through the displacement of displacement interface circuit modulation output
x,
ywith reference position signal
x *,
y *deviation
e x ,
e y and deviation
e x ,
e y rate of change
de x ,
de y as the conditional attribute in decision table, determine controller power output signal
f xx ,
f yy size
k p,
k i,
k d(PID controller major parameter) is as decision attribute.By yojan decision table, obtain multiple different yojan, and the corresponding decision rule of each yojan obtains thus a series of
e x ,
e y ,
de x ,
de y with
k p,
k i,
k dcorresponding control law.By every control law is set to confidence level and threshold values, reject underproof rule and arrange, thereby use minimum essential condition attribute just can obtain and the identical result of prime information table, effectively remove redundancy knowledge.If further improve accuracy and the rapidity controlled, can be according to calculating
e x ,
e y ,
de x ,
de y from the fuzzy nearness of different control laws, control thereby extract a certain rule, or merge corresponding control law by corresponding method.
The present invention's advantage is compared with prior art:
1, traditional ultraprecise main shaft is supported by hydrostatic gas-lubricated bearing or magnetic bearing supports separately, and the present invention adopts hydrostatic gas-lubricated bearing and magnetic bearing combining form can reach better effect while use separately compared with both.Hydrostatic gas-lubricated bearing can make up the deficiency that magnetic bearing bearing capacity is little, and magnetic bearing can make up the uppity shortcoming of hydrostatic gas-lubricated bearing, and can realize higher rotating accuracy.
2, the magnetic bearing of traditional Ultraprecise electric spindle adopts active magnetic bearings structure, and the present invention adopts hybrid magnetic bearing structure, owing to having cancelled bias current, has reduced the number of ampere turns of electromagnet, has reduced the power consumption of power amplifier, has reduced the cost of axis system.
3, for the problem identificatioin of " the bottleneck "-fuzzy control rule of fuzzy theory, introduce Rough Set, propose the two to combine the design that is applied to gas magnetic bearing electricity spindle control system, compared with traditional fuzzy control method, the inventive method is to carry out yojan on original fuzzy control rule basis, can effectively remove redundancy knowledge, make control system simpler, be easier to control, the dynamic property of axis system improves, and can effectively improve the performance of control system.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of gas magnetic bearing electricity of the present invention main shaft.
Fig. 2 is the control system block diagram of the present invention's electricity main shaft.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
As shown in Figure 1, for main shaft of the present invention comprises radial-axial auxiliary bearing 1, radial displacement transducer 2, radial displacement transducer support 3, radial hybrid magnetic bearing 4, spacing collar 5, high-speed electric expreess locomotive 6, steel cylinder 7, radial gas bearing provided 8, axial thrust gas bearing 9, radially auxiliary bearing 10, rotating shaft 11, drive end bearing bracket 12 and rear end cap 13, wherein, radial-axial auxiliary bearing 1 adopts angular contact ball bearing; Radially auxiliary bearing 10 adopts cylinder roller bearing; Radial displacement transducer 2 adopts current vortex sensor, is arranged on radial displacement transducer support 3; Radial hybrid magnetic bearing 4 is four field structure magnetic bearings, and its biasing magnetic flux is produced by the permanent magnet of axial charging, controls magnetic flux and is produced by the control coil that is connected with DC current; High-speed electric expreess locomotive 6 is built-in variable-frequency motor; Spacing collar 5 is used for fixing in main shaft each part in axial installation site.
As shown in Figure 2, the control system designing for the radially two degrees of freedom of rotating shaft 11 front ends that supported by radial hybrid magnetic bearing 4 for the present invention, (comprise the PID controller 14 under online adjustment of fuzzy tuning rule 16 based on Rough Set method by controller, PID controller 15 under online adjustment of fuzzy tuning rule 17 based on Rough Set method, power/current transformation 18), power amplifier module (current track inverter 19), model machine body (comprises radial hybrid magnetic bearing 4, rotating shaft 11 front ends), displacement detection module (comprises displacement transducer 20, displacement transducer 21, displacement interface circuit 22) composition.Shown in the radial position of rotating shaft 11 front ends carry out differential detection by eddy current displacement sensor 20, displacement transducer 21, the output signal of displacement of the displacement signal detecting after by the 22 output modulation of displacement interface circuit
x,
y, with given reference position signal
x *,
y *compare the deviation obtaining
e x ,
e y and rate of change
de x ,
de y process by PID controller 14 and PID controller 15 under the fuzzy tuning rule 16 based on Rough Set method and the online adjustment of fuzzy tuning rule 17, adjust parameter
k p,
k i,
k dthereby, obtain PID controller power output signal
f xx with
f yy , then export three-phase current reference signal through exertin and current transformation 18
i a *,
i b *,
i c *, finally by crossing the processing of stagnant ring comparing element, export three-phase current by current track inverter 19
i a,
i b, i
cdrive the coil of radial hybrid magnetic bearing 4.
