CN112901658B - Switch open circuit fault-tolerant control system for magnetic suspension bearing - Google Patents

Switch open circuit fault-tolerant control system for magnetic suspension bearing Download PDF

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CN112901658B
CN112901658B CN202110305579.2A CN202110305579A CN112901658B CN 112901658 B CN112901658 B CN 112901658B CN 202110305579 A CN202110305579 A CN 202110305579A CN 112901658 B CN112901658 B CN 112901658B
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bridge arm
common
magnetic suspension
current
public
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CN112901658A (en
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蒋栋
杨佶昌
孙宏博
刘自程
孙伟
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • F16C32/044—Active magnetic bearings
    • F16C32/0444—Details of devices to control the actuation of the electromagnets
    • F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The invention discloses a switch open circuit fault-tolerant control system for a magnetic suspension bearing, which belongs to the field of magnetic suspension bearing control and comprises the following components: the device comprises a common bridge arm, N non-common bridge arm groups, a direct current power supply and a control unit, wherein N is the number of the middle shafts of the magnetic suspension bearings; each non-public bridge arm group comprises two bridge arm branches connected in parallel, and a winding is arranged between a connecting point of an upper bridge arm and a lower bridge arm in each bridge arm branch and a connecting point of the upper bridge arm and the lower bridge arm in the public bridge arm; the control unit is used for controlling the conduction of an upper bridge arm of one bridge arm branch and a lower bridge arm of the other bridge arm branch in each non-public bridge arm group, cutting off the conducting bridge arm when the conducting bridge arm in any non-public bridge arm group has an open circuit fault, and controlling the originally disconnected bridge arm in any non-public bridge arm group to be switched to a conducting state. The electromagnetic force in the corresponding direction of the fault bridge arm group can be quickly recovered to a stable value, the rotor is prevented from falling, the electromagnetic force in other directions is not influenced, and the fault redundancy capability of the magnetic bearing system is improved.

Description

Switch open circuit fault-tolerant control system for magnetic suspension bearing
Technical Field
The invention belongs to the field of magnetic suspension bearing control, and particularly relates to a switch open circuit fault-tolerant control system for a magnetic suspension bearing.
Background
The magnetic suspension bearing is a bearing device which utilizes the electromagnetic force generated by the stator to suspend the rotor, and can realize the non-contact operation of the rotor and the stator as a substitute of the traditional mechanical bearing. The rotor and the stator of the magnetic suspension bearing are not in mechanical contact, lubrication is not needed, friction does not exist, and the service life is long. The magnetic suspension bearing is widely applied to application occasions where the rotor needs to rotate at a high speed or the requirement on the working environment is high. The magnetic suspension bearing mainly comprises a passive magnetic bearing, an active magnetic bearing, a hybrid magnetic bearing and the like. For a magnetic suspension bearing system, the magnetic suspension bearing system mainly comprises a rotor, a sensor, a controller, an electromagnetic actuator and the like, and the design of a control system of the magnetic suspension bearing system has great influence on the performance of the whole device. A power amplifier in an active magnetic bearing system converts a control signal into a current in a winding to generate a magnetic field and control electromagnetic force of a magnetic bearing, which are important components in a magnetic suspension bearing system.
The open circuit fault means that the fault device keeps an open circuit state, and the current of the fault device is always zero. In a power amplifier of a magnetic suspension bearing, if a switching device has an open circuit fault, the voltage control of the bridge arm to an output end is invalid, so that the current of a winding deviates from an instruction value, the position of a rotor is unstable, and serious faults such as rotor drop, system halt and the like are caused.
At present, researchers have proposed a common-bridge arm topology applied to a magnetic suspension bearing to reduce the cost by reducing the number of components, and a reverse common-bridge arm topology which is improved on the basis of the common-bridge arm topology to reduce the current stress on the common-bridge arm. However, the existing magnetic suspension bearing reverse common bridge arm topology does not have device redundancy and fault-tolerant operation capability, and when a switching device is in an open circuit fault, a magnetic bearing rotor falls off and cannot normally work, so that the magnetic suspension bearing is not beneficial to stable operation.
