CN117515033B - Speed increasing method, control device and system for crossing critical rotation speed of rotor - Google Patents

Speed increasing method, control device and system for crossing critical rotation speed of rotor Download PDF

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Publication number
CN117515033B
CN117515033B CN202410020732.0A CN202410020732A CN117515033B CN 117515033 B CN117515033 B CN 117515033B CN 202410020732 A CN202410020732 A CN 202410020732A CN 117515033 B CN117515033 B CN 117515033B
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rotor
curve
magnetic bearing
order
rotating speed
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CN117515033A (en
Inventor
李永胜
王献忠
张婕妤
李致宇
何小宏
张海刚
赵明师
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Shandong Tianrui Heavy Industry Co Ltd
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Shandong Tianrui Heavy Industry Co Ltd
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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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

Abstract

The invention relates to a speed increasing method, a speed increasing control device and a speed increasing control system for crossing critical rotating speed of a rotor, and relates to the technical field of magnetic bearing systems. The speed increasing method comprises the following steps: and under the condition of rigid body inclination vibration mode, acquiring a second-order front curve and a second-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing, when the rotating speed of the rotor is increased to a preset rotating speed, adjusting the dynamic rigidity to enable the rotating speed change curve of the rotor to extend along the vibration mode gap between the second-order front curve and the second-order rear curve, and when the rotating speed of the rotor is continuously increased to a target rotating speed, reducing the dynamic rigidity of the magnetic bearing to enable the rotating speed change curve to reach a target working point. By adopting the speed increasing method provided by the invention, the dynamic rigidity of the magnetic bearing is dynamically regulated, so that the rotating speed change curve of the rotor is positioned in a gap where the rotor does not vibrate in the speed increasing process and quickly passes through a region with severe amplitude, the rotor is prevented from generating resonance, the stability of a magnetic bearing system is improved, and the control failure of the magnetic bearing and the occurrence of rotor collision accidents are prevented.

Description

Speed increasing method, control device and system for crossing critical rotation speed of rotor
Technical Field
The invention relates to the technical field of magnetic bearing systems, in particular to a speed increasing method, a speed controlling device and a speed increasing system for a rotor crossing a critical rotating speed.
Background
In the magnetic suspension fan, the impeller is directly connected with the rotor of the motor, and when the impeller is larger and the rotating speed of the rotor is higher, the amplitude of vibration generated by the rotor is larger.
When the rotor reaches the rotational speed at which the first bending vibration mode (third order), it is called the first bending critical rotational speed, and the rotor exceeding this rotational speed is called the flexible rotor. When the rotor works below the first bending critical rotation speed, the magnetic suspension fan can obtain pressure below 0.2MPa, and if the fan outlet pressure is required to be higher, the rotation speed of the rotor needs to be increased to be higher than the first bending critical rotation speed. However, when the rotation speed of the rotor is increased to the first bending critical rotation speed, the rotor of the magnetic suspension fan resonates, the rotor of the motor changes from rigidity to flexibility, the rotor displacement increases sharply, and the control of the magnetic bearing is out of order, so that the rotor collision accident is caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides a speed increasing method, a speed controlling device and a speed increasing system for a rotor crossing a critical rotating speed.
In a first aspect of the present invention, a method for increasing the speed of a rotor crossing a critical rotation speed is provided, and the method is applied to a magnetic bearing system, and includes:
acquiring a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body inclination vibration mode, and acquiring a third-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a first bending vibration mode;
when the rotating speed of the rotor is increased to a preset rotating speed, wherein the preset rotating speed is positioned above the rotating speed corresponding to the intersection point of the second-order front curve and the second-order rear curve, and in a region below the rotating speed corresponding to the third-order rear curve, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and extends along the vibration mode gap;
and when the rotating speed of the rotor continues to rise to the target rotating speed, reducing the dynamic rigidity of the magnetic bearing to enable the rotating speed change curve of the rotor to reach the target working point.
The speed increasing method for the rotor crossing the critical rotation speed provided by the first aspect of the invention at least comprises the following technical effects:
In the speed-up method provided by the first aspect of the invention, a second-order front curve and a second-order rear curve of the rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of the rigid body inclination vibration mode are obtained, then the rotating speed of the rotor is adjusted while the dynamic rigidity of the magnetic bearing is adjusted, so that the rotating speed change curve of the rotor is increased along the vibration mode gap between the second-order front curve and the second-order rear curve to reach the working point rotating speed required by the rotor, then the dynamic rigidity of the magnetic bearing is rapidly reduced, and the rotating speed change curve of the rotor reaches the target working point.
Therefore, the speed increasing method provided by the invention has the advantages that the dynamic rigidity of the magnetic bearing is regulated, the rotating speed of the rotor is increased, the rotor is positioned in a gap between a second-order front curve and a second-order rear curve in the speed increasing process, the rotor is stabilized at a balance position to rotate, the rotating speed of the rotor is kept unchanged after the rotor reaches the required working rotating speed, the dynamic rigidity of the magnetic bearing is rapidly reduced, the rotor rapidly passes through a severe amplitude area, and severe resonance of the rotor is prevented, so that the stability of a magnetic bearing system is improved, the control failure of the magnetic bearing and the occurrence of collision accidents of the rotor are prevented, and meanwhile, the dynamic rigidity of the magnetic bearing is reduced to reduce the electric energy consumption and improve the energy efficiency of the magnetic bearing system.
Further, the adjusting the dynamic stiffness of the magnetic bearing to enable the rotation speed variation curve of the rotor to enter the vibration mode gap between the second-order front curve and the second-order back curve and extend along the vibration mode gap includes:
when the rotating speed of the rotor is increased to the preset rotating speed, keeping the current rotating speed of the rotor unchanged, and improving the dynamic rigidity of the magnetic bearing until a rotating speed change curve of the rotor reaches a vibration mode gap between the second-order front curve and the second-order rear curve;
and continuously increasing the rotating speed of the rotor and the dynamic rigidity of the magnetic bearing, so that the rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, and keeps extending in the vibration mode gap.
By adopting the technical scheme, the magnetic bearing with high dynamic rigidity can adjust the magnetic acting force more rapidly to maintain the stable rotation of the rotor in the speed increasing process of the rotor, and the magnetic bearing system can resist the influence of self and external vibration and disturbance more, so that the stability of the magnetic bearing system is improved.
Further, the speed increasing method further comprises the following steps:
acquiring a third-order front curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of the first bending vibration mode of the rotor;
The reducing the dynamic stiffness of the magnetic bearing comprises:
and rapidly reducing the dynamic rigidity of the magnetic bearing so that a rotating speed change curve of the rotor passes through the second-order front curve, the third-order front curve and the third-order rear curve to reach target rigidity.
Through adopting above-mentioned technical scheme, after the rotor reaches required operating rotation speed, keep the rotor rotational speed unchanged, reduce the dynamic rigidity of magnetic bearing to make the rotational speed change curve of rotor cross second order preceding curve, third order preceding curve and third order back curve to target rigidity, can reach operating rotation speed and cross first crooked vibration mode (third order) fast, prevent that the rotor from producing resonance, also can reduce the energy consumption according to actual need simultaneously, reduce dynamic rigidity in order to reduce the electric energy consumption, improve the energy efficiency of magnetic bearing system.
Further, the speed increasing method further comprises the following steps:
acquiring a first-order front curve and a first-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of rigid body translation vibration mode;
before the rotating speed of the rotor is increased to the preset rotating speed, the dynamic rigidity of the magnetic bearing is kept unchanged, and the rotating speed of the rotor is increased, so that a rotating speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve.
By adopting the technical scheme, when the dynamic rigidity of the magnetic bearing is lower, the lower critical speed is crossed, the severe vibration of the rotor when the rotor is crossed with the first-order rigid body translational vibration mode and the second-order rigid body tilting vibration mode can be avoided, the stability of the magnetic bearing system is improved, and the control failure of the magnetic bearing and the occurrence of rotor collision accidents are prevented.
Further, the dynamic stiffness of the magnetic bearing satisfies the following formula:
wherein,the dynamic stiffness of the magnetic bearing is represented by P, the sensitivity function of the rotor, and C, the sensitivity function of the magnetic bearing controller.
By adopting the technical scheme, the dynamic stiffness of the magnetic bearing is calculated by adopting the formula, the dynamic performance of the magnetic bearing system is predicted according to the calculation result, the stable operation of the rotor in the magnetic bearing system is maintained, and the stability of the magnetic bearing system in operation is ensured.
Further, the magnetic bearing system comprises a position sensor, a magnetic bearing controller, a power amplifier and a magnetic bearing coil which are sequentially connected in a signal mode;
when the rotating speed of the rotor is increased to a preset rotating speed, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and extends along the vibration mode gap, and the method comprises the following steps:
The position sensor acquires position information of the rotor;
the magnetic bearing controller obtains a voltage signal according to the position information;
the power amplifier converts the voltage signal into a current signal;
the magnetic bearing coil adjusts the dynamic stiffness of the magnetic bearing according to the current signal.
Through adopting above-mentioned technical scheme, obtain the position information of rotor through the position sensor in real time, the position sensor transmits the position information who obtains to the magnetic bearing controller, the magnetic bearing controller transmits the position information who obtains to power amplifier, power amplifier converts the position signal who obtains into current signal and gives the magnetic bearing coil, the magnetic bearing coil passes through the dynamic stiffness of current signal regulation magnetic bearing, when the position sensor detects rotor position deviation target position, the magnetic bearing controller can adjust the dynamic stiffness of magnetic bearing rapidly, maintain the running position of rotor, reduce vibration and the instability of rotor.
Further, the step of the position sensor acquiring the position information of the rotor includes:
the position sensor detects an actual position of the rotor;
and the actual position and the balance position of the rotor are differenced to obtain the position information.
Through adopting above-mentioned technical scheme, can obtain the actual position signal of rotor in real time through position sensor, make actual position and balanced position and do the difference and obtain positional information, in time adjust the dynamic rigidity of magnetic bearing through positional information, the dynamic rigidity of accurate control magnetic bearing helps the magnetic bearing system to adapt to rotor self and outside vibration, load change or other environmental factors, ensures highly accurate support, has improved the performance of magnetic bearing system.
Further, the step of adjusting the dynamic stiffness of the magnetic bearing by the magnetic bearing coil according to the current signal comprises:
the magnetic bearing coil generates a magnetic force to apply to the rotor to resuspend the rotor in the equilibrium position based on the current signal.
Through adopting above-mentioned technical scheme, through adjusting the current signal, can accurate control magnetic force that magnetic bearing coil produced, ensure that the rotor is suspended on the equilibrium position, improve magnetic bearing system's stability and controllability.
In a second aspect of the present invention, there is provided a control device for controlling a rotor crossing a critical rotation speed, applied to the speed increasing method according to any one of the first aspects, the control device comprising:
The acquisition unit is used for acquiring a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body translation vibration mode, a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body inclination vibration mode, and a third-order front curve and a third-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a first bending vibration mode;
the adjusting unit is used for adjusting the dynamic stiffness of the magnetic bearing, so that after the rotating speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, when the rotating speed of the rotor is increased to a preset rotating speed, the current rotating speed of the rotor is kept unchanged, the dynamic stiffness of the magnetic bearing is improved until the rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, the rotating speed change curve of the rotor extends along the vibration mode gap between the second-order front curve and the second-order rear curve, and when the critical rotating speed of the rotor reaches a target rotating speed, the dynamic stiffness of the magnetic bearing is adjusted to be rapidly reduced to reach the target stiffness after passing through the second-order front curve, the third-order front curve and the third-order rear curve.
The control device for the rotor crossing critical rotation speed provided by the second aspect of the invention at least comprises the following technical effects:
since the control device for the rotor crossing the first bending critical rotation speed provided by the second aspect of the present invention is suitable for the speed increasing method described in the first aspect, the control device also has the advantages of the speed increasing method described in the first aspect, and the description thereof will be omitted herein.
In a third aspect of the present invention, there is provided a control system for crossing a critical rotation speed of a rotor, applied to the speed increasing method of any one of the first aspects, the control system comprising:
the vibration mode generator is used for generating a rigid body translation vibration mode, a rigid body inclination vibration mode and a first bending vibration mode of the rotor;
the processor is used for acquiring a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of rigid body translation vibration mode, and keeping the current rotation speed of the rotor unchanged when the rotation speed of the rotor is increased to a preset rotation speed, and improving the dynamic rigidity of the magnetic bearing until the rotation speed change curve of the rotor enters a second-order front curve and a second-order rear curve, so that the rotation speed change curve of the rotor extends along a type gap between the second-order front curve and the second-order rear curve under the condition of first bending vibration mode, the dynamic rigidity of the magnetic bearing is regulated after the rotation speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor is kept unchanged when the rotation speed of the rotor is increased to a preset rotation speed, and the rotation speed change curve of the rotor is increased until the rotation speed change curve of the rotor enters a second-order gap between the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor extends along the type gap between the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor is regulated to reach the target rotation speed before the rotation speed change curve and the rotation speed change curve reaches the first-order front curve and the second-order rigidity.
The control system for crossing critical rotation speed of the rotor provided by the third aspect of the invention at least comprises the following technical effects:
since the control system for the rotor crossing critical rotation speed provided in the third aspect of the present invention is suitable for the speed increasing method described in the first aspect, the control system also has the advantages of the speed increasing method described in the first aspect, and the description thereof will be omitted herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the disclosure, and do not constitute a limitation on the disclosure. In the drawings:
FIG. 1 is a modal shape diagram of a rotor in the related art;
FIG. 2 is a method of increasing rotor speed in a critical speed map according to the related art;
FIG. 3 is a flow chart illustrating a method of increasing rotor speed across a threshold rotational speed in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a graph illustrating a method of increasing rotor speed in a threshold rotational speed map according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic control flow diagram of a magnetic bearing system according to an exemplary embodiment of the present invention;
FIG. 6 is a method of rotor up-speed in a threshold speed map according to another exemplary embodiment of the present invention;
FIG. 7 is a schematic diagram of a control device for rotor crossing threshold rotational speed according to an exemplary embodiment of the present invention;
FIG. 8 is a schematic diagram of a control system for rotor crossing threshold speed in accordance with an exemplary embodiment of the present invention.
In the figure:
1. a magnetic bearing; 2. a rotor; 3. a position sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the national standard GB and the international standard ISO, fans may be classified into different categories according to their outlet pressure ranges. The relationship between the steady flow of the ideal fluid and the existence of the fluid in the pipeline on any section can be obtained according to the Bernoulli equation for the ideal fluid, wherein the Bernoulli equation is that:
equation one
In the first formula of the present invention,for hydrostatic pressure>Is hydrodynamic pressure->For the potential energy of fluid, ++>Is constant.
However, for a centrifugal fan, the dynamic pressure of the fluid is the pressure source of the fan, and is determined by the diameter of the impeller and the rotating speed of the impeller, and the dynamic pressure formula of the fluid is as follows:
Formula II
In the second formula of the present invention,is hydrodynamic pressure->For the pressure coefficient>Is the outer diameter of the fan impeller and is->The rotational speed of the fan.
According to the dynamic pressure formula of the fluid, the higher the rotating speed of the fan is, and the larger the diameter of the impeller is, the higher the outlet pressure of the fan is, and the wider the application range of the fan is. For the magnetic suspension fan, the impeller is directly connected with the motor rotor, and the larger the impeller is, the larger the rotor rotating speed is, the larger the amplitude of vibration generated by the rotor is. The differential equation of the rotor vibration is:
formula III
In the third formula of the present invention,Mas a system quality matrix, the system quality matrix,is acceleration array->Is a speed array>Is a displacement array->In order to provide a damping matrix,kfor stiffness matrix->Is a load array;
the solution of the simple harmonic vibration is as follows:
equation four
In the fourth formula of the present invention,Ain order for the amplitude to be the same,(/>=1, 2,3 …, n) is the vibration frequency,Mas a system quality matrix, the system quality matrix,kis a rigidity matrix;
according to the fourth formula, the relation between the amplitude and the frequency of the rotor can be obtained.
Referring to fig. 1, magnetic bearings 1 are installed at both ends of a rotor 2, and position sensors 3 are provided at outer sides of the magnetic bearings 1, wherein the rotor 2 is rotatable under the support of the magnetic bearings 1 without being in contact with the magnetic bearings 1; the position sensor 3 can detect the position information of the rotor 2, such as the distance of the rotor 2 from the balance position, and can obtain the rigid body translational vibration mode of the rotor based on the position information of the rotor 2 Rigid body tilting mode of rotor>First bending vibration mode of rotor->Second bending vibration mode of rotor->And a third bending mode of the rotor +.>。
When the rotor 2 reaches the rigid body translation vibration modeAt the rotational speed of the rotor, called the first order critical rotational speed of the rotor, when the rotor 2 reaches the rigid body tilt mode +.>At a speed of rotation called the second order critical speed of the rotor when the rotor 2 reaches the first bending modeAt this rotational speed, it is referred to as the third order or first bending threshold rotational speed of the rotor.
Typically, centrifugal blower rotors operate between a second order critical speed and a third order critical speed, within which the motor rotor is referred to as a rigid shaft, and the motor rotor operating above the third order critical speed or the first bending critical speed is referred to as a flexible shaft, also referred to as a flexible rotor. The working interval of the magnetic suspension motor rotor is between the second-order critical rotating speed and the third-order critical rotating speed, and the magnetic suspension motor rotor is a rigid rotor.
When the rotor 2 works below the third-order critical rotation speed, the magnetic suspension fan can generally obtain the pressure below 0.2MPa, and if the fan outlet pressure is required to be higher, the rotation speed of the rotor needs to be increased to the first bending vibration modeAbove the rotational speed of (2).
Referring to fig. 2, in the related art, as shown in a line segment A1 in fig. 2, the stiffness of the magnetic bearing is constant, and the rotation speed of the rotor is directly increased to the actual working demand rotation speed (working point rotation speed), and since a certain time is required for increasing the rotation speed of the rotor, the rotor is in a third-order critical rotation speed region (first bending vibration mode of the rotor) Corresponding rotational speed) is too long, at the moment, the rotor of the magnetic suspension fan has sufficient time to incubate resonance, once resonance occurs, the rotor displacement is increased sharply, so that the control of the magnetic bearing is failed, and the rotor collision accident is caused.
Based on the above, the embodiment of the invention provides a speed increasing method, a control device and a system for crossing critical rotation speed of a rotor, which are used for increasing the dynamic rigidity of a magnetic bearing and increasing the rotation speed of the rotor at the same time, so that the rotor is positioned in a gap between a second-order front curve and a second-order rear curve, wherein the rotor does not vibrate or a rotor rigid body vibrates slightly. When the rotor rotates at a high speed, the magnetic bearing with high dynamic stiffness can adjust the magnetic acting force to balance the load born by the rotor so as to maintain the stable rotation of the rotor and avoid the accident of collision of the rotor with the magnetic bearing.
Referring to fig. 3 and 4, an exemplary embodiment of the present invention provides a method for increasing a speed of a rotor crossing a critical rotation speed, which is applied to a magnetic bearing system, and includes:
step S1, acquiring a second-order front curve and a second-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of the rigid body inclination vibration mode, and acquiring a third-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of the first bending vibration mode.
The second-order front curve, the second-order back curve and the third-order back curve can be obtained according to translational displacement of the rotor.
And S2, when the rotating speed of the rotor is increased to a preset rotating speed, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between a second-order front curve and a second-order rear curve and extends along the vibration mode gap, wherein the preset rotating speed is positioned in a region above the rotating speed corresponding to the intersection point of the second-order front curve and the second-order rear curve and below the rotating speed corresponding to a third-order rear curve.
And S3, when the rotating speed of the rotor continues to rise to the target rotating speed, rapidly reducing the dynamic rigidity of the magnetic bearing, so that the rotating speed change curve of the rotor reaches the target working point.
Wherein the number of modes of the rotor 2 depends on the number of degrees of freedom thereof, referring to fig. 1, the figure lists only five modes, including rigid body translational modes of the rotorRigid body tilting mode of rotor>First bending vibration mode of rotor->Second bending vibration mode of rotor->And a third bending mode of the rotor +.>。
Gradually increasing the rotation speed of the rotor, when the amplitude of the rotor reaches the rigid body translation vibration modeAt this time, the rotational speed of the rotor at this time, i.e., the first-order critical rotational speed of the rotor, is recorded. Then continuously increasing the rotation speed of the rotor when the amplitude of the rotor reaches the rigid body inclination vibration mode +. >At this time, the rotational speed of the rotor at this time, i.e., the second order critical rotational speed of the rotor, is recorded. When the rotation speed of the rotor reaches the second order critical rotation speed, the rotation speed of the rotor is continuously increased, and when the amplitude of the rotor reaches the first bending vibration mode of the rotor +.>And recording the rotating speed of the rotor at the moment, namely the third-order critical rotating speed of the rotor.
Referring to fig. 4 and 6, as the dynamic stiffness of the magnetic bearing increases, the critical rotational speeds of the rotor also increase gradually, and when the dynamic stiffness of the magnetic bearing reaches a certain value, the critical rotational speed of the rotor increases rapidly, and gaps exist between vibration modes corresponding to the second-order front curve and the second-order rear curve, that is, vibration mode gaps between the second-order front curve and the second-order rear curve in fig. 6, the rotational speed of the rotor increases between the vibration mode gaps, and the stability of the magnetic bearing system is ensured.
Referring to FIG. 4, the second order front curve is when the whirling direction of the rotor is the same as the rotating direction of the rotor and the rotating speed of the rotor reaches the second order critical rotating speedA graph formed by the rotating speed of the front rotor and the dynamic rigidity of the magnetic bearing; the second-order back curve is a curve formed by the current rotating speed of the rotor and the dynamic rigidity of the magnetic bearing when the whirling direction of the rotor is opposite to the rotating direction of the rotor and the rotating speed of the rotor reaches the second-order critical rotating speed, and the third-order back curve is a curve formed by the current rotating speed of the rotor and the dynamic rigidity of the magnetic bearing when the whirling direction of the rotor is opposite to the rotating direction of the rotor and the rotating speed of the rotor reaches the third-order critical rotating speed. Referring to fig. 4, the rotor in rigid body tilt mode is obtained Under the condition, a second-order front curve and a second-order rear curve of the second-order critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing, wherein the second-order front curve is a curve represented by the second-order front in fig. 4, and the second-order rear curve is a curve represented by the second-order rear in fig. 4. When the amplitude of the rotor is in the first bending mode of the rotor +.>Under the condition, the third-order curve of the third-order critical rotation speed of the rotor and the dynamic stiffness of the magnetic bearing is the curve represented by the third-order curve in fig. 4.
Referring to fig. 4 and 6, a vibration mode gap exists between a second-order front curve and a second-order rear curve, the dynamic stiffness of the magnetic bearing is adjusted, the rotating speed of the rotor is increased, and the rotating speed change curve of the rotor is increased along the vibration mode gap between the second-order front curve and the second-order rear curve, wherein the rotating speed change curve of the rotor is increased along the vibration mode gap between the second-order front curve and the second-order rear curve, that is, a line segment indicated by a line segment C in fig. 6, the rotating speed of the rotor is increased to a target rotating speed, wherein the target rotating speed is an N3 point in fig. 6, and after the rotor reaches a required working rotating speed N3, the dynamic stiffness of the magnetic bearing is rapidly reduced, so that the rotating speed change curve of the rotor reaches a target working point, that is, a line segment indicated by a line segment D in fig. 6, and the target working point is an N4 point in fig. 6.
In the embodiment of the invention, the rotating speed of the rotor is improved by adjusting the dynamic rigidity of the magnetic bearing, so that the rotor is always positioned in a gap between the second-order front curve and the second-order rear curve in the speed increasing process, and the rotor does not vibrate. Therefore, when the dynamic rigidity of the magnetic bearing is regulated, the magnetic acting force generated by the magnetic bearing can also dynamically change, when the rotating speed of the rotor is increased, the magnetic acting force applied to the rotor by the magnetic bearing can dynamically change, so that the rotor keeps stable and rotating at a balance position, resonance of the rotor is prevented, when the rotating speed of the rotor reaches the working rotating speed, the rotating speed of the rotor is kept unchanged, the dynamic rigidity of the magnetic bearing is quickly reduced, the rotor quickly passes through a severe amplitude area, thereby preventing the control failure of the magnetic bearing and preventing the collision accident of the rotor, and meanwhile, the dynamic rigidity of the magnetic bearing can be reduced to reduce the electric energy consumption, and the energy efficiency of a magnetic bearing system is improved.
In an exemplary embodiment, referring to fig. 6, adjusting the dynamic stiffness of the magnetic bearing such that the rotational speed variation curve of the rotor enters and extends along a mode gap between a second-order front curve and a second-order rear curve, includes:
when the rotating speed of the rotor is increased to a preset rotating speed, keeping the current rotating speed of the rotor unchanged, and improving the dynamic stiffness of the magnetic bearing until a rotating speed change curve of the rotor reaches a vibration mode gap between a second-order front curve and a second-order rear curve; the rotating speed of the rotor and the dynamic rigidity of the magnetic bearing are continuously improved, so that the rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, and the vibration mode gap is kept to extend.
For example, referring to fig. 6, when the rotational speed of the rotor increases to a preset rotational speed N1 (i.e., line segment a in fig. 6), the current rotational speed of the rotor is kept unchanged, the dynamic stiffness of the magnetic bearing is increased (i.e., line segment B in fig. 6), the current rotational speed of the rotor is point N2 in fig. 6, wherein the rotational speed N2 is located in a region above the intersection point of the second-order front curve and the second-order rear curve and below the rotational speed corresponding to the third-order rear curve, and then the rotational speed of the rotor and the dynamic stiffness of the magnetic bearing are continuously increased, so that the rotational speed change curve of the rotor is kept in the vibration mode gap, wherein the rotational speed change curve of the rotor entering the vibration mode gap between the second-order front curve and the second-order rear curve is line segment C in fig. 6.
In the process of accelerating the rotor, the dynamic rigidity of the magnetic bearing is dynamically adjusted, so that the magnetic acting force generated by the magnetic bearing can balance the external load born by the rotor, the rotor is maintained to stably rotate at the balance position, and the magnetic bearing system can resist the influence of external vibration and disturbance, so that the stability of the magnetic bearing system is improved.
Referring to fig. 6, after the rotor reaches the required working rotation speed N3, the rotation speed of the rotor is kept unchanged, and the dynamic stiffness of the magnetic bearing is rapidly reduced. Meanwhile, the dynamic rigidity of the magnetic bearing is reduced by reducing the current in the coil of the magnetic bearing, and the reduction of the rigidity is instantaneously completed, so that the time consumption is negligible, the phenomenon of unstable vibration caused by more time consumption in the traditional speed increasing process is avoided, and the space and the application range of the working rotating speed of the magnetic suspension power equipment are expanded.
In one exemplary embodiment, the speed increasing method further includes: acquiring first bending vibration mode of rotorAnd under the (third-order) condition, the critical rotation speed of the rotor and the dynamic stiffness of the magnetic bearing are three-order front curves, wherein the critical rotation speed of the rotor is the first bending critical rotation speed of the rotor at the moment.
Reducing dynamic stiffness of a magnetic bearing, comprising: and rapidly reducing the dynamic rigidity of the magnetic bearing so that the rotating speed change curve of the rotor passes through the second-order front curve, the third-order front curve and the third-order rear curve to reach the target rigidity.
Referring to fig. 1, after the rotation speed of the rotor reaches the second order critical rotation speed, the rotation speed of the rotor is continuously increased, and when the amplitude of the rotor reaches the first bending vibration mode of the rotorThe rotational speed of the rotor at this time is recorded as the third-order critical rotational speed (first bending critical rotational speed) of the rotor. Referring to fig. 4 and 6, the rotor is in the first bending mode +.>Under the condition, the third-order front curve of the third-order critical rotation speed (first bending critical rotation speed) of the rotor and the dynamic stiffness of the magnetic bearing is the curve represented by the third-order front in fig. 4.
Exemplary, referring to fig. 1 and 6, after the rotor reaches the required working rotation speed N3, the rotor rotation speed is maintained unchanged, and the dynamic stiffness of the magnetic bearing is rapidly reduced (i.e. line segment D in fig. 6), so that the rotation speed of the rotor is maintained at point N4 in fig. 6, and the rotor can stably pass over the first bending vibration mode The required working rotating speed is achieved, the dynamic rigidity of the magnetic bearing is reduced by reducing the current in the magnetic bearing coil, and the rigidity reduction is instantaneously completed, so that the time consumption is negligible, the phenomenon of unstable vibration caused by more time consumption in the traditional speed increasing process is avoided, and the space and the application range of the working rotating speed of the magnetic suspension power equipment are expanded.
In one exemplary embodiment, the speed increasing method further includes:
acquiring a first-order front curve and a first-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of rigid translation vibration mode of the rotor; before the rotating speed of the rotor is increased to a preset rotating speed, the dynamic rigidity of the magnetic bearing is kept unchanged, and the rotating speed of the rotor is increased, so that a rotating speed change curve of the rotor passes through a first-order front curve, a first-order rear curve, a second-order front curve and a second-order rear curve.
Wherein the rotating speed of the high-speed magnetic suspension motor is higher than 3 ten thousand revolutions per minute, the bearing support rigidity is certain in the conventional speed increasing process, the rotor needs to pass at least two-order modal frequencies, and the rigid body translation vibration mode of the rotor is increasedRigid body tilting mode of rotor>Corresponding first-order modal frequency and second-order modal frequency can both induce the sharing of the rotor The larger the dynamic rigidity of the magnetic bearing is, the higher the first-order modal frequency and the second-order modal frequency are, the harder the magnetic bearing is crossed, and if the control system cannot apply damping in time, the starting and stopping are easy to cause.
Referring to fig. 1 and 6, it can be seen that the curves formed by the critical rotational speeds of the rotor and the dynamic stiffness of the magnetic bearing support stiffness can be seen to cross the lower critical speeds in the region where the magnetic bearing stiffness is lower, such as line segment a in fig. 6, and cross the first order front curve, the first order rear curve, the second order front curve, and the second order rear curve when the dynamic stiffness of the magnetic bearing is lower, so that the rotor can be prevented from crossing the first order rigid body translational vibration modeSecond-order rigid body tilting mode ∈>The strong vibration improves the stability of the magnetic bearing system and prevents the control failure of the magnetic bearing and the occurrence of rotor collision accidents.
In one exemplary embodiment, the dynamic stiffness of the magnetic bearing satisfies the following formula:
wherein,the dynamic stiffness of the magnetic bearing is represented by P, the sensitivity function of the rotor, and C, the sensitivity function of the magnetic bearing controller.
The rigidity is calculated by adopting the formula, the dynamic performance of the magnetic bearing system is predicted according to the calculation result, and the stability of the magnetic bearing system in operation is ensured.
In one exemplary embodiment, referring to FIG. 5, a magnetic bearing system includes a position sensor, a magnetic bearing controller, a power amplifier, and a magnetic bearing coil, which are in signal connection.
When the rotating speed of the rotor is increased to a preset rotating speed, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between a second-order front curve and a second-order rear curve and extends along the vibration mode gap, and the method comprises the following steps: the position sensor acquires position information of the rotor, the magnetic bearing controller obtains a voltage signal according to the position information, the power amplifier converts the voltage signal into a current signal, and the magnetic bearing coil adjusts dynamic rigidity of the magnetic bearing according to the current signal.
As an example, referring to fig. 1 and 5, the magnetic bearing coil is mounted on a magnetic bearing, or the magnetic bearing coil in fig. 5 corresponds to the magnetic bearing 1 in fig. 1, the rotor is penetrated in the magnetic bearing, the rotor is suspended in a magnetic field generated by the magnetic bearing coils symmetrically placed in a radial direction, and one or more position sensors are disposed around the magnetic bearing coils.
In FIG. 5, K i Is the current stiffness in units ofN/A，K s Is negative position stiffness in units ofN/mE is the excitation signal execution point, E u Is the execution point of the constant load, V1 is the displacement signal after the execution point E of the excitation signal, V2 is the displacement signal before the execution point E of the excitation signal, U1 is the execution point E of the constant load u The former electromagnetic force signal, U2 is the constant load execution point E u The electromagnetic force signal after that is generated,P(s)is a rotor mechanism, which is a rotor mechanism,C(s)is a magnetic bearing controller, and x is the displacement of the rotor. The position sensor is used for detecting the position information of the rotor, the position sensor transmits the position information to the magnetic bearing controller, the magnetic bearing controller performs positive feedback processing on the voltage control signal, the voltage control signal can be promoted or enhanced, the power amplifier is transmitted to the power amplifier based on the obtained processed voltage signal, the power amplifier converts the obtained voltage signal into a current signal to drive the magnetic bearing coil, the rotor can be pulled back to the original balance position, and the rotor can move in the opposite direction of the load acting force, so that the impact on the rotor when the load changes is counteracted.
Specifically, when a constant load is externally applied to the rotorE u When it is assumed that the rotor will deviate from the original equilibrium positionxWhen the magnetic bearing moves downwards, the air gap above the magnetic bearing is increased, and the magnetic flux above the magnetic bearing coil is reduced; air gap below magnetic bearing is reduced, magnetic bearing coilThe lower magnetic flux increases, and the upper electromagnetic force applied to the rotor is smaller than the lower electromagnetic force. At this time, the position sensor detects the position information of the rotor deviating from the balance position, the magnetic bearing controller converts the position information into a voltage signal and transmits the voltage signal to the power amplifier, the power amplifier converts the voltage signal into a current signal, the current signal generates electromagnetic magnetic flux balancing external interference through the magnetic bearing coil and is overlapped with the magnetic flux of the original magnetic bearing, so that the upper electromagnetic force borne by the rotor is larger than the lower electromagnetic force, and the rotor returns to the original balance position again.
In one exemplary embodiment, referring to fig. 5, the step of the position sensor acquiring position information of the rotor includes: the actual position of the rotor is detected by a position sensor, and then the actual position is differed from the balance position of the rotor to obtain position information.
The position sensor can obtain an actual position signal of the rotor in real time, the actual position and the balance position are differed to obtain position information, the magnetic bearing controller converts the position information into a voltage control signal, the dynamic rigidity of the magnetic bearing is timely adjusted, the dynamic rigidity of the magnetic bearing is accurately controlled, the magnetic bearing system is helped to adapt to external vibration, load change or other environmental factors, the electromagnetic force of the magnetic bearing coil is changed in real time, the rotor is enabled to be stably suspended at the balance position, and the performance of the magnetic bearing system is improved.
In one exemplary embodiment, referring to fig. 5, the step of the magnetic bearing coil adjusting the dynamic stiffness of the magnetic bearing according to the current signal includes:
the magnetic bearing coils generate magnetic forces to apply to the rotor based on the current signals to resuspend the rotor in an equilibrium position.
Specifically, when a constant load is externally applied to the rotorE u When the rotor moves downwards from the original balance position x, the air gap above the magnetic bearing is increased, and the magnetic flux above the magnetic bearing coil is reduced; the air gap below the magnetic bearing is reduced, the magnetic flux below the magnetic bearing coil is increased, and the upper electromagnetic force applied to the rotor is smaller than the lower electromagnetic force. At this time, the position sensor detects the rotation The magnetic bearing controller converts the position information into voltage signal and transmits the voltage signal to the power amplifier, the power amplifier converts the voltage signal into current signal, the current signal generates electromagnetic flux balancing external interference through the magnetic bearing coil and is overlapped with the magnetic flux of the original magnetic bearing, so that the upper electromagnetic force borne by the rotor is larger than the lower electromagnetic force, and the rotor returns to the original equilibrium position again. By adjusting the current signal, the magnetic acting force generated by the magnetic bearing coil can be precisely controlled, so that the rotor is ensured to float at the required balance position, and the stability and controllability of the magnetic bearing system are improved.
The embodiment of the invention also provides a control device for the crossing critical rotation speed of the rotor, which is applied to the speed increasing method of any embodiment, and referring to fig. 7, the control device comprises an acquisition unit and an adjustment unit.
Wherein the acquisition unit is used for acquiring the translational vibration mode of the rotor in the rigid bodyUnder the condition that a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing are adopted, the rotor is in a rigid body inclination vibration mode +.>Under the condition that a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing are adopted, the rotor is in a first bending vibration mode >Under the condition, the regulating unit is used for regulating the dynamic rigidity of the magnetic bearing to ensure that the rotating speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, and when the rotating speed of the rotor rises to the preset rotating speed, the current rotating speed of the rotor is kept unchanged, the dynamic rigidity of the magnetic bearing is improved until the rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, and the rotating speed change curve of the rotor is led to be led to a position between the second-order front curve and the second-order rear curveWhen the critical rotation speed of the rotor reaches the target rotation speed, the dynamic rigidity of the magnetic bearing is regulated to rapidly reduce to the target rigidity after passing through the second-order front curve, the third-order front curve and the third-order back curve.
The acquisition unit acquires a first-order front curve, a first-order rear curve, a second-order front curve, a second-order rear curve, a third-order front curve and a third-order rear curve, the dynamic rigidity of the magnetic bearing is dynamically regulated through the regulation unit, the dynamic rigidity of the magnetic bearing is improved, the rotating speed of the rotor is improved, when the dynamic rigidity of the magnetic bearing is lower, the rotor passes through a lower critical speed, the violent vibration of the rotor when passing through a first-order rigid body translational vibration mode and a second-order rigid body tilting vibration mode can be avoided, then the rotor acceleration process is in a gap between the second-order front curve and the second-order rear curve, the magnetic bearing with high dynamic rigidity generates magnetic force to be applied to the rotor so as to balance the external load born by the rotor, the rotor is maintained to stably rotate at the balance position, then the rotor is maintained unchanged in the rotating speed after reaching the required working rotating speed, the dynamic rigidity of the magnetic bearing is rapidly reduced, the rotor rapidly passes through an amplitude violent area, the rotor is prevented from resonating, the rotor of the magnetic bearing system is improved, and accidents are avoided.
The embodiment of the invention also provides a control system for the crossing critical rotation speed of the rotor, which is applied to the speed increasing method of any embodiment, and referring to fig. 8, the control system comprises a vibration mode generator and a processor.
Wherein the vibration mode generator is used for generating rigid body translation vibration mode of the rotorRigid body tilting mode of rotor>And the first bending vibration mode of the rotor +.>The method comprises the steps of carrying out a first treatment on the surface of the The processor is used for acquiring the translational vibration mode of the rotor in the rigid body>Under the condition that a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing are adopted, the rotor is in a rigid body inclination vibration mode +.>Under the condition that a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing are adopted, the rotor is in a first bending vibration mode>Under the condition, after the critical rotation speed of the rotor and the dynamic stiffness of the magnetic bearing are regulated after the third-order front curve and the third-order rear curve, the dynamic stiffness of the magnetic bearing is regulated, so that after the rotation speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, when the rotation speed of the rotor is increased to a preset rotation speed, the current rotation speed of the rotor is kept unchanged, the dynamic stiffness of the magnetic bearing is improved until the rotation speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, the rotation speed change curve of the rotor extends along the vibration mode gap between the second-order front curve and the second-order rear curve, and when the critical rotation speed of the rotor reaches the target rotation speed, the dynamic stiffness of the magnetic bearing is regulated to rapidly reduce to the target stiffness after passing through the second-order front curve, the third-order front curve and the third-order rear curve.
Obtaining rigid body translation vibration mode of rotor through vibration mode generatorRigid body tilting mode of rotor>And the first bending vibration mode of the rotor +.>The method comprises the steps of acquiring curves of critical rotation speed of a rotor and dynamic stiffness of a magnetic bearing under various vibration mode conditions acquired by a vibration mode generator through a processor, then dynamically adjusting the dynamic stiffness of the magnetic bearing, improving the dynamic stiffness of the magnetic bearing, and improving the rotation speed of the rotor at the same time, so that the rotor passes through a first-order front curve and a first-order front curve when the dynamic stiffness of the magnetic bearing is lowerThe lower critical speeds corresponding to the curve after the order, the curve before the second order and the curve after the second order can avoid the rotor from crossing the translational vibration mode of the first order rigid body +.>Second-order rigid body tilting mode ∈>The magnetic bearing with high dynamic rigidity generates magnetic acting force to be applied to the rotor so as to balance the external load born by the rotor, maintain the stable rotation of the rotor at a balance position and prevent the rotor of the magnetic suspension fan from resonating, thereby improving the stability of a magnetic bearing system and avoiding the occurrence of accidents, when the critical rotating speed of the rotor reaches the target rotating speed, the dynamic rigidity of the magnetic bearing is regulated to be rapidly reduced to exceed the second-order front curve, the third-order front curve and the third-order rear curve to the target rigidity, and the phenomenon that the rotor passes the third-order first bending vibration mode can be avoided >And violent vibration.
The above description may be implemented alone or in various combinations and these modifications are within the scope of the present invention.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the present disclosure, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional identical elements in an article or apparatus that comprises the element.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (9)

1. A method for increasing the speed of a rotor crossing a critical rotation speed, which is applied to a magnetic bearing system, and is characterized in that the method comprises the following steps:
acquiring a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body inclination vibration mode, and acquiring a third-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a first bending vibration mode;
when the rotating speed of the rotor is increased to a preset rotating speed, wherein the preset rotating speed is positioned above the rotating speed corresponding to the intersection point of the second-order front curve and the second-order rear curve, and in a region below the rotating speed corresponding to the third-order rear curve, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and extends along the vibration mode gap;
The dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and extends along the vibration mode gap, and the method comprises the following steps:
when the rotating speed of the rotor is increased to the preset rotating speed, keeping the current rotating speed of the rotor unchanged, and improving the dynamic rigidity of the magnetic bearing until a rotating speed change curve of the rotor reaches a vibration mode gap between the second-order front curve and the second-order rear curve;
continuously increasing the rotating speed of the rotor and the dynamic rigidity of the magnetic bearing, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and keeps extending in the vibration mode gap;
and when the rotating speed of the rotor continues to rise to the target rotating speed, reducing the dynamic rigidity of the magnetic bearing to enable the rotating speed change curve of the rotor to reach the target working point.
2. The speed increasing method according to claim 1, further comprising:
acquiring a third-order front curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of the first bending vibration mode of the rotor;
The reducing the dynamic stiffness of the magnetic bearing comprises:
and rapidly reducing the dynamic rigidity of the magnetic bearing so that a rotating speed change curve of the rotor passes through the second-order front curve, the third-order front curve and the third-order rear curve to reach target rigidity.
3. The speed increasing method according to claim 1, further comprising:
acquiring a first-order front curve and a first-order rear curve of the critical rotating speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of rigid body translation vibration mode;
before the rotating speed of the rotor is increased to the preset rotating speed, the dynamic rigidity of the magnetic bearing is kept unchanged, and the rotating speed of the rotor is increased, so that a rotating speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve.
4. The method of claim 1, wherein the dynamic stiffness of the magnetic bearing satisfies the following equation:
wherein,the dynamic stiffness of the magnetic bearing is represented by P, the sensitivity function of the rotor, and C, the sensitivity function of the magnetic bearing controller.
5. The method of claim 1, wherein the magnetic bearing system comprises a position sensor, a magnetic bearing controller, a power amplifier, and a magnetic bearing coil, which are sequentially signally connected;
When the rotating speed of the rotor is increased to a preset rotating speed, the dynamic rigidity of the magnetic bearing is regulated, so that a rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve and extends along the vibration mode gap, and the method comprises the following steps:
the position sensor acquires position information of the rotor;
the magnetic bearing controller obtains a voltage signal according to the position information;
the power amplifier converts the voltage signal into a current signal;
the magnetic bearing coil adjusts the dynamic stiffness of the magnetic bearing according to the current signal.
6. The method of claim 5, wherein the step of the position sensor acquiring the position information of the rotor includes:
the position sensor detects an actual position of the rotor;
and obtaining the position information by making a difference between the actual position and the equilibrium position of the rotor.
7. The method of claim 6, wherein the step of adjusting the dynamic stiffness of the magnetic bearing by the magnetic bearing coil in response to the current signal comprises:
the magnetic bearing coil generates a magnetic force to apply to the rotor to resuspend the rotor in the equilibrium position based on the current signal.
8. A control device for crossing critical rotation speed of a rotor, applied to the speed increasing method as set forth in any one of claims 1 to 7, characterized in that the control device includes:
the acquisition unit is used for acquiring a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body translation vibration mode, a second-order front curve and a second-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a rigid body inclination vibration mode, and a third-order front curve and a third-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of a first bending vibration mode;
the adjusting unit is used for adjusting the dynamic stiffness of the magnetic bearing, so that after the rotating speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, when the rotating speed of the rotor is increased to a preset rotating speed, the current rotating speed of the rotor is kept unchanged, the dynamic stiffness of the magnetic bearing is improved until the rotating speed change curve of the rotor enters a vibration mode gap between the second-order front curve and the second-order rear curve, the rotating speed change curve of the rotor extends along the vibration mode gap between the second-order front curve and the second-order rear curve, and when the critical rotating speed of the rotor reaches a target rotating speed, the dynamic stiffness of the magnetic bearing is adjusted to be rapidly reduced to reach the target stiffness after passing through the second-order front curve, the third-order front curve and the third-order rear curve.
9. A control system for crossing critical rotation speed of a rotor, applied to the speed increasing method as claimed in any one of claims 1 to 7, characterized in that the control system comprises:
the vibration mode generator is used for generating a rigid body translation vibration mode, a rigid body inclination vibration mode and a first bending vibration mode of the rotor;
the processor is used for acquiring a first-order front curve and a first-order rear curve of the critical rotation speed of the rotor and the dynamic rigidity of the magnetic bearing under the condition of rigid body translation vibration mode, and keeping the current rotation speed of the rotor unchanged when the rotation speed of the rotor is increased to a preset rotation speed, and improving the dynamic rigidity of the magnetic bearing until the rotation speed change curve of the rotor enters a second-order front curve and a second-order rear curve, so that the rotation speed change curve of the rotor extends along a type gap between the second-order front curve and the second-order rear curve under the condition of first bending vibration mode, the dynamic rigidity of the magnetic bearing is regulated after the rotation speed change curve of the rotor passes through the first-order front curve, the first-order rear curve, the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor is kept unchanged when the rotation speed of the rotor is increased to a preset rotation speed, and the rotation speed change curve of the rotor is increased until the rotation speed change curve of the rotor enters a second-order gap between the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor extends along the type gap between the second-order front curve and the second-order rear curve, and the rotation speed change curve of the rotor is regulated to reach the target rotation speed before the rotation speed change curve and the rotation speed change curve reaches the first-order front curve and the second-order rigidity.
CN202410020732.0A 2024-01-08 2024-01-08 Speed increasing method, control device and system for crossing critical rotation speed of rotor Active CN117515033B (en)

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GB1381528A (en) * 1971-02-23 1975-01-22 Siemens Ag Rotary shaft support arrangement
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CN1528548A (en) * 2003-10-16 2004-09-15 上海大学 Industrial-application type active magnetic suspension machine tool motor spindle
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