CN112664562A - Self-balancing magnetic bearing suitable for gas compressor - Google Patents
Self-balancing magnetic bearing suitable for gas compressor Download PDFInfo
- Publication number
- CN112664562A CN112664562A CN202011498906.2A CN202011498906A CN112664562A CN 112664562 A CN112664562 A CN 112664562A CN 202011498906 A CN202011498906 A CN 202011498906A CN 112664562 A CN112664562 A CN 112664562A
- Authority
- CN
- China
- Prior art keywords
- magnetic bearing
- point
- bearing stator
- displacement
- self
- 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.)
- Granted
Links
Images
Landscapes
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a self-balancing magnetic bearing suitable for a gas compressor, which comprises: the magnetic bearing stator, the electromagnetic actuator, the drive controller, the displacement sensor, the pre-pressing spring and the base; the invention adjusts the dynamic characteristics of the compressor system by adjusting the coincidence of the static balance point and the dynamic balance point of the magnetic bearing in real time, thereby realizing the active self-balancing of the magnetic bearing and improving the reliability and the safety of the compressor system; meanwhile, the axial magnetic bearing, the guide vane adjustment and the adjustment system are matched with each other, so that the surge risk in the operation process of the gas compressor is effectively reduced, and the dynamic characteristic of a rotor of the gas compressor is improved. Compared with the prior art, the invention realizes active self-balance and improves the dynamic characteristic of the system; the reliability and the safety of the system operation are improved; surging can be effectively inhibited.
Description
Technical Field
The invention relates to the field of magnetic suspension bearings, in particular to a self-balancing magnetic bearing suitable for a gas compressor.
Background
The invention patent CN103425051A and patent ZL200710176720 carry out balance compensation in the radial direction by driving a power amplifier circuit or adding a compensation circuit; CN103336436B realizes radial self-balance through a method of same-frequency displacement adaptive filtering; however, in these patents, the position of the magnetic bearing stator is fixed, the force bearing point of the rotor is always kept relatively fixed, the axial self-balancing regulation is not considered, the surge action of the compressor is not considered to be inhibited through the magnetic bearing, and in fact most compressors inhibit the regulation surge through the regulating guide vane. Therefore, there is a need for an improvement in the prior art to address the deficiencies of the prior art.
Disclosure of Invention
The invention provides a self-balancing magnetic bearing suitable for a gas compressor, which is used for overcoming the problem that the optimal control effect and dynamic characteristics cannot be achieved all the time because the position of the existing magnetic bearing in a high-speed gas compressor system is fixed and is kept at the position of a static balance point.
In order to realize the task, the invention adopts the following technical scheme:
a self-balancing magnetic bearing for a compressor, comprising: magnetic bearing stator, electromagnetic type actuator, drive controller, displacement sensor, pre-compaction spring and base, wherein:
the magnetic bearing stator is arranged on the base and connected with the electromagnetic actuator into an integrated structure; the magnetic bearing stator is in smooth contact with the base;
the electromagnetic actuator comprises a plurality of groups of actuators, the actuators are connected with the driving controller, the output ends of the actuators are connected with the end parts of the magnetic bearing stators, and the same displacement output is always kept; the driving controller controls the electromagnetic actuator to drive the magnetic bearing stator to generate corresponding displacement;
the prepressing reset spring comprises a plurality of groups of springs which are symmetrically distributed along the axial direction parallel to the magnetic bearing stator, one end of each group of springs is fixed, and the other end of each group of springs is connected with the end part of the magnetic bearing stator to provide prepressing force F for the magnetic bearing stator;
the displacement sensor is fixedly arranged on one side of the magnetic bearing stator connected with the prepressing return spring, is connected with the driving controller and is used for measuring the axial displacement of the magnetic bearing stator;
the driving controller comprises a power amplifier and a controller, the output u of the controller is converted into current i by the power amplifier, and a driving force F along the axial direction of the magnetic bearing stator is generated by the electromagnetic actuator to drive the magnetic bearing stator;
the design of magnetic balance bearing lies in static balance point, dynamic balance point, first limit point and the second limit point on same Z axle, includes:
the axial direction and the radial direction of the stator of the magnetic bearing are respectively taken as a Z axis and an X axis, the static balance point is positioned at the intersection point of the X axis and the Z axis, the right half side of the X axis is defined as positive, and the left half side of the X axis is defined as negative; the dynamic balance point fluctuates between a first limit point and a second limit point which are positioned at two sides of the static balance point, and the limit distance L is the distance between the first limit point and the second limit point; the displacement x is the distance between the static equilibrium point and the dynamic equilibrium point.
