CN113865473B - Magnetic suspension motor system and rotor displacement detection device and method thereof - Google Patents
Magnetic suspension motor system and rotor displacement detection device and method thereof Download PDFInfo
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- CN113865473B CN113865473B CN202111241101.4A CN202111241101A CN113865473B CN 113865473 B CN113865473 B CN 113865473B CN 202111241101 A CN202111241101 A CN 202111241101A CN 113865473 B CN113865473 B CN 113865473B
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Abstract
The invention discloses a rotor displacement detection device and method of a magnetic suspension motor system and the magnetic suspension motor system, the device comprises: the acquisition unit acquires the voltage signal acquired by the sensor unit; the sensor unit is provided with 2N displacement sensors, and N is a positive integer; in the sensor unit, two displacement sensors for detecting the direction are respectively arranged at two sides of a magnetic bearing in the magnetic suspension motor system; the 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension system and used for acquiring voltage signals of the positions of the sensor units; and the control unit is used for processing the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension system. According to the scheme, the two displacement sensors in one direction are respectively arranged on the two sides of the magnetic bearing, so that the actual displacement of the rotor at the magnetic bearing can be obtained, and the magnetic suspension control precision can be improved.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a rotor displacement detection device and method of a magnetic suspension motor system and the magnetic suspension motor system, in particular to a displacement detection device and method applied to the magnetic suspension motor system and the magnetic suspension motor system.
Background
In a magnetic suspension motor system, a magnetic suspension motor suspends a rotor at a given position by utilizing electromagnetic force generated by a magnetic bearing, so that the rotor is not in contact with the bearing, and friction-free and high-speed operation is realized. In the operation process, the motor needs to detect the suspension position of the rotor in real time through the displacement sensor to control the magnetic bearing to generate electromagnetic force, so that the accuracy of the rotor displacement detection is of great importance to the operation performance of the motor.
In a related scheme, the magnetic levitation motor uses an eddy current sensor as a displacement sensor to measure the position of a rotor, specifically, sine wave signals on two sensors (i.e., eddy current sensors) are processed by a differential processing circuit to obtain a voltage signal, and the voltage signal is related to the position of the rotor. In order to obtain the displacement of the rotor at the bearing, the displacement sensor is preferably mounted at the electromagnetic bearing. However, due to the actual structure, the displacement sensor cannot be integrated on the radial magnetic bearing, so that the actually detected plane has a certain distance from the plane on which the bearing force acts, and when the rotor is in special states such as whirling motion or flexible bending, the displacement at the bearing and the rotor displacement detected by the sensor have certain deviation, which affects the detection signal and the bearing control precision, and leads to rotor instability under severe conditions.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the displacement of a rotor of a magnetic suspension motor system and the magnetic suspension motor system, which are used for solving the problem that when a magnetic suspension motor uses a displacement sensor to measure the displacement of the rotor at a magnetic bearing, the displacement sensor is arranged at the magnetic bearing but cannot be integrated on a radial magnetic bearing in the bearing, so that the displacement at the magnetic bearing and the displacement of the rotor detected by the displacement sensor have deviation to influence the magnetic suspension control precision, and the purpose that the actual displacement of the rotor at the magnetic bearing can be obtained by respectively arranging two displacement sensors in one direction at two sides of the magnetic bearing, and the effect of improving the magnetic suspension control precision is facilitated.
The invention provides a rotor displacement detection device of a magnetic suspension motor system, wherein the magnetic suspension motor system is provided with a sensor unit; the sensor unit is provided with 2N displacement sensors, and N is a positive integer; in the sensor unit, two displacement sensors for detecting the direction are respectively arranged at two sides of a magnetic bearing in the magnetic suspension motor system; the 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension system and used for acquiring voltage signals of the positions of the sensor units; the rotor displacement detection device of the magnetic suspension motor system comprises: an acquisition unit and a control unit; the acquisition unit is configured to acquire the voltage signal acquired by the sensor unit; the control unit is configured to process the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension system.
In some embodiments, the sensor unit comprises: a front radial sensor module and a rear radial sensor module; the front radial sensor module, comprising: a first front radial sensor and a second front radial sensor; the first front radial sensor and the second front radial sensor are arranged on two sides of a front radial bearing of the magnetic suspension motor system; the rear radial sensor module, comprising: a first rear radial sensor and a second rear radial sensor; the first rear radial sensor and the second rear radial sensor are arranged on two sides of a rear radial bearing of the magnetic suspension motor system.