Claims (2)
1. a gas magnetic bearing electricity main shaft, comprise radial-axial auxiliary bearing (1), radial displacement transducer (2), radial displacement transducer support (3), radial hybrid magnetic bearing (4), spacing collar (5), high-speed electric expreess locomotive (6), steel cylinder (7), radial gas bearing provided (8), axial thrust gas bearing (9), radially auxiliary bearing (10), rotating shaft (11), drive end bearing bracket (12) and rear end cap (13), it is characterized in that: radial-axial auxiliary bearing (1) adopts angular contact ball bearing; Radially auxiliary bearing (10) adopts cylinder roller bearing; Radial displacement transducer (2) adopts current vortex sensor, is arranged on radial displacement transducer support (3) upper, and near rotating shaft (11); Radial hybrid magnetic bearing (4) is four field structure magnetic bearings, and its biasing magnetic flux is produced by the permanent magnet of axial charging, controls magnetic flux and is produced by the control coil that is connected with DC current; High-speed electric expreess locomotive (6) is built-in variable-frequency motor; Spacing collar (5) is used for fixing in main shaft each part in axial installation site.
2. the control system of gas magnetic bearing electricity main shaft as claimed in claim 1, formed by controller, power amplifier module, model machine body and displacement detection module, it is characterized in that, described controller comprises the 2nd PID controller (15) and power and the current transformation (18) under the PID controller (14) under the online adjustment of the fuzzy tuning rule (16) based on Rough Set method, the online adjustment of fuzzy tuning rule (17) based on Rough Set method; Described power amplifier module comprises current track inverter (19); Described model machine body comprises radial hybrid magnetic bearing (4) and rotating shaft (11) front end; Described displacement detection module comprises the first displacement transducer (20), second displacement sensor (21) and displacement interface circuit (22); The radial position of described rotating shaft (11) front end is carried out differential detection by current vortex the first displacement transducer (20), second displacement sensor (21), the displacement signal detecting is processed by described displacement interface circuit (22), the output signal of displacement after output modulation
x,
y, and with given reference position signal
x *,
y *compare the deviation obtaining
e x ,
e y and rate of change
de x ,
de y the 2nd PID controller (15) under a PID controller (14) and the online adjustment of fuzzy tuning rule (17) under adjusting by the fuzzy tuning rule (16) based on Rough Set method is online is processed, and adjusts in real time parameter
k p,
k i,
k dsize, thereby obtain PID controller power output signal
f xx with
f yy , then through exertin and current transformation (18) output three-phase current reference signal
i a *,
i b *,
i c *, finally by crossing the processing of stagnant ring comparing element, by current track inverter (19) output three-phase current
i a,
i b, i
cdrive the coil of described radial hybrid magnetic bearing (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210121752.4A CN102632256B (en) | 2012-04-24 | 2012-04-24 | Gas magnetic bearing electric spindle and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210121752.4A CN102632256B (en) | 2012-04-24 | 2012-04-24 | Gas magnetic bearing electric spindle and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102632256A CN102632256A (en) | 2012-08-15 |
| CN102632256B true CN102632256B (en) | 2014-05-14 |
Family
ID=46616937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210121752.4A Expired - Fee Related CN102632256B (en) | 2012-04-24 | 2012-04-24 | Gas magnetic bearing electric spindle and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102632256B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019945A (en) * | 2016-07-14 | 2016-10-12 | 江苏大学 | Flywheel battery-used axial magnetic bearing anti-disturbance controller construction method |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103034126A (en) * | 2012-12-24 | 2013-04-10 | 江苏大学 | Controlling system and controlling method of axial off-center magnetic bearing of outer rotor of constant current source |
| CN104439301B (en) * | 2014-12-02 | 2017-01-11 | 华侨大学 | Rotary ultrasonic spindle supported by magnetic-suspension bearing |
| CN105259785A (en) * | 2015-10-28 | 2016-01-20 | 江苏大学 | Three-degree-of-freedom hybrid magnetic bearing variable saturation flexible variable structure control method |
| CN106825627A (en) * | 2017-02-15 | 2017-06-13 | 江苏大学 | A kind of inverter driving ejector half five degree of freedom hybrid magnetic bearing supports electro spindle |