Furthermore, the displacement x has a positive and negative value, and satisfies that x is more than or equal to-L/2 and less than or equal to L/2.
Furthermore, the pre-pressing reset spring comprises two groups of springs with the same rigidity, the rigidity of a single spring is k, and the pre-pressing force is F0If the system friction force is F, the output force of the electromagnetic actuator is F, the mass of the magnetic bearing stator is m, and the system damping is c, then the balance equation of the system is:
the rigidity k of the prepressing reset spring is unchanged and is always in a compression state, and the prepressing force F is in an initial state0Equal to F, the driving displacement x (0) in the initial state is equal to 0, and the excitation current and the output force are ensured to be the same frequency.
Further, a closed-loop negative feedback control strategy is adopted, the difference value of the input signal y and the position feedback signal of the displacement sensor is provided for the controller, the output u of the controller is converted into current i by the power amplifier, the driving force F required by the magnetic bearing stator is generated by the electromagnetic actuator, and the electromagnetic actuator drives the magnetic bearing stator to generate the final required output signal x.
Furthermore, after the dynamic balance point changes, the error between the measured value of the displacement sensor and the new dynamic balance point is utilized to correspondingly compensate the measured value of the displacement sensor, thereby achieving the purpose of automatically and dynamically adjusting the balance point of the magnetic bearing.
Further, the correspondingly compensating the displacement sensor measurement value by using the error between the displacement sensor measurement value and the new dynamic balance point comprises:
note t0The dynamic equilibrium point position at the moment is x (t)0)，t1The dynamic equilibrium point position at the moment is x (t)1) The difference between the two is t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0) (ii) a The measured value of the displacement sensor has an error delta with the new dynamic balance point0Thus t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0)+Δ0；
t1After the dynamic balance point of the moment is determined and specific data are obtained, the error delta is passed0The measured value of the displacement sensor is compensated correspondingly, and the new dynamic balance point can be stably controlled through a closed-loop control strategy, so that the normal operation of the magnetic bearing at the new dynamic balance point is ensured.
Further, the electromagnetic actuator has a high-frequency linear actuating function and reciprocates.
Furthermore, each set of electromagnetic actuator and one set of pre-pressing return spring are respectively positioned at two ends of the magnetic bearing stator and are coaxially arranged.
Compared with the prior art, the invention has the following technical characteristics:
the invention adjusts the dynamic characteristics of the compressor system by adjusting the coincidence of the static balance point and the dynamic balance point of the magnetic bearing in real time, thereby realizing the active self-balancing of the magnetic bearing and improving the reliability and the safety of the compressor system; meanwhile, the axial magnetic bearing, the guide vane adjustment and the adjustment system are matched with each other, so that the surge risk in the operation process of the gas compressor is effectively reduced, and the dynamic characteristic of a rotor of the gas compressor is improved. Compared with the prior art, the invention realizes active self-balance and improves the dynamic characteristic of the system; the reliability and the safety of the system operation are improved; surging can be effectively inhibited.
Drawings
FIG. 1 is a schematic structural view of a self-balancing magnetic bearing of the present invention;
fig. 2 is a schematic diagram of the self-balancing control principle of the self-balancing magnetic bearing.