In some embodiments, the first front radial sensor comprises: the system comprises a first front radial probe ring, a first front radial x-direction probe and a first front radial y-direction probe; the first front radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the first front radial x-direction probe and the first front radial y-direction probe are symmetrically arranged on the first front radial probe ring and at the position of a rotor of the magnetic suspension motor system and are not in contact with each other; the second front radial sensor comprising: a second front radial probe ring, a second front radial x-direction probe, and a second front radial y-direction probe; the second front radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the second front radial x-direction probe and the second front radial y-direction probe are symmetrically arranged on the second front radial probe ring at positions far away from the rotor of the magnetic suspension motor system; the first rear radial sensor comprising: a first rear radial probe ring, a first rear radial x-direction probe, and a first rear radial y-direction probe; the first rear radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the first back radial direction x-direction probe and the first back radial direction y-direction probe are symmetrically arranged on the first back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system; the second rear radial sensor comprising: a second rear radial probe ring, a second rear radial x-direction probe, and a second rear radial y-direction probe; the second rear radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the second back radial direction x-direction probe and the second back radial direction y-direction probe are symmetrically arranged on the second back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system.
In some embodiments, in the first and second front radial sensors, the first and second front radial probe rings have the same radius, and the first front radial x-direction probe, the first front radial y-direction probe, the second front radial x-direction probe, and the second front radial y-direction probe have the same material for their sensing faces; in the first rear radial sensor and the second rear radial sensor, the radii of the first rear radial probe ring and the second rear radial probe ring are the same, and the detection surfaces of the first rear radial x-direction probe, the first rear radial y-direction probe, the second rear radial x-direction probe and the second rear radial y-direction probe are made of the same material.
In some embodiments, one of the first front radial sensor and the second front radial sensor is arranged outside a front radial bearing of the magnetic levitation motor system; the other one of the first front radial sensor and the second front radial sensor is arranged inside a front radial bearing of the magnetic levitation motor system; one of the first rear radial sensor and the second rear radial sensor is arranged outside a rear radial bearing of the magnetic levitation motor system; the other one of the first rear radial sensor and the second rear radial sensor is arranged inside a rear radial bearing of the magnetic levitation motor system.
In some embodiments, the processing, by the control unit, of the voltage signal collected by the sensor unit to obtain the rotor displacement of the magnetic levitation system includes: and carrying out differential processing on the voltage signals acquired by the sensor units, and then carrying out filtering and amplification processing to obtain the rotor displacement of the magnetic suspension system.
In accordance with another aspect of the present invention, there is provided a magnetic levitation motor system, comprising: the rotor displacement detection device of the magnetic suspension motor system is characterized in that the rotor displacement detection device comprises a rotor and a rotor.
The invention also provides a rotor displacement detection method of the magnetic suspension motor system, which is matched with the rotor displacement detection device of the magnetic suspension motor system, wherein the magnetic suspension motor system is provided with a sensor unit; the sensor unit is provided with 2N displacement sensors, and N is a positive integer; in the sensor unit, two displacement sensors for detecting the direction are respectively arranged at two sides of a magnetic bearing in the magnetic suspension motor system; the 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension system and used for acquiring voltage signals of the positions of the sensor units; the rotor displacement detection method of the magnetic suspension motor system comprises the following steps: acquiring a voltage signal acquired by a sensor unit; and processing the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension system.
In some embodiments, processing the voltage signal collected by the sensor unit to obtain the rotor displacement of the magnetic levitation system includes: and carrying out differential processing on the voltage signals acquired by the sensor units, and then carrying out filtering and amplification processing to obtain the rotor displacement of the magnetic suspension system.
Therefore, according to the scheme of the invention, the four radial displacement sensors are separated and then placed in the two probe rings, the two probe rings are respectively placed on the front side and the rear side of the radial magnetic bearing, and the four probe rings are required for the front radial magnetic bearing and the rear radial magnetic bearing; therefore, the two displacement sensors in one direction are respectively arranged on the two sides of the magnetic bearing, so that the actual displacement of the rotor at the magnetic bearing can be obtained, and the magnetic suspension control precision can be improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a rotor displacement detection device of a magnetic levitation motor system of the present invention;
fig. 2 is a schematic diagram of a sensor mounting structure of a displacement detection scheme of a magnetic levitation motor system in a related scheme, wherein (a) is a schematic diagram of a mounting structure of a front radial sensor, (b) is a schematic diagram of a mounting structure of a rear radial sensor, (c) is a schematic diagram of a mounting structure when a sensor is externally arranged, and (d) is a schematic diagram of a mounting structure when a sensor is internally arranged;
FIG. 3 is a schematic view of a sensor mounting structure of the probe ring configuration and displacement sensing scheme of the present invention, wherein (a 1) is a schematic view of a mounting structure of a first front radial sensor, (a 2) is a schematic view of a mounting structure of a first front radial sensor, (b 1) is a schematic view of a mounting structure of a first rear radial sensor, (b 2) is a schematic view of a mounting structure of a second rear radial sensor, and (c) is a schematic view of an overall mounting structure of a first front radial sensor, a second front radial sensor, a first rear radial sensor, and a second rear radial sensor;
FIG. 4 is a schematic structural view of a rotor in a conical whirling configuration;
FIG. 5 is a schematic view of a state in which a rotor is tilted, wherein (a) is a schematic view of a state in which a rotor is caused to undergo a conical whirl and (b) is a schematic view of a state in which a rotor is bent;
FIG. 6 is a schematic diagram of second order bending modes;
fig. 7 is a schematic flow chart of a displacement detection method applied to a magnetic levitation motor system.