| CN109236860B (en) * | 2018-11-30 | 2024-04-16 | 广西恒达电机科技有限公司 | Combined bearing for rotary machinery rotor |
| CN109723719B (en) * | 2019-03-04 | 2020-09-01 | 青岛大学 | Differential detection type self-sensing electromagnetic bearing and implementation method thereof |
| CN110756830B (en) * | 2019-11-15 | 2022-03-18 | 重庆工商大学 | Intelligent high-speed motorized spindle integrating multi-parameter detection |
| CN113369507A (en) * | 2021-06-28 | 2021-09-10 | 重庆工商大学 | High-speed high-precision electric spindle integrating three-dimensional vibration active control function |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202555839U (en) * | 2012-04-24 | 2012-11-28 | 南京师范大学 | Novel gas magnetic bearing electric spindle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3662741B2 (en) * | 1997-04-28 | 2005-06-22 | Ｎｔｎ株式会社 | Hydrostatic magnetic compound bearing |
| CN101229590A (en) * | 2008-02-25 | 2008-07-30 | 哈尔滨工业大学 | Ultra-sophisticated aerostatic motorized spindle system |
| CN101304195B (en) * | 2008-07-01 | 2011-05-11 | 上海大学 | Ultraprecise electric spindle supported mixedly by a plurality of types of bearing |
| CN101465576A (en) * | 2008-11-28 | 2009-06-24 | 江苏大学 | High speed electric principal shaft supported by AC mixing magnetic bearing |
-
2012
- 2012-04-24 CN CN201210121752.4A patent/CN102632256B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202555839U (en) * | 2012-04-24 | 2012-11-28 | 南京师范大学 | Novel gas magnetic bearing electric spindle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019945A (en) * | 2016-07-14 | 2016-10-12 | 江苏大学 | Flywheel battery-used axial magnetic bearing anti-disturbance controller construction method |
| CN106019945B (en) * | 2016-07-14 | 2019-03-05 | 江苏大学 | A kind of building method of flying wheel battery axial magnetic bearing anti-interference controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102632256A (en) | 2012-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102632256B (en) | Gas magnetic bearing electric spindle and control system thereof | |
| CN206626094U (en) | A kind of intelligent motorized spindle supported with AMB device | |
| Shi et al. | Multiobjective optimization of a five-phase bearingless permanent magnet motor considering winding area | |
| CN102425556B (en) | Method for obtaining radial suspension centers of rotor of magnetic molecular pump | |
| CN103076740A (en) | Construction method for AC (alternating current) electromagnetic levitation spindle controller | |
| CN104533949B (en) | Internal rotor spherical radial pure electromagnetic bearing | |
| CN103631137A (en) | Five-freedom-degree alternating current active magnetic bearing mixed kernel function support vector machine detecting method | |
| CN103631138A (en) | Three-DOF (Degree of Freedom) hybrid magnetic bearing mixed kernel function support vector machine displacement detection method | |
| CN105673688A (en) | Self-adjustment type five-freedom-degree magnetic bearing | |
| Paone et al. | Radially biased axial magnetic bearings/motors for precision rotary-axial spindles | |
| CN106019945B (en) | A kind of building method of flying wheel battery axial magnetic bearing anti-interference controller | |
| Li et al. | Direct torque and suspension force control for bearingless induction motors based on active disturbance rejection control scheme | |
| CN202555839U (en) | Novel gas magnetic bearing electric spindle | |
| Zhong et al. | Magnetic bearing rotordynamic system optimization using multi-objective genetic algorithms | |
| Sun et al. | Neuron PID control for a BPMSM based on RBF neural network on‐line identification | |
| CN113343171B (en) | Surface-mounted permanent magnet motor magnetic field analysis and calculation method considering stator core saturation | |
| Yu et al. | Multiobjective optimization of 3-DOF magnetic bearing considering eddy current effects and saturation | |
| CN106787302B (en) | Bearingless permanent magnet sheet motor | |
| Sun et al. | Artificial neural networks inverse control of 5 degrees of freedom bearingless induction motor | |
| Van Verdeghem et al. | Fully passively levitated self-bearing machine implemented within a reaction wheel | |
| CN207740200U (en) | A kind of composite molecular pump | |
| CN103697062B (en) | Precise integrated magnetic floating bearing | |
| CN207043865U (en) | A kind of eccentricity compensation system for electrical spindle for machine tool | |
| Sun et al. | Design and analysis of a 16/6 bearingless switched reluctance motor with segment hybrid rotor teeth | |
| Bu et al. | Inverse system decoupling sliding mode control strategy of BLIM considering current dynamics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140514 Termination date: 20200424 |