Disclosure of Invention
Aiming at the defects and the improvement requirements of the prior art, the invention provides a switch-off fault-tolerant control system for a magnetic suspension bearing, and aims to rapidly recover the electromagnetic force in the corresponding direction of a fault bridge arm group to a stable value by switching the conducted bridge arms in the fault bridge arm group, avoid the falling of a rotor, not influence the electromagnetic force in other directions and improve the fault redundancy capability of a magnetic bearing system.
To achieve the above object, according to one aspect of the present invention, there is provided a switch disconnection fault tolerant control system for a magnetic bearing, comprising: the magnetic suspension bearing comprises a common bridge arm, N non-common bridge arm groups, a direct-current power supply and a control unit, wherein N is the number of middle shafts of the magnetic suspension bearing, and the non-common bridge arm groups correspond to the shafts one to one; each non-public bridge arm group comprises two bridge arm branches connected in parallel, each public bridge arm and each bridge arm branch comprise an upper bridge arm and a lower bridge arm which are connected between the positive pole and the negative pole of the direct-current power supply, and a winding is arranged between the connection point of the upper bridge arm and the lower bridge arm in each bridge arm branch and the connection point of the upper bridge arm and the lower bridge arm in the public bridge arm; the control unit is used for controlling the conduction of an upper bridge arm of one bridge arm branch and a lower bridge arm of the other bridge arm branch in each non-public bridge arm group, cutting off the bridge arm conducted in any non-public bridge arm group when the bridge arm conducted in any non-public bridge arm group has an open circuit fault, and controlling the lower bridge arm of one bridge arm branch and the upper bridge arm of the other bridge arm branch in any non-public bridge arm group to be switched to a conducting state.
Still further, still include: the acquisition unit is used for acquiring the current of the windings connected with the two bridge arm branches in each non-public bridge arm group; the control unit is further configured to add currents of windings connected to two bridge arm branches in each non-common bridge arm group, and determine whether a bridge arm conducted in each non-common bridge arm group has an open-circuit fault according to a relationship between an addition result and a preset threshold.
Furthermore, when the addition result is smaller than the preset threshold, the open-circuit fault occurs to the bridge arm which is conducted in the non-common bridge arm group corresponding to the addition result.
Furthermore, the preset threshold is greater than 0 and smaller than the addition result corresponding to each non-common bridge arm group when the magnetic suspension bearing works normally.
Furthermore, the acquisition unit is used for acquiring the current of the windings connected with the two bridge arm branches in each non-common bridge arm group in real time and sending the current to the control unit.
Furthermore, the control unit is further configured to control currents of windings connected to two bridge arm branches in each non-common bridge arm group, so as to control a common-mode current and a differential-mode current of the windings connected to each non-common bridge arm group, where the common-mode current is used to generate a magnetic field to magnetize the magnetic suspension bearing, and the differential-mode current is used to control a position of a rotor in the magnetic suspension bearing.
Furthermore, each of the upper bridge arm and the lower bridge arm comprises a switching device and a one-way conducting device connected with the switching device in an anti-parallel mode.
Furthermore, the switch device is a fully-controlled switch device, and the unidirectional conducting device is a diode.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) by utilizing the characteristics of the topological structures of the upper and lower bridge arms in the control system, when the bridge arm conducted in any non-public bridge arm group has a fault, the current of the connecting winding of the fault bridge arm group can be quickly recovered to a stable value by switching the other pair of bridge arms to be conducted, so that the electromagnetic force of the fault bridge arm group corresponding to the control direction is quickly recovered to the stable value, the system is ensured to be smoothly switched in a normal working mode and a fault-tolerant working mode, the rotor is prevented from falling, the magnetic suspension bearing is ensured to run without stopping, and the fault redundancy capability of the magnetic suspension bearing system is effectively improved; in addition, only the bridge arm state of the fault bridge arm group is controlled to change so as to switch the winding current direction, the bridge arm states of the other non-fault bridge arm groups are kept unchanged, the process that the current is increased from large to small exists in the winding current direction switching process, and the change of electromagnetic force can be generated in the change process, so that the position suspension of the rotor is influenced;
(2) whether the open circuit fault occurs in the corresponding bridge arm group is judged based on whether the sum of the winding currents of the two windings connected with each bridge arm group is reduced to be below a preset threshold value, and the winding currents can more sensitively reflect whether the open circuit fault exists or not relative to the influence of the open circuit fault on other variables such as electromagnetic force, rotor position and the like, so that the judgment precision of the open circuit fault is improved, the control speed and accuracy of a control system are further improved, and the stability of the magnetic suspension bearing is further improved.
Drawings
FIG. 1 is a topology diagram of a switch trip fault tolerant control system for a magnetic suspension bearing according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an eight-pole radial magnetic suspension bearing provided in an embodiment of the present invention;
fig. 3A is a topological diagram of a normal operating mode of a reverse common bridge arm of the fault-tolerant control system according to the embodiment of the present invention;
fig. 3B is a topological diagram of a reverse common bridge arm fault-tolerant operating mode of the fault-tolerant control system according to the embodiment of the present invention;
FIG. 4 is a waveform illustrating a rotor position when the fault tolerant control system is switched from the normal operating mode to the fault tolerant operating mode in accordance with an embodiment of the present invention;
FIG. 5 is a waveform diagram illustrating an experiment of winding current during open circuit fault detection in the fault tolerant control system according to an embodiment of the present invention;
fig. 6 is a waveform diagram illustrating an experiment of the rotor position during the open circuit fault detection process of the fault-tolerant control system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present application, the terms "first," "second," and the like (if any) in the description and the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a topology diagram of a switch open fault tolerant control system for a magnetic suspension bearing according to an embodiment of the present invention. Referring to fig. 1, a switch open fault tolerant control system for a magnetic suspension bearing according to the present embodiment will be described in detail with reference to fig. 2 to 6.
Referring to fig. 2, a block diagram of a single radial magnetic bearing is shown. Taking the structure shown in fig. 2 as an example, the magnetic suspension bearing structure has two orthogonal directions of electromagnetic force to be controlled, respectively x-direction of electromagnetic force FxAnd yDirectional electromagnetic force Fy. Electromagnetic force F in x directionxThe electromagnetic force F in the y direction is determined by the electromagnetic force generated by the winding A1 and the electromagnetic force generated by the winding A3yThe electromagnetic force generated by winding a2 and the electromagnetic force generated by winding a4 are determined together. Electromagnetic force F generated by each windingmagAnd a winding exciting current isAnd the relative position s of the rotor satisfies the following relation:
Fmag＝Ki*is-Ks*s
wherein, KiIs the electromagnetic force/current coefficient, KsIs the electromagnetic force/displacement coefficient, KiAnd KsAre all associated with radial bearing structures. For the structure shown in fig. 2, double-loop control is generally adopted, the outer loop is a position loop, a relative position signal of the rotor fed back by a position sensor is compared with a given position, and an exciting current command signal of the inner loop winding is given by a current controller and is finally quickly tracked by the current loop to realize effective control of electromagnetic force.
Referring to fig. 1, the fault-tolerant control system for the open circuit fault of the switch of the magnetic suspension bearing comprises: the device comprises a common bridge arm, N non-common bridge arm groups, a direct current power supply and a control unit, wherein N is the number of the middle shafts of the magnetic suspension bearings, and the non-common bridge arm groups correspond to the shafts one to one. The non-common bridge arm group is shown in a dashed line frame in fig. 1, and the structure shown in fig. 1 does not show a dc power supply and a control unit, it can be understood that a positive output end and a negative output end of the dc power supply are correspondingly connected with a positive electrode and a negative electrode in fig. 1, and the control unit is connected with the switching tube in each bridge arm in fig. 1 to control and drive the switching tube in each bridge arm. Each non-public bridge arm group comprises two parallel bridge arm branches, each public bridge arm and each bridge arm branch comprise an upper bridge arm and a lower bridge arm which are connected between the positive pole and the negative pole of the direct-current power supply, a winding is arranged between the connection point of the upper bridge arm and the lower bridge arm in each bridge arm branch and the connection point of the upper bridge arm and the lower bridge arm in the public bridge arm, and the number of the windings is 2N. The control unit is used for controlling the conduction of an upper bridge arm of one bridge arm branch and a lower bridge arm of the other bridge arm branch in each non-public bridge arm group, taking the non-public bridge arm group in a dotted line frame in fig. 1 as an example, the conduction of the upper bridge arm of one bridge arm branch and the lower bridge arm of the other bridge arm branch is realized, the disconnection of the lower bridge arm of one bridge arm branch and the upper bridge arm of the other bridge arm branch is realized, and the current directions of two windings connected with the two bridge arm branches are opposite to form reverse common bridge arm control. When the open-circuit fault occurs to the bridge arm conducted in any non-public bridge arm group, the control unit is further used for cutting off the bridge arm conducted in any non-public bridge arm group and controlling the lower bridge arm of one bridge arm branch and the upper bridge arm of the other bridge arm branch in any non-public bridge arm group to be switched to a conducting state.
In the embodiment of the invention, the switch open-circuit fault-tolerant control system for the magnetic suspension bearing further comprises an acquisition unit. The acquisition unit is used for acquiring the current of the windings connected with the two bridge arm branches in each non-public bridge arm group. Specifically, the acquisition unit acquires the current of the windings connected with the two bridge arm branches in each non-public bridge arm group in real time and sends the current to the control unit so as to ensure the real-time performance of fault judgment.
The control unit is further used for adding currents of windings connected with two bridge arm branches in each non-public bridge arm group, and judging whether the bridge arm conducted in each non-public bridge arm group has an open-circuit fault or not according to the relation between the addition result and a preset threshold corresponding to the non-public bridge arm group. Specifically, for any non-common bridge arm group, when the sum of currents of windings connected to two bridge arm branches of the non-common bridge arm group is smaller than a preset threshold corresponding to the non-common bridge arm group, an open-circuit fault occurs on a bridge arm that is switched on in the non-common bridge arm group, and it is necessary to switch a bridge arm that is originally in an off state in the non-common bridge arm group to an on state and switch off the bridge arm that is originally switched on. For any non-common bridge arm group, the corresponding preset threshold value is greater than 0 and smaller than the addition result corresponding to any non-common bridge arm group when the magnetic suspension bearing works normally.
The control unit is also used for controlling the current of the windings connected with the two bridge arm branches in each non-common bridge arm group so as to control the common-mode current and the differential-mode current of the windings connected with each non-common bridge arm group. The common mode current is used to generate a magnetic field to magnetize the magnetic bearing and the differential mode current is used to control the position of the rotor in the magnetic bearing.
In the embodiment of the invention, all the upper bridge arm and the lower bridge arm comprise the switching devices and the one-way conduction devices which are connected with the switching devices in an anti-parallel mode. The switching device is a fully-controlled switching device, such as an insulated gate bipolar transistor; the unidirectional conducting device is preferably a diode.
In this embodiment, with reference to fig. 3A and fig. 3B, a structure and an operation process of the switch open fault tolerant control system for a magnetic suspension bearing are described by taking N as an example, where N is 4. The system comprises 9 bridge arms and 8 windings, wherein 1 bridge arm is a common bridge arm, and the other 8 bridge arms are non-common bridge arms. One end of each of the 8 windings is connected with an output node (namely a connection point of the upper bridge arm and the lower bridge arm) of the common bridge arm, the other end of each of the 8 windings is correspondingly connected with the output nodes of the 8 non-common bridge arms one by one, and suspension of the magnetic bearing with 4 degrees of freedom can be realized. The current directions of two windings connected with a group of non-common bridge arm groups are opposite, and the control variables are common-mode current and differential-mode current of each phase winding.
Referring to FIG. 3A, in the normal operation mode, the current iajAnd ibjThe control unit controls the current i corresponding to the winding setajUpper bridge arm in non-common bridge arm connected by corresponding windings and current ibjThe lower bridge arm in the non-common bridge arm connected with the corresponding winding is switched on to control the current iaiLower bridge arm in non-common bridge arm connected by corresponding windings and current ibjThe upper bridge arm in the non-common bridge arm connected with the corresponding winding is disconnected, so that the current iajAnd ibjIn opposite directions and a current iajFrom left to right, current ibjIs from right to left, j is 1, 2, 3, 4, current iajAnd ibjSuspension control of one shaft in the magnetic bearing is performed.
When the system works normally, the acquisition unit acquires the current in real time and sends the current to the control unit, and the control unit acquires the current iajAnd ibjAnd isjMaking real-time judgment, when a certain i is detectedsjLess than its corresponding preset threshold, indicating a current iajAnd ibjAfter the corresponding bridge arm has an open circuit fault and the fault bridge arm is determined, the current direction of the winding is changedThe fault switch tube is switched to a fault-tolerant working mode without participating in current control, and the suspension of the rotor in the magnetic suspension bearing system is continuously maintained. Referring to fig. 3B, the working process of the fault-tolerant working mode is described by taking j as 1 as an example, and the current iajAnd ibjCorresponding windings are in a group, taking the example that the switch tube S1 or the switch tube S4 has an open circuit fault, the control unit controls the switch tube S1 and the switch tube S4 to be switched off, so that the fault switch device does not participate in current control, and controls the switch tube S2 and the switch tube S3 to be switched on, so that the current ia1And ib1Are all changed in direction, current ia1Is directed from right to left, current ib1The direction of the magnetic bearing is from left to right, so that the control of the current of each winding can still be ensured not to be influenced under the fault-tolerant working mode, and the rotor of the magnetic bearing is kept suspended continuously.
FIG. 4 shows a waveform diagram of the rotor position when the fault tolerant control system switches from the normal mode of operation to the fault tolerant mode of operation. Referring to fig. 4, the rotor initially falls on the protection bearing, and floats in a normal operation mode, and after a transient process of a certain time, the rotor remains stably suspended. When the circuit breaking fault of the switching device is detected at 0.2s, the control of the winding current is invalid, the position of the rotor is changed, the system is switched to a fault-tolerant working mode immediately after detecting the fault current, and the position of the rotor continues to keep stable suspension after a transient process for a certain time.
Fig. 5 shows an experimental waveform diagram of winding current during open circuit fault detection in a fault tolerant control system. Referring to FIG. 5, in normal operation mode, the winding current ia1And ib1The sum of the values of the two phases is kept about 10A, when the corresponding switching device has an open circuit fault, the winding current is rapidly reduced, when the detected current is less than a preset threshold value 9A, the open circuit fault is detected, the system is immediately switched to a fault-tolerant working mode, and the winding current i is switched toa1And ib1The sum of the group of currents is controlled to-10A, so that the magnitude of the group of winding currents can be normally controlled, and the normal suspension of the magnetic suspension bearing is not influenced.
FIG. 6 shows an experimental waveform of rotor position during open circuit fault detection for a fault tolerant control system. Referring to FIG. 6, initially the rotor is rotating at 4800r/min, the rotor is kept in normal suspension, and the position of the rotor is subject to fluctuations of consistent rotational frequency. After the switch device has an open circuit fault, the rotor position control is invalid, the rotor position deviates from the suspension center, the system immediately switches to a fault-tolerant working mode after detecting that the winding current is abnormal, and the system continues to operate in the fault-tolerant working mode after a transient process of a certain time.
According to the switch open-circuit fault-tolerant control system of the magnetic suspension bearing in the embodiment of the invention, by utilizing the characteristic that the winding current in the active magnetic suspension bearing flows in a single direction and the redundancy of devices in the full-device reverse common-bridge-arm controller, when an open-circuit fault occurs in a certain switch device, the fault switch can be enabled not to participate in current control in a mode of changing the current direction of the winding, so that the reverse common-bridge-arm controller can continue to operate in a fault-tolerant working mode, the current control effect in the fault-tolerant working mode is consistent with that in a normal working mode, and the reliability of the current controller in the magnetic suspension bearing under the possible fault condition of a power electronic device is effectively improved by the scheme.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A switch trip fault tolerant control system for a magnetic suspension bearing, comprising: the magnetic suspension bearing comprises a common bridge arm, N non-common bridge arm groups, a direct current power supply, an acquisition unit and a control unit, wherein N is the number of the middle shafts of the magnetic suspension bearing, and the non-common bridge arm groups correspond to the shafts one to one;
each non-public bridge arm group comprises two bridge arm branches connected in parallel, each public bridge arm and each bridge arm branch comprise an upper bridge arm and a lower bridge arm which are connected between the positive pole and the negative pole of the direct-current power supply, and a winding is arranged between the connection point of the upper bridge arm and the lower bridge arm in each bridge arm branch and the connection point of the upper bridge arm and the lower bridge arm in the public bridge arm;
the control unit is used for controlling the conduction of an upper bridge arm of one bridge arm branch and a lower bridge arm of the other bridge arm branch in each non-public bridge arm group, cutting off the bridge arm conducted in any non-public bridge arm group when the conducted bridge arm in any non-public bridge arm group has an open circuit fault, and controlling the lower bridge arm of one bridge arm branch and the upper bridge arm of the other bridge arm branch in any non-public bridge arm group to be switched to a conducting state;
the acquisition unit is used for acquiring the current of the windings connected with the two bridge arm branches in each non-public bridge arm group; the control unit is further configured to add currents of windings connected to two bridge arm branches in each non-common bridge arm group, and determine whether a bridge arm conducted in each non-common bridge arm group has an open-circuit fault according to a relationship between an addition result and a preset threshold.
2. The fault-tolerant control system for the switch open circuit fault of the magnetic suspension bearing as claimed in claim 1, characterized in that when the addition result is smaller than the preset threshold value, the open circuit fault occurs to the conducting bridge arm in the non-common bridge arm group corresponding to the addition result.
3. The system of claim 1, wherein the predetermined threshold is greater than 0 and less than the sum of the non-common arm sets during normal operation of the magnetic suspension bearing.
4. The system of claim 1, wherein the collecting unit is configured to collect the current of the windings connected to the two leg branches of each non-common leg group in real time and send the current to the control unit.
5. The system according to any of claims 1-4, wherein the control unit is further configured to control the current of the windings connected to the two leg branches of each of the non-common leg groups to control the common mode current and the differential mode current of the windings connected to each of the non-common leg groups, the common mode current is used to generate a magnetic field to magnetize the magnetic suspension bearing, and the differential mode current is used to control the position of the rotor in the magnetic suspension bearing.
6. The switch trip fault tolerant control system for magnetic bearings of any of claims 1-4, wherein each of said upper leg and each of said lower legs comprises a switching device and a unidirectional conducting device in anti-parallel connection with said switching device.
7. The switch trip fault tolerant control system for magnetic suspension bearings of claim 6, wherein said switching device is a fully controlled switching device and said unidirectional conducting device is a diode.
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CN114263677B (en) * 2021-12-27 2022-12-02 华中科技大学 Five-bridge-arm fault-tolerant control method and system applied to magnetic suspension bearing

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US20170307012A1 (en) * 2014-10-28 2017-10-26 Carrier Corporation Magnetic bearing fault-tolerant drive system
CN107448476A (en) * 2017-09-18 2017-12-08 华中科技大学 A kind of opposite power electronic controller of electric current for multiaxis magnetic suspension bearing
CN112443575A (en) * 2019-08-27 2021-03-05 株洲中车时代电气股份有限公司 Control system of magnetic suspension bearing and magnetic suspension system

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Publication number Priority date Publication date Assignee Title
EP0881404A2 (en) * 1997-05-30 1998-12-02 Electric Boat Corporation Bearing arrangement
US20170307012A1 (en) * 2014-10-28 2017-10-26 Carrier Corporation Magnetic bearing fault-tolerant drive system
CN106763185A (en) * 2017-03-07 2017-05-31 华中科技大学 A kind of power electronic controller for multiaxis magnetic suspension bearing
CN107448476A (en) * 2017-09-18 2017-12-08 华中科技大学 A kind of opposite power electronic controller of electric current for multiaxis magnetic suspension bearing
CN112443575A (en) * 2019-08-27 2021-03-05 株洲中车时代电气股份有限公司 Control system of magnetic suspension bearing and magnetic suspension system

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