The reference numbers in the figures illustrate: the magnetic bearing stator comprises a magnetic bearing stator 1, a static balance point 2, a dynamic balance point 3, a first limit point 4, a second limit point 5, an electromagnetic actuator 6, a drive controller 7, a displacement sensor 8, a pre-pressing spring 9, a displacement x 10, a limiting distance L11, a base 12, a power amplifier 13 and a controller 14.
Detailed Description
Referring to fig. 1, the present invention provides a self-balancing magnetic bearing suitable for a gas compressor, including: magnetic bearing stator 1, electromagnetic actuator 6, drive controller 7, displacement sensor 8, pre-pressure spring 9 and base 12, wherein:
the magnetic bearing stator 1 is arranged on the base 12 and is connected with the electromagnetic actuator 6 into an integrated structure; the magnetic bearing stator 1 is in smooth contact with the base 12, the friction force f is as small as possible and can be ignored, smoothness is guaranteed through processing and assembling, and displacement and force are convenient to transfer.
The electromagnetic actuator 6 includes two sets of actuators, which are connected to the drive controller 7, and the output ends of the actuators are connected to the ends of the magnetic bearing stator 1 and always maintain the same displacement output. The electromagnetic actuator 6 has a high-frequency linear motion function and reciprocates; the drive controller 7 controls the electromagnetic actuator 6 to drive the magnetic bearing stator 1 to generate corresponding displacement.
The pre-pressing reset spring 9 comprises two groups of springs which are symmetrically distributed along the axial direction parallel to the magnetic bearing stator 1, one end of each group of springs is fixed, the other end of each group of springs is connected with the end part of the magnetic bearing stator 1, and the pre-pressing reset springs and the electromagnetic brake 6 are respectively positioned at the two ends of the magnetic bearing stator 1 and are coaxially arranged. By selecting a spring with a lower stiffness, a pre-stress F is provided to the magnetic bearing stator 10In order to improve the dynamic characteristics of the system.
The displacement sensor 8 is fixedly arranged on one side of the magnetic bearing stator 1 connected with the pre-pressing reset spring 9, is connected with the driving controller 7 and is used for measuring the axial displacement of the magnetic bearing stator 1.
The drive controller 7 includes a power amplifier 13 and a controller 14, and an output u of the controller 14 is converted into an electric current i by the power amplifier 13, and generates a driving force F in the axial direction of the magnetic bearing stator via the electromagnetic actuator 6 to drive the magnetic bearing stator 1.
The design of the magnetic balance bearing is that a static balance point 2, a dynamic balance point 3, a first limit point 4 and a second limit point 5 which are positioned on the same Z axis are specifically set as follows:
when the axial direction and the radial direction of the magnetic bearing stator 1 are taken as the Z axis and the X axis, respectively, the static balance point 2 is located at the intersection of the X axis and the Z axis, and is defined to be positive on the right half side of the X axis (the side where the electromagnetic brake 6 is provided) and negative on the left half side. The dynamic equilibrium point 3 fluctuates between a first limit point 4 and a second limit point 5 located on both sides of the static equilibrium point 2, and the limit distance L is the distance between the first limit point 4 and the second limit point 5. The displacement x is the distance between the static balance point 2 and the dynamic balance point 3, has positive and negative components, and satisfies that x is more than or equal to-L/2 and less than or equal to L/2.
The two groups of the prepressing return springs 9 have the same rigidity, the rigidity of a single spring is k, and the prepressing force is F0The system friction force is F (negligible), the output force of the electromagnetic actuator 6 is F, the mass of the magnetic bearing stator 1 is m, and the system damping is c. The equilibrium equation for this system can be established as:
as can be seen from FIG. 1, the stiffness k of the pre-compressed return spring 9 is constant and is always in a compressed state, and in an initial state, the pre-pressure F is0Equal to F, x (0) is 0, and the excitation current and the output force are ensured to be the same frequency. Fig. 2 shows the self-balancing control principle of the magnetic bearing, and the closed-loop negative feedback control is adopted, so that the control error is reduced. The difference value of the input signal y and the position feedback signal of the displacement sensor 8 is provided to the controller 14, the output u of the controller 14 is converted into a current i by a power amplifier, the required driving force F of the magnetic bearing stator 1 is generated by the electromagnetic actuator 6, and the magnetic bearing stator 1 is driven by the electromagnetic actuator 6 to generate a final required output signal x.