Fig. 8 is a schematic flow chart of an embodiment of a rotor displacement detection method of a magnetic levitation motor system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to an embodiment of the present invention, there is provided a rotor displacement detecting apparatus of a magnetic levitation motor system. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The magnetic suspension motor system is provided with a sensor unit. The sensor unit has 2N displacement sensors, N being a positive integer. In the sensor unit, two displacement sensors for detecting a direction are respectively arranged on two sides of a magnetic bearing in the magnetic suspension motor system. The 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension system and used for acquiring voltage signals of the positions of the sensor units.
The rotor displacement detection device of the magnetic suspension motor system comprises: an acquisition unit and a control unit.
Wherein the acquisition unit is configured to acquire the voltage signal acquired by the sensor unit.
The control unit is configured to process the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension system.
The invention provides a novel displacement sensor structure and a displacement detection scheme, in particular to a displacement detection device applied to a magnetic suspension motor system.
In some embodiments, the sensor unit comprises: a front radial sensor module and a rear radial sensor module. The front radial sensor module, comprising: a first front radial sensor and a second front radial sensor. The first front radial sensor and the second front radial sensor are arranged on two sides of a front radial bearing of the magnetic suspension motor system.
The rear radial sensor module, comprising: a first rear radial sensor and a second rear radial sensor. The first rear radial sensor and the second rear radial sensor are arranged on both sides of a rear radial bearing of the magnetic levitation motor system.
Fig. 2 is a schematic diagram of a sensor mounting structure of a displacement detection scheme of a magnetic levitation motor system in a related scheme, wherein (a) is a schematic diagram of a mounting structure of a front radial sensor, (b) is a schematic diagram of a mounting structure of a rear radial sensor, (c) is a schematic diagram of a mounting structure when a sensor is externally arranged, and (d) is a schematic diagram of a mounting structure when a sensor is internally arranged.
Fig. 2 can show a displacement detection scheme of a magnetic suspension motor system in a related scheme, wherein displacement sensors are symmetrically distributed on the outer side or the inner side of a bearing. The front radial sensors shown in fig. 2 (a), such as the probe Fx1, the probe Fx2, the probe Fy1, and the probe Fy2, are symmetrically distributed. The rear radial sensors shown in fig. 2 (b), such as the probe Rx1, the probe Rx2, the probe Ry1, and the probe Ry2, are symmetrically distributed. The first front radial sensor and the first rear radial sensor, which are shown in fig. 2 (c), are distributed on the outer side of the bearing. The first front radial sensor and the first rear radial sensor, which are shown in fig. 2 (d), are distributed on the inner side of the bearing.
Taking the radial direction x as an example, when the rotor is at the center of the magnetic suspension bearing, the output voltages of the two probes (such as the probe Fx1 and the probe Fx 2) are respectively U x1 And U x2 And U is x1 ＝U x2 The output after the signal processing circuit is 0. When the rotor is shifted from the center position x, the output signals of the two probes (such as the probe Fx1 and the probe Fx 2) are: u shape x1 ±ΔU、
After passing through the differential processing circuit, the output voltageThe value is +/-2 delta U, and the displacement of the rotor in the x degree of freedom can be obtained according to the relation between the voltage change and the displacement of the probe of the eddy current sensor. The displacement detection principle in the y degree of freedom is the same.
The above detection principle is established on the premise that the rotor is not inclined. FIG. 4 is a schematic view of a rotor in a conical vortex configuration. When the rotor is subject to cone whirl or rotor bending, the rotor forms an angle with the centerline, as shown in FIG. 4. If the arrangement method in the related solution is still followed, in which the displacement of the rotor at the magnetic bearing is deviated by Δ x from the displacement measured by the displacement sensor, the output signals of the two probes are: u shape x1 ±ΔU+ΔU θ 、
Wherein Δ U θ A voltage change formed for a displacement deltax caused by the angular offset theta. The voltage value output by the signal processing circuit is +/-2 (delta U + delta U) θ ) Δ x is added compared to the actual displacement of the rotor at the bearing, resulting in a displacement detection error.
Fig. 5 is a schematic view of a state in which the rotor is tilted, wherein (a) is a schematic view of a state in which the rotor is caused to undergo a conical whirling motion, and (b) is a schematic view of a state in which the rotor is bent. When the rotor runs to a certain rotating speed, bending or whirling will occur due to the characteristics of the rotor, namely, the rotor is considered to be inclined, and particularly, the example shown in fig. 5 can be referred to.