There are two modes for determining the dynamic balance point: one is the preconceived setting and the setting can be adjusted off line; and the second is self-limiting by a computer according to an intelligent algorithm.
t0The dynamic equilibrium point position at the moment is x (t)0)，t1The dynamic equilibrium point position at the moment is x (t)1) The difference between the two is t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0) (ii) a The measured value of the displacement sensor 8 has an error delta with the new dynamic balance point0Thus t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0)+Δ0。
t1After the dynamic balance point of the moment is determined and specific data are obtained, the error delta is passed0The measured value of the displacement sensor 8 is correspondingly compensated, and the new dynamic balance point can be stably controlled through a closed-loop control strategy, so that the normal operation of the magnetic bearing at the new dynamic balance point is ensured; the method can achieve automatic dynamic adjustment of the balance point of the magnetic bearing.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equally replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (8)
1. A self-balancing magnetic bearing suitable for use in a compressor, comprising: magnetic bearing stator (1), electromagnetic actuator (6), drive controller (7), displacement sensor (8), pre-compaction spring (9) and base (12), wherein:
the magnetic bearing stator (1) is arranged on the base (12) and is connected with the electromagnetic actuator (6) into an integrated structure; the magnetic bearing stator (1) is in smooth contact with the base (12);
the electromagnetic actuator (6) comprises a plurality of groups of actuators, is connected with the driving controller (7), and the output end of the electromagnetic actuator is connected with the end part of the magnetic bearing stator (1) and always keeps the same displacement output; the driving controller (7) controls the electromagnetic actuator (6) to drive the magnetic bearing stator (1) to generate corresponding displacement;
the prepressing reset spring (9) comprises a plurality of groups of springs which are symmetrically distributed along the axial direction parallel to the magnetic bearing stator (1), one end of each group of springs is fixed, and the other end is fixedThe end is connected with the end of the magnetic bearing stator (1) to provide pre-pressure F for the magnetic bearing stator (1)(0)；
The displacement sensor (8) is fixedly arranged on one side of the magnetic bearing stator (1) connected with the pre-pressing reset spring (9), is connected with the driving controller (7) and is used for measuring the axial displacement of the magnetic bearing stator (1);
the driving controller (7) comprises a power amplifier (13) and a controller (14), the output u of the controller (14) is converted into current i by the power amplifier (13), and a driving force F along the axial direction of the magnetic bearing stator is generated through the electromagnetic actuator (6) to drive the magnetic bearing stator (1);
the magnetic balance bearing design is located at static balance point (2), dynamic balance point (3), first limit point (4) and second limit point (5) on the same Z axle, includes:
the axial direction and the radial direction of the magnetic bearing stator (1) are respectively taken as a Z axis and an X axis, the static balance point (2) is positioned at the intersection point of the X axis and the Z axis, the right half side of the X axis is defined as positive, and the left half side of the X axis is defined as negative; the dynamic balance point (3) fluctuates between a first limiting point (4) and a second limiting point (5) which are positioned at two sides of the static balance point (2), and the limiting distance L is the distance between the first limiting point (4) and the second limiting point (5); the displacement x is the distance between the static equilibrium point (2) and the dynamic equilibrium point (3).
2. The self-balancing magnetic bearing for a compressor of claim 1, wherein the displacement x has a positive and negative value, and satisfies-L/2 ≦ x ≦ L/2.
3. Self-balancing magnetic bearing for compressors according to claim 1, characterized in that the pre-stressed return spring (9) comprises two groups of springs with the same stiffness, and the stiffness of a single spring is k and the pre-stress is F0If the system friction force is F, the output force of the electromagnetic actuator (6) is F, the mass of the magnetic bearing stator (1) is m, and the system damping is c, the balance equation of the system is as follows:
the rigidity k of the prepressing return spring (9) is unchanged and is always in a compression state, and in an initial state, the prepressing force F is0Equal to F, the driving displacement x (0) in the initial state is equal to 0, and the excitation current and the output force are ensured to be the same frequency.
4. The compressor-adapted self-balancing magnetic bearing according to claim 1, wherein a closed-loop negative feedback control strategy is adopted, the difference between the input signal y and the position feedback signal of the displacement sensor (8) is provided to the controller (14), the output u of the controller (14) is converted into a current i by a power amplifier, the required driving force F of the magnetic bearing stator (1) is generated through the electromagnetic actuator (6), and the electromagnetic actuator (6) drives the magnetic bearing stator (1) to generate the final required output signal x.
5. The self-balancing magnetic bearing for compressors according to claim 1, characterized in that after the dynamic balance point changes, the measured value of the displacement sensor (8) is compensated by the error between the measured value of the displacement sensor (8) and the new dynamic balance point, so as to achieve the purpose of automatic dynamic adjustment of the balance point of the magnetic bearing.
6. The compressor-adapted self-balancing magnetic bearing according to claim 5, wherein the corresponding compensation of the displacement sensor (8) measurement with the error between the displacement sensor (8) measurement and the new dynamic balance point comprises:
note t0The dynamic equilibrium point position at the moment is x (t)0)，t1The dynamic equilibrium point position at the moment is x (t)1) The difference between the two is t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0) (ii) a The measured value of the displacement sensor (8) has an error delta with the new dynamic balance point0Thus t1Drive displacement Δ x (t) at time1)＝x(t1)-x(t0)+Δ0；
t1After the dynamic balance point of the moment is determined and specific data are obtained, the error delta is passed0To displacement sensingThe measured value of the device (8) is compensated correspondingly, and the new dynamic balance point can be stably controlled through a closed-loop control strategy, so that the normal operation of the magnetic bearing at the new dynamic balance point is ensured.
7. Self-balanced magnetic bearing for compressors according to claim 1, characterized in that said electromagnetic actuator (6) has a high-frequency linear actuation function and reciprocates.
8. The compressor-adapted self-balancing magnetic bearing according to claim 1, wherein each set of electromagnetic actuators (6) and the set of pre-stressed return springs (9) are coaxially disposed at two ends of the magnetic bearing stator (1), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498906.2A CN112664562B (en) | 2020-12-17 | 2020-12-17 | Self-balancing magnetic bearing suitable for gas compressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498906.2A CN112664562B (en) | 2020-12-17 | 2020-12-17 | Self-balancing magnetic bearing suitable for gas compressor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112664562A true CN112664562A (en) | 2021-04-16 |
| CN112664562B CN112664562B (en) | 2022-04-19 |
Family
ID=75405129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011498906.2A Active CN112664562B (en) | 2020-12-17 | 2020-12-17 | Self-balancing magnetic bearing suitable for gas compressor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112664562B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030077187A1 (en) * | 2001-10-24 | 2003-04-24 | Takashi Kabasawa | Molecular pump for forming a vacuum |
| CN101326378A (en) * | 2005-12-09 | 2008-12-17 | Ntn株式会社 | Motor integrated magnetic bearing device |