Fig. 3 is a schematic diagram of a sensor mounting structure of a probe ring structure and a displacement detection scheme of the present invention, where (a 1) is a schematic diagram of a mounting structure of a first front radial sensor, (a 2) is a schematic diagram of a mounting structure of a first front radial sensor, (b 1) is a schematic diagram of a mounting structure of a first rear radial sensor, (b 2) is a schematic diagram of a mounting structure of a second rear radial sensor, and (c) is a schematic diagram of an overall mounting structure of the first front radial sensor, the second front radial sensor, the first rear radial sensor, and the second rear radial sensor. At least in order to solve the above problems, the present invention proposes a structure and an arrangement of a displacement sensor as shown in fig. 3, wherein the front radial sensor is composed of a first front radial sensor and a second front radial sensor, which are respectively arranged on two sides of the front magnetic bearing, and the distance between the first front radial sensor and the front radial bearing is the same as the distance between the second front radial sensor and the front radial bearing.
In some embodiments, the first front radial sensor comprises: a first front radial probe ring, a first front radial x-direction probe, and a first front radial y-direction probe. The first front radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system. The first front radial x-direction probe and the first front radial y-direction probe are symmetrically arranged on the first front radial probe ring and at the position of a rotor of the magnetic suspension motor system, and are not in contact with each other.
The second front radial sensor comprising: a second front radial probe ring, a second front radial x-direction probe, and a second front radial y-direction probe. And the second front radial probe ring is arranged on the periphery of the rotor of the magnetic suspension motor system. The second front radial x-direction probe and the second front radial y-direction probe are symmetrically arranged on the second front radial probe ring at positions far away from the rotor of the magnetic suspension motor system.
Wherein the first front radial x-direction probe is, for example, probe Fx1, and the first front radial y-direction probe is, for example, probe Fy1. A second front radial x-direction probe such as probe Fx2 and a second front radial y-direction probe such as probe Fy2.
The first rear radial sensor comprising: a first rear radial probe ring, a first rear radial x-direction probe, and a first rear radial y-direction probe. And the first back radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system. The first back radial direction x-direction probe and the first back radial direction y-direction probe are symmetrically arranged on the first back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system.
The second rear radial sensor comprising: a second rear radial probe ring, a second rear radial x-direction probe, and a second rear radial y-direction probe. And the second rear radial probe ring is arranged on the periphery of the rotor of the magnetic suspension motor system. The second back radial direction x-direction probe and the second back radial direction y-direction probe are symmetrically arranged on the second back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system.
Wherein the first rear radial x-direction probe is, for example, probe Rx1, and the first rear radial y-direction probe is, for example, probe Ry1. A second rear radial x-direction probe such as probe Rx2 and a second rear radial y-direction probe such as probe Ry2.
Specifically, the probe Fx1 and the probe Fx2 in the first front radial sensor are responsible for detecting the displacement in the front radial direction x, the probe Fy1 and the probe Fy2 in the second front radial sensor are responsible for detecting the displacement in the front radial direction y, and the parameters of the four probes (i.e., the probe Fx1, the probe Fx2, the probe Fy1 and the probe Fy 2) are consistent. It should be noted that the material and radius of the rotor at the radial position of the first front radial sensor and the second front radial sensor need to be the same, and the sensors in one direction need to be arranged on the same side of the rotor bending node when measuring the bending rotor displacement. The rear radial sensors are distributed in a manner and under conditions similar to the front radial.
Wherein, two sides of the forward magnetic bearing, taking the forward radial direction as an example, as can be seen from fig. 3, a first probe ring (e.g., a first forward radial sensor) is placed on the left side of the forward radial bearing, and a second probe ring (e.g., a second forward radial sensor) is placed on the right side of the forward radial bearing. If the two devices exchange positions, the actual measurement effect is not influenced. The probe ring is actually a circular ring, and the rotor is located in the middle of the circular ring and is not in contact with the probe (i.e., the displacement sensor).
In some embodiments, in the first and second front radial sensors, the first and second front radial probe rings have the same radius, and the first front radial x-direction probe, the first front radial y-direction probe, the second front radial x-direction probe, and the second front radial y-direction probe have the same material for their sensing surfaces.
In the first rear radial sensor and the second rear radial sensor, the radii of the first rear radial probe ring and the second rear radial probe ring are the same, and the detection surfaces of the first rear radial x-direction probe, the first rear radial y-direction probe, the second rear radial x-direction probe and the second rear radial y-direction probe are made of the same material.
For magnetically levitated rotors, the magnetic bearings are of different materials corresponding to the position of the displacement sensor. The displacement sensor adopts a non-contact eddy current sensor, and different rotor materials can affect the precision of the displacement sensor, so that the detection surface of the displacement sensor on the same rotor needs to be made of the same material, namely the material and the radius of the rotor at the radial position of the first front radial sensor and the second front radial sensor need to be the same.
In some embodiments, one of the first front radial sensor and the second front radial sensor is arranged outside a front radial bearing of the magnetic levitation motor system. The other of the first front radial sensor and the second front radial sensor is arranged inside a front radial bearing of the magnetic levitation motor system. The outer side of the front radial bearing of the magnetic suspension motor system is close to one side of the end part of the rotating shaft of the magnetic suspension motor system. The inner side of the front radial bearing of the magnetic suspension motor system is close to one side of the middle part of a rotating shaft of the magnetic suspension motor system.
One of the first rear radial sensor and the second rear radial sensor is arranged outside a rear radial bearing of the magnetic levitation motor system. The other one of the first rear radial sensor and the second rear radial sensor is arranged inside a rear radial bearing of the magnetic levitation motor system. The outer side of the rear radial bearing of the magnetic suspension motor system is close to one side of the end part of the rotating shaft of the magnetic suspension motor system. The inner side of the rear radial bearing of the magnetic suspension motor system is close to one side of the middle part of a rotating shaft of the magnetic suspension motor system.
Fig. 6 is a schematic diagram of a second order bending mode. When measuring bending rotor displacements, the sensors in one direction need to be arranged on the same side of the bending node of the rotor. In the second-order bending mode shown in fig. 6, the forward sensor and the bearing should be located on the left or right of the point a, otherwise the differential displacement signal has a large deviation from the actual signal. Similarly, the backward sensor and the magnetic bearing should be located at the same time to the left or right of the point b.
Taking the x-direction as an example, when the rotor generates conical whirling, the displacement of the rotor at the first front radial sensor is x + Δ x, and the displacement of the rotor at the second front radial sensor is-x + Δ x, so that the output signal of the probe Fx1 becomes U x1 ±ΔU+ΔU θ The output signal of the probe Fx2 becomes
After the signal differential processing circuit, the output voltage value is still +/-2 delta U, so that the real displacement condition of the bearing can be reflected.
In some embodiments, the processing, by the control unit, of the voltage signal collected by the sensor unit to obtain the rotor displacement of the magnetic levitation system includes: and after differential processing is carried out on the voltage signals acquired by the sensor unit, filtering and amplifying processing are carried out to obtain the rotor displacement of the magnetic suspension system.
Fig. 7 is a schematic flow chart of a displacement detection method applied to a magnetic levitation motor system. As shown in fig. 7, a displacement detection method applied to a magnetic levitation motor system includes:
step 1, collecting voltage signals of each probe.
And 2, obtaining a voltage signal corresponding to the displacement after passing through a differential detection circuit.
And 3, filtering the interference signals by a filter circuit.
And 4, amplifying the signal so as to facilitate the operation after the sampling of the controller.
The detection method is the same as that of the eddy current displacement sensor in the related scheme. Compared with the displacement detection method in the related scheme, the method can eliminate the displacement detection deviation caused by different installation positions of the sensor and the bearing, and does not need to increase the number of additional probes and circuits.
In a related scheme, 4 displacement sensors are arranged in one probe ring of the magnetic suspension radial displacement sensor, two probe rings are required in total, and when a rotor is in whirling motion or bending, the detected displacement has deviation, so that the suspension precision of the rotor is influenced. According to the scheme of the invention, four radial displacement sensors are arranged in two probe rings in a split manner, the four probe rings are required in total, then the two probe rings are respectively arranged on the front side and the rear side of the radial magnetic bearing, and displacement signals measured by the method are not influenced by the whirling or bending of the rotor, so that the reliability of a magnetic suspension motor control system is improved, and the displacement detection deviation caused by the structure is solved.
By adopting the technical scheme of the invention, the four radial displacement sensors are separated and then placed in the two probe rings, the two probe rings are respectively placed on the front side and the rear side of the radial magnetic bearing, and the front radial magnetic bearing and the rear radial magnetic bearing need four probe rings in total. Therefore, the two displacement sensors in one direction are respectively arranged on the two sides of the magnetic bearing, so that the actual displacement of the rotor at the magnetic bearing can be obtained, and the magnetic suspension control precision can be improved.
According to an embodiment of the invention, a magnetic levitation motor system corresponding to a rotor displacement detection apparatus of the magnetic levitation motor system is also provided. The magnetic levitation motor system may include: the rotor displacement detection device of the magnetic suspension motor system is characterized in that the rotor displacement detection device comprises a rotor and a rotor.
Since the processing and functions of the magnetic levitation motor system of the present embodiment are basically corresponding to the embodiments, principles and examples of the foregoing devices, the description of the present embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme of the invention, the four radial displacement sensors are separated and then placed in the two probe rings, the two probe rings are respectively placed on the front side and the rear side of the radial magnetic bearing, and the four probe rings are required for the front radial magnetic bearing and the rear radial magnetic bearing, so that the displacement detection deviation caused by different installation positions of the sensors and the bearings can be eliminated, and the number and circuits of the additional probes are not required to be increased.
According to the embodiment of the present invention, there is also provided a rotor displacement detection method of a magnetic levitation motor system corresponding to the magnetic levitation motor system, as shown in fig. 8, which is a schematic flow chart of an embodiment of the method of the present invention. The magnetic suspension motor system is provided with a sensor unit. The sensor unit has 2N displacement sensors, N is a positive integer. In the sensor unit, two displacement sensors for detecting a direction are respectively arranged on two sides of a magnetic bearing in the magnetic suspension motor system. The 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension system and used for acquiring voltage signals of the positions of the sensor units. The rotor displacement detection method of the magnetic suspension motor system comprises the following steps: step S110 and step S120.
At step S110, a voltage signal collected by the sensor unit is acquired.
In step S120, the voltage signal collected by the sensor unit is processed to obtain the rotor displacement of the magnetic levitation system.
The invention provides a novel displacement sensor structure and a displacement detection scheme, in particular to a displacement detection device applied to a magnetic suspension motor system.
Fig. 2 is a schematic diagram of a sensor mounting structure of a displacement detection scheme of a magnetic levitation motor system in a related scheme, wherein (a) is a schematic diagram of a mounting structure of a front radial sensor, (b) is a schematic diagram of a mounting structure of a rear radial sensor, (c) is a schematic diagram of a mounting structure when a sensor is externally arranged, and (d) is a schematic diagram of a mounting structure when a sensor is internally arranged.
Fig. 2 can show a displacement detection scheme of a magnetic suspension motor system in a related scheme, wherein displacement sensors are symmetrically distributed at the outer side or the inner side of a bearing. The front radial sensors shown in fig. 2 (a), such as the probe Fx1, the probe Fx2, the probe Fy1, and the probe Fy2, are symmetrically distributed. The rear radial sensors shown in fig. 2 (b), such as the probe Rx1, the probe Rx2, the probe Ry1, and the probe Ry2, are symmetrically distributed. The first front radial sensor and the first rear radial sensor, which are shown in fig. 2 (c), are distributed outside the bearing. The first front radial sensor and the first rear radial sensor, which are shown in fig. 2 (d), are distributed on the inner side of the bearing.
Taking the radial direction x as an example, when the rotor is at the center of the magnetic suspension bearing, the output voltages of two probes (such as the probe Fx1 and the probe Fx 2) are respectively U x1 And U x2 And U is x1 ＝U x2 The output after the signal processing circuit is 0. When the rotor is offset from the center position x, the output signals of the two probes (such as the probe Fx1 and the probe Fx 2) are: u shape x1 ±ΔU、
After passing through the differential processing circuit, the output voltage value is +/-2 delta U, and the displacement of the rotor in the x degree of freedom can be obtained according to the relation between the voltage change and the displacement of the probe of the eddy current sensor. The displacement detection principle in the y degree of freedom is the same.
The above detection principle is established on the premise that the rotor is not inclined. FIG. 4 is a schematic view of a rotor in a conical vortex configuration. When the rotor undergoes conical whirl or rotor bending, the rotor forms an angle with the centerline, as shown in fig. 4. If the arrangement method in the related solution is still followed, in which the displacement of the rotor at the magnetic bearing deviates by Δ x from the displacement measured at the displacement sensor, the output signals of the two probes are: u shape x1 ±ΔU+ΔU θ 、
Wherein Δ U θ A voltage change formed for a displacement deltax caused by the angular offset theta. The voltage value output by the signal processing circuit is +/-2 (delta U + delta U) θ ) At the bearingThe actual displacement of the rotor is increased by Δ x, resulting in a displacement detection error.
Fig. 5 is a schematic view of a state in which the rotor is tilted, wherein (a) is a schematic view of a state in which the rotor is caused to undergo a conical whirling motion, and (b) is a schematic view of a state in which the rotor is bent. When the rotor runs to a certain rotating speed, bending or whirling will occur due to the characteristics of the rotor, namely, the rotor is considered to be inclined, and particularly, the example shown in fig. 5 can be referred to.
Fig. 3 is a schematic diagram of a sensor mounting structure of a probe ring structure and a displacement detection scheme of the present invention, where (a 1) is a schematic diagram of a mounting structure of a first front radial sensor, (a 2) is a schematic diagram of a mounting structure of a first front radial sensor, (b 1) is a schematic diagram of a mounting structure of a first rear radial sensor, (b 2) is a schematic diagram of a mounting structure of a second rear radial sensor, and (c) is a schematic diagram of an overall mounting structure of the first front radial sensor, the second front radial sensor, the first rear radial sensor, and the second rear radial sensor. At least in order to solve the above problems, the present invention proposes a structure and an arrangement of a displacement sensor as shown in fig. 3, wherein the front radial sensor is composed of a first front radial sensor and a second front radial sensor, which are respectively arranged on two sides of the front magnetic bearing, and the distance between the first front radial sensor and the front radial bearing is the same as the distance between the second front radial sensor and the front radial bearing.
The probe Fx1 and the probe Fx2 in the first front radial sensor are responsible for detecting the displacement in the front radial direction x, the probe Fy1 and the probe Fy2 in the second front radial sensor are responsible for detecting the displacement in the front radial direction y, and the parameters of the four probes (i.e. the probe Fx1, the probe Fx2, the probe Fy1 and the probe Fy 2) are consistent. It should be noted that the material and radius of the rotor at the radial position of the first front radial sensor and the second front radial sensor need to be the same, and the sensors in one direction need to be arranged on the same side of the rotor bending node when measuring the bending rotor displacement. The rear radial sensors are distributed in a manner and under conditions similar to the front radial sensors.
Wherein, two sides of the forward magnetic bearing, taking the forward radial direction as an example, as can be seen from fig. 3, a first probe ring (e.g., a first forward radial sensor) is placed on the left side of the forward radial bearing, and a second probe ring (e.g., a second forward radial sensor) is placed on the right side of the forward radial bearing. If the two devices exchange positions, the actual measurement effect is not influenced. The probe ring is actually a circular ring, and the rotor is located in the middle of the circular ring and is not in contact with the probe (i.e., the displacement sensor).
For magnetically levitated rotors, the magnetic bearings are of different materials corresponding to the position of the displacement sensor. The displacement sensor adopts a non-contact eddy current sensor, and different rotor materials can affect the precision of the displacement sensor, so that the detection surface of the displacement sensor on the same rotor needs to be made of the same material, namely the material and the radius of the rotor at the radial position of the first front radial sensor and the second front radial sensor need to be the same.
Fig. 6 is a schematic diagram of a second order bending mode. When measuring bending rotor displacements, the sensors in one direction need to be arranged on the same side of the bending node of the rotor. In the second-order bending mode shown in fig. 6, the forward sensor and the bearing should be located on the left or right of the point a, otherwise the differential displacement signal has a large deviation from the actual signal. Similarly, the backward sensor and the magnetic bearing should be located at the same time to the left or right of the point b.
Taking the x-direction as an example, when the rotor generates conical whirling, the displacement of the rotor at the first front radial sensor is x + Δ x, and the displacement of the rotor at the second front radial sensor is-x + Δ x, so that the output signal of the probe Fx1 becomes U x1 ±ΔU+ΔU θ The output signal of the probe Fx2 becomes
After the signal differential processing circuit, the output voltage value is still +/-2 delta U, so that the real displacement condition of the bearing can be reflected.
In some embodiments, the processing the voltage signal collected by the sensor unit in step S120 to obtain the rotor displacement of the magnetic levitation system includes: and carrying out differential processing on the voltage signals acquired by the sensor units, and then carrying out filtering and amplification processing to obtain the rotor displacement of the magnetic suspension system.
Fig. 7 is a schematic flow chart of a displacement detection method applied to a magnetic levitation motor system. As shown in fig. 7, a displacement detection method applied to a magnetic levitation motor system includes:
step 1, collecting voltage signals of each probe.
And 2, obtaining a voltage signal corresponding to the displacement after the differential detection circuit.
And 3, filtering the interference signals by a filter circuit.
And 4, amplifying the signal so as to facilitate the operation after the sampling of the controller.
The detection method is the same as that of the eddy current displacement sensor in the related scheme. Compared with the displacement detection method in the related scheme, the method can eliminate displacement detection deviation caused by different installation positions of the sensor and the bearing, and does not need to increase the number of additional probes and circuits.
In a related scheme, 4 displacement sensors are arranged in one probe ring of the magnetic suspension radial displacement sensor, two probe rings are required in total, and when a rotor is in whirling motion or bending, the detected displacement has deviation, so that the suspension precision of the rotor is influenced. According to the scheme of the invention, four radial displacement sensors are arranged in two probe rings in a split manner, the four probe rings are required in total, then the two probe rings are respectively arranged on the front side and the rear side of the radial magnetic bearing, and displacement signals measured by the method are not influenced by the whirling or bending of the rotor, so that the reliability of a magnetic suspension motor control system is improved, and the displacement detection deviation caused by the structure is solved.
Since the processing and functions implemented by the method of this embodiment substantially correspond to the embodiments, principles and examples of the magnetic levitation motor system, the description of this embodiment is not given in detail, and reference may be made to the related descriptions in the embodiments, which are not repeated herein.
By adopting the technical scheme of the embodiment, the four radial displacement sensors are separated and then placed in the two probe rings, the two probe rings are respectively placed on the front side and the rear side of the radial magnetic bearing, and the four probe rings are required by the front radial magnetic bearing and the rear radial magnetic bearing, so that the reliability of the magnetic suspension motor control system is improved.
In conclusion, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (7)
1. A rotor displacement detection device of a magnetic suspension motor system is characterized in that the magnetic suspension motor system is provided with a sensor unit; the sensor unit is provided with 2N displacement sensors, and N is a positive integer; in the sensor unit, two displacement sensors for detecting the direction are respectively arranged at two sides of a magnetic bearing in the magnetic suspension motor system; the 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension motor system and are used for acquiring voltage signals of the positions of the sensor units;
the rotor displacement detection device of the magnetic suspension motor system comprises: an acquisition unit and a control unit; wherein the content of the first and second substances,
the acquisition unit is configured to acquire the voltage signal acquired by the sensor unit;
the control unit is configured to process the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension motor system;
the sensor unit includes: a front radial sensor module and a rear radial sensor module; the front radial sensor module, comprising: a first front radial sensor and a second front radial sensor; the first front radial sensor and the second front radial sensor are arranged on two sides of a front radial bearing of the magnetic suspension motor system;
the rear radial sensor module, comprising: a first rear radial sensor and a second rear radial sensor; the first rear radial sensor and the second rear radial sensor are arranged on two sides of a rear radial bearing of the magnetic suspension motor system;
the first front radial sensor comprising: a first front radial probe ring, a first front radial x-direction probe, and a first front radial y-direction probe; the first front radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the first front radial x-direction probe and the first front radial y-direction probe are symmetrically arranged on the first front radial probe ring and at the position of a rotor of the magnetic suspension motor system and are not in contact with each other;
the second front radial sensor comprising: a second front radial probe ring, a second front radial x-direction probe, and a second front radial y-direction probe; the second front radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the second front radial x-direction probe and the second front radial y-direction probe are symmetrically arranged on the second front radial probe ring at positions far away from the rotor of the magnetic suspension motor system;
the first rear radial sensor comprising: a first rear radial probe ring, a first rear radial x-direction probe, and a first rear radial y-direction probe; the first rear radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the first back radial direction x-direction probe and the first back radial direction y-direction probe are symmetrically arranged on the first back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system;
the second rear radial sensor comprising: a second rear radial probe ring, a second rear radial x-direction probe, and a second rear radial y-direction probe; the second rear radial probe ring is arranged on the periphery of a rotor of the magnetic suspension motor system; the second back radial direction x-direction probe and the second back radial direction y-direction probe are symmetrically arranged on the second back radial direction probe ring at positions far away from the rotor of the magnetic suspension motor system.
2. The rotor displacement detecting device of a magnetic levitation motor system as recited in claim 1, wherein in the first front radial sensor and the second front radial sensor, the first front radial probe ring and the second front radial probe ring have the same radius, and the detection surfaces of the first front radial x-direction probe, the first front radial y-direction probe, the second front radial x-direction probe and the second front radial y-direction probe have the same material;
in the first rear radial sensor and the second rear radial sensor, the radii of the first rear radial probe ring and the second rear radial probe ring are the same, and the detection surfaces of the first rear radial x-direction probe, the first rear radial y-direction probe, the second rear radial x-direction probe and the second rear radial y-direction probe are made of the same material.
3. Rotor displacement detection device of a magnetic levitation motor system according to claim 1 or 2, wherein one of the first and second front radial sensors is arranged outside a front radial bearing of the magnetic levitation motor system; the other one of the first front radial sensor and the second front radial sensor is arranged inside a front radial bearing of the magnetic levitation motor system;
one of the first rear radial sensor and the second rear radial sensor is arranged outside a rear radial bearing of the magnetic levitation motor system; the other one of the first rear radial sensor and the second rear radial sensor is arranged inside a rear radial bearing of the magnetic levitation motor system.
4. The apparatus for detecting the rotor displacement of a magnetic levitation motor system as recited in claim 1 or 2, wherein the control unit processes the voltage signal collected by the sensor unit to obtain the rotor displacement of the magnetic levitation motor system, and the apparatus comprises:
and carrying out differential processing on the voltage signals acquired by the sensor units, and then carrying out filtering and amplification processing to obtain the rotor displacement of the magnetic suspension motor system.
5. A magnetically levitated motor system, comprising: rotor displacement detection means of a magnetic levitation motor system as claimed in any of claims 1 to 4.
6. A rotor displacement detection method of a magnetic levitation motor system corresponding to the rotor displacement detection device of the magnetic levitation motor system as recited in any one of claims 1 to 4, wherein the magnetic levitation motor system has a sensor unit; the sensor unit is provided with 2N displacement sensors, and N is a positive integer; in the sensor unit, two displacement sensors for detecting the direction are respectively arranged at two sides of a magnetic bearing in the magnetic suspension motor system; the 2N displacement sensors are arranged on the periphery of a rotor of the magnetic suspension motor system and used for acquiring voltage signals of the positions of the sensor units; the rotor displacement detection method of the magnetic suspension motor system comprises the following steps:
acquiring a voltage signal acquired by a sensor unit;
and processing the voltage signal acquired by the sensor unit to obtain the rotor displacement of the magnetic suspension motor system.
7. The method for detecting the rotor displacement of the magnetic levitation motor system as claimed in claim 6, wherein the step of processing the voltage signal collected by the sensor unit to obtain the rotor displacement of the magnetic levitation motor system comprises:
and after differential processing is carried out on the voltage signals acquired by the sensor unit, filtering and amplification processing are carried out to obtain the rotor displacement of the magnetic suspension motor system.
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