| CN104533945A (en) * | 2015-01-05 | 2015-04-22 | 山东大学 | Structure for achieving five-freedom-degree suspension of rotor through axial mixed magnetic bearings |
| CN106402157A (en) * | 2016-11-16 | 2017-02-15 | 常州工学院 | Magnetic suspension bearing control system capable of realizing resuspension after destabilization and control method thereof |
| EP3315804A1 (en) * | 2016-10-27 | 2018-05-02 | Forsnetics AB | Arrangement with a magnetic thrust bearing having repelling permanent magnets for supporting a rotatable body |
| CN111884417A (en) * | 2020-07-29 | 2020-11-03 | 上海稳得海洋科技有限公司 | Magnetic bearing in an aircraft or marine vehicle power system |
-
2020
- 2020-12-17 CN CN202011498906.2A patent/CN112664562B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030077187A1 (en) * | 2001-10-24 | 2003-04-24 | Takashi Kabasawa | Molecular pump for forming a vacuum |
| CN101326378A (en) * | 2005-12-09 | 2008-12-17 | Ntn株式会社 | Motor integrated magnetic bearing device |
| CN104533945A (en) * | 2015-01-05 | 2015-04-22 | 山东大学 | Structure for achieving five-freedom-degree suspension of rotor through axial mixed magnetic bearings |
| EP3315804A1 (en) * | 2016-10-27 | 2018-05-02 | Forsnetics AB | Arrangement with a magnetic thrust bearing having repelling permanent magnets for supporting a rotatable body |
| CN106402157A (en) * | 2016-11-16 | 2017-02-15 | 常州工学院 | Magnetic suspension bearing control system capable of realizing resuspension after destabilization and control method thereof |
| CN111884417A (en) * | 2020-07-29 | 2020-11-03 | 上海稳得海洋科技有限公司 | Magnetic bearing in an aircraft or marine vehicle power system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112664562B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5876012A (en) | Vibration cancellation apparatus | |
| US6089355A (en) | Elevator speed controller | |
| JP6351400B2 (en) | Improved active magnetic bearing control system | |
| CN1092598C (en) | Automatic open-loop force gain control for magnetic driver in active suspension system of elevator | |
| JP2012516446A (en) | Apparatus, controller and method for adaptive control of electromagnetic actuator | |
| EP0961392B1 (en) | Method and apparatus for vibration reduction/control in a variable reluctance linear motor | |
| CN102303544A (en) | Suspension control method for low and middle speed magnetic-levitation train | |
| WO2020125077A1 (en) | Power consumption control device, magnetic levitation system, and power consumption control method | |
| CN112664562B (en) | Self-balancing magnetic bearing suitable for gas compressor | |
| US5491396A (en) | Magnetic bearing apparatus and rotating machine having such an apparatus | |
| CN111288082A (en) | Control system of single-degree-of-freedom magnetic-liquid double-suspension bearing | |
| CN110985541A (en) | Controller for controlling active magnetic suspension bearing system and control method thereof | |
| Zhang et al. | Research trends in methods for controlling macro-micro motion platforms | |
| CN1243627C (en) | Feeder of permanent magnetic linear synchronous motor | |
| Choy et al. | On-line efficiency optimization control of a slip angular frequency controlled induction motor drive using neural networks | |
| CN111092569B (en) | Variable-rigidity suspension control method for suspended matters of permanent magnet suspension system | |
| CN211685681U (en) | Vibrating table moving coil centering device in centrifugal field | |
| CN113942667A (en) | Method and device for simulating low gravity environment | |
| CN106438527A (en) | Flow compensation method and flow compensation device for proportional control pump | |
| CN102686358A (en) | Method for controlling a transportation shaft for optimizing machining performance in accordance with the weight of a material | |
| CN2705260Y (en) | Permanent magnet straight synchronous motor feeder | |
| US5986427A (en) | Error-compensated velocity control | |
| CN118278189A (en) | Design method of rigid rotor system of high-speed motor | |
| Drossel et al. | Cost-efficient approach for impulse decoupled linear direct drives | |
| CN116736901A (en) | Electromagnetic nonlinear sliding mode active vibration control device and method based on current regulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |