JPS61165013A - Controlling method of magnetic bearing - Google Patents
Controlling method of magnetic bearingInfo
- Publication number
- JPS61165013A JPS61165013A JP20160184A JP20160184A JPS61165013A JP S61165013 A JPS61165013 A JP S61165013A JP 20160184 A JP20160184 A JP 20160184A JP 20160184 A JP20160184 A JP 20160184A JP S61165013 A JPS61165013 A JP S61165013A
- Authority
- JP
- Japan
- Prior art keywords
- value
- shaft
- current
- magnetic bearing
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- F16C32/0459—Details of the magnetic circuit
- F16C32/0461—Details of the magnetic circuit of stationary parts of the magnetic circuit
- F16C32/0463—Details of the magnetic circuit of stationary parts of the magnetic circuit with electromagnetic bias, e.g. by extra bias windings
-
- 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
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
-
- 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
- F16C32/0455—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control including digital signal processing [DSP] and analog/digital conversion [A/D, D/A]
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
Description
【発明の詳細な説明】 〔発明の利用分野〕 本発明は一般に使用される制御形磁気軸受に関する。[Detailed description of the invention] [Field of application of the invention] The present invention relates to commonly used controlled magnetic bearings.
従来の制御形磁気軸受たとえば特開４８−３１３３９号
に開示のものは制御目標値とフィードバック要素の出力
値の差を増幅器を通して電磁石のコイルに通電している
アナログ制御装置である。A conventional controlled magnetic bearing, for example, disclosed in Japanese Patent Laid-Open No. 48-31339, is an analog control device in which the difference between a control target value and an output value of a feedback element is used to energize an electromagnetic coil through an amplifier.
このようなアナログ制御形磁気軸受は増幅器が高価なた
め一般の機械に利用されることはなかった。Such analog-controlled magnetic bearings have not been used in general machinery because the amplifiers are expensive.
またフィードバック要素はアナログ回路で構成されてい
るので理想的なフィードバックが行えず、軸受剛性を高
めようとすると制御系の安定性が低下するという欠点が
あった。Furthermore, since the feedback element is composed of an analog circuit, it is not possible to provide ideal feedback, and when trying to increase bearing rigidity, the stability of the control system decreases.
本発明の目的は制御系の安定性が高くしかも安価な制御
形磁気軸受を提供することにある。An object of the present invention is to provide a controlled magnetic bearing that has a highly stable control system and is inexpensive.
電磁石のコイルに定電圧をパルス状に印加することは制
御系において増幅器に近い作用を持つ。Applying a constant voltage in pulses to the electromagnetic coil has an effect similar to that of an amplifier in the control system.
定電圧源とスイッチング回路は増幅器に比べるとかなり
安価である。アナログフィードバック要素はマイクロプ
ロセッサ等のディジタル回路を採用することにより理想
に近いフィードバック要素枠にすることができる。近年
ディジタル回路も安価になっているので、制御装置全体
として安価なものを提供することができる。しかし、磁
気軸受は不安定要素（負の剛性）を持っているので、単
にディジタル回路によるフィードバック値と制御目標値
の差によって電磁石をＯＮ、ＯＦＦさせたのでは制御系
が発散し軸受として使用できない。これは電磁石のコイ
ルの電流が大きくなるためである。そこで、コイルに流
れる電流を制限すると制御系は安定する。電流の制限値
は、軸に作用する荷重が大きいときには大きくシ、小さ
いときには小さくする。Constant voltage sources and switching circuits are considerably cheaper than amplifiers. The analog feedback element can be made into a nearly ideal feedback element frame by employing a digital circuit such as a microprocessor. Since digital circuits have become cheaper in recent years, it is possible to provide an inexpensive control device as a whole. However, magnetic bearings have an unstable element (negative stiffness), so simply turning the electromagnet on and off based on the difference between the feedback value by the digital circuit and the control target value will cause the control system to diverge and cannot be used as a bearing. . This is because the current in the electromagnet coil increases. Therefore, by limiting the current flowing through the coil, the control system becomes stable. The current limit value is increased when the load acting on the shaft is large, and decreased when it is small.
このように本発明の第１の特徴は、電磁石のコイルの電
流を検出し、軸に作用する荷重に相応してコイルの電流
値を制限することである。第２の特徴は、制御回路にマ
イクロプロセッサ等のディジタル回路を用いることであ
る。マイクロプロセッサ等のディジタル回路は、コイル
の電流の制限値全容易に変更できるので一同価格で目的
に応じた多株多様な制御装置を提供することができる。Thus, the first feature of the present invention is to detect the current in the coil of the electromagnet and limit the current value in the coil in accordance with the load acting on the shaft. The second feature is that a digital circuit such as a microprocessor is used for the control circuit. Digital circuits such as microprocessors can easily change the limit value of the coil current, so it is possible to provide a variety of control devices at the same price to suit different purposes.
以下、本発明の一実施例を第１図により説明する。軸１
は電磁石２．３ではさまれ、上下方向にだけ移動可能に
なっている。これはスラスト軸受であるが、軸１の左右
にも電磁石を設ければラジアル軸受になる。電磁石２に
はコイル４，５が巻かれ、電磁石３にはコイル６．７が
巻かれている。An embodiment of the present invention will be described below with reference to FIG. axis 1
is sandwiched between electromagnets 2.3 and is movable only in the vertical direction. This is a thrust bearing, but if electromagnets are provided on the left and right sides of the shaft 1, it becomes a radial bearing. Coils 4 and 5 are wound around the electromagnet 2, and coils 6 and 7 are wound around the electromagnet 3.
コイル４．６は制御用コイルであり、コイル５゜７は軸
１の自重や軸１に作用する静荷重を均合わすことや制御
系の線形性を高めるために設けられている。例えば軸１
の自重を均合わすためにはコイル５には大きな電流を流
し、コイル７には小さな電流を流すようにすればよい。The coil 4.6 is a control coil, and the coil 5.7 is provided to balance the weight of the shaft 1 and the static load acting on the shaft 1 and to improve the linearity of the control system. For example, axis 1
In order to balance out the weight of the coil 5, a large current may be passed through the coil 5, and a small current may be passed through the coil 7.
電源８はコイル４〜６に通電する定電圧源である。コイ
ル４には直列にスイッチ９（ＳＷＩ）、電流計１０が設
けられ、コイル６にはスイッチ１０（ＳＷ２）、電流計
１２が設けられている。単純な電流計としては、抵抗を
直列に設けてこの抵抗間の電位差を計測する方法がある
。消費電力を小さくしたい場合は市販の電流計を用いれ
ばよい。ＳＷｌとＳＷ２の０Ｎ−ＯＦＦはマイクロプロ
セッサ１３の出力信号によりンレノイド私動回路１４．
１５’ｉ介して行われる。軸１の位置は変位計１６で検
出し、Ａ／Ｄ変換器１７を介してマイクロプロセッサ１
３に入力される。コイル４．６の電流値もＡ／Ｄ変換器
１７を介してマイクロプロセッサ１３に入力される。The power source 8 is a constant voltage source that energizes the coils 4-6. The coil 4 is provided with a switch 9 (SWI) and an ammeter 10 in series, and the coil 6 is provided with a switch 10 (SW2) and an ammeter 12. A simple ammeter is a method in which resistors are connected in series and the potential difference between the resistors is measured. If you want to reduce power consumption, you can use a commercially available ammeter. ON-OFF of SWl and SW2 is turned on by the output signal of the microprocessor 13 in the renoid private circuit 14.
15'i. The position of the shaft 1 is detected by a displacement meter 16, and the position is detected by the microprocessor 1 via an A/D converter 17.
3 is input. The current value of coil 4.6 is also input to microprocessor 13 via A/D converter 17.
次に第２図により制御ループを説明する。まず制御目標
値Ｙ”を設定する。次にコイル４の上限電流値Ｈとコイ
ル６の上限亀流値工；を設定する。これらの設定はあら
かじめマイクロプロセッサ１３内のＲＯＭに記憶させて
おいてもよい。設定後は変位計１６により軸１の位置Ｘ
１’ｒ入力し、次に電流計１０．１１によりコイル４．
６の電流値１１ 、Ｉ２ ｋ入力する。現在の軸１の位
置Ｘｌを入力する以前に入力した軸１の位置Ｘ２又はそ
れ以前に入力した軸１の位置を用いて軸１の速度に比例
する値Ｋｋ計算する。この例ではＡｔ定数としに＝Ａ
（Ｘ＋ Ｘ２ ）として速度に比例する値を計算して
いる。比較値ＹはＢを定数とし、ＢＸｔ＋にとして計算
している。ＩＹＩが制御目標値Ｙ申より小さいときはＳ
Ｗｌ、ＳＷｚともにＯＦＦにする。ＩＹＩが制御目標値
Ｙ申より大きい場合はコイル４．６の電流値によって８
Ｗｌ。Next, the control loop will be explained with reference to FIG. First, set the control target value Y''. Next, set the upper limit current value H of the coil 4 and the upper limit current value of the coil 6. These settings are stored in the ROM in the microprocessor 13 in advance. After setting, the position X of axis 1 is determined by the displacement meter 16.
1'r input, then coil 4.1' by ammeter 10.11.
Input the current value 11 of 6 and I2k. A value Kk proportional to the speed of the axis 1 is calculated using the position X2 of the axis 1 inputted before inputting the current position Xl of the axis 1 or the position of the axis 1 inputted before that. In this example, the At constant = A
A value proportional to the speed is calculated as (X+X2). The comparison value Y is calculated using B as a constant and BXt+. When IYI is smaller than the control target value Y, S
Turn off both Wl and SWz. If IYI is larger than the control target value Y, the current value of coil 4.6
Wl.
ＳＷｌの０Ｎ−ＯＦＦを判定する。Ｙが正の場合には、
コイル６の電流値工２が上限値工；より大きいときに８
Ｗ１．ＳＷｚ ともにＯＦＦにし、工２がＩ；より小さ
いときには５Ｗｘｔ”ＯＦＦ。Determine ON-OFF of SW1. If Y is positive,
When the current value of coil 6 is larger than the upper limit value, 8
W1. Turn both SWz OFF, and when W2 is smaller than I, turn 5Wxt'' OFF.
５ＷｚｔＯＮにする。Ｙが負の場合には、コイル４の電
流値１１が上限値エフより太きいときには８Ｗｔ をＯ
Ｎ、ＳＷｚをＯＦＦ’にする。そして再び軸１の位置Ｘ
１’に入力する。ここまでの制御ループの所要時間をＴ
とすると、Ｙは現在位置からＴ時間後の軸１の位置の予
測定に相当している。5WztON. When Y is negative, when the current value 11 of the coil 4 is larger than the upper limit value F, 8Wt is set to O.
N, turn SWz OFF'. And again axis 1 position
Enter 1'. The time required for the control loop up to this point is T
Then, Y corresponds to the predicted position of axis 1 after T time from the current position.
したがってＴや定数Ａ、Ｂは、軸の重量等によって適当
に設定するが、一般的にＴはできるだけ短かい方が制御
系の安定性が高くなる。コイ／１７４゜６の電流上限値
Ｂ 、 工：は電磁石の鉄心の磁束密度が飽和しないよ
うに設定するが、Ｔや定数Ａ。Therefore, T and the constants A and B are appropriately set depending on the weight of the shaft, etc., but in general, the stability of the control system will be higher if T is as short as possible. The upper limit value of the current B for Coil/174°6 is set so that the magnetic flux density of the electromagnet's iron core does not saturate, but T and the constant A.
Ｂと同様に制御系の安定性に影響を与えるので電磁石の
電気特性や軸１の重量軸に作用する荷重等を考慮して設
定する。通常工： 、 Ｉ：は等しくするが制御系の安
定性を高めるために異なった値に設定してもよい。Like B, it affects the stability of the control system, so it is set in consideration of the electrical characteristics of the electromagnet, the load acting on the weight axis of the shaft 1, etc. Normally, I: and I: are set equal, but they may be set to different values in order to improve the stability of the control system.
以上のように、本発明によれば、軸の位置と電磁石に流
れる電流を検出し、マイクロプロセッサ等のディジタル
回路を用いて計算を行うことにより理想的なフィードバ
ックが行え、電磁石のコイルに流れる電流の増大を防止
できるので、定電圧源とスイッチを用いた安価で安定性
の高い磁気軸受ができる。As described above, according to the present invention, ideal feedback can be performed by detecting the position of the axis and the current flowing through the electromagnet and performing calculations using a digital circuit such as a microprocessor. Since it is possible to prevent an increase in , it is possible to create an inexpensive and highly stable magnetic bearing using a constant voltage source and a switch.
第１図は磁気軸受の制御回路図、第２図は磁気軸受の制
御ループ図である。
１・・・軸、２．３・・・′電磁石、８・・・定電圧源
、９゜１０・・・スイッチ、１１．１２・・・電流計、
１３・・・マイクロプロセッサ、１４．１５・・・ンレ
ノイド駆動第１図
ＶＪ Ｚ 図FIG. 1 is a control circuit diagram of the magnetic bearing, and FIG. 2 is a control loop diagram of the magnetic bearing. 1... Axis, 2.3...'electromagnet, 8... Constant voltage source, 9°10... Switch, 11.12... Ammeter,
13... Microprocessor, 14.15... Renoid drive Figure 1 VJ Z Figure
Claims (1)
負の方向に吸引力が発生する第２の電磁石（３）、磁気
を通す軸、軸の位置を検出する変位計から成る磁気軸受
において、両電磁石（２）、（３）のコイルに流れる電
流を検出する電流計（１０）、（１２）、電磁石を作動
させる電源、電磁石（２）、（３）のコイルに電源電圧
を印加させるスイツチ（９）、（１１）を設け、変位計
と電流計（１０）、（１２）の検出値を用いてスイツチ
（９）、（１１）をＯＮ、ＯＦＦすることにより軸の変
位を制御することを特徴とする磁気軸受の制御方法。 ２、特許請求の範囲第１項において、軸の速度に比例す
る値を変位計の検出値を用いて計算機で演算し、この値
に変位計の検出値に比例する値を加算した結果Ｙが制御
目標値以内のときとはスイツチ（９）、（１１）をＯＦ
Ｆにし、Ｙが目標値より大きく電流計（１２）の検出値
が設定値より大きいときはスイツチ（１０）、（１２）
をＯＦＦにし、Ｙが目標値より大きく電流計（１２）の
検出値が設定値より小さいときはスイツチ（９）をＯＦ
Ｆ、スイツチ（１１）をＯＮにし、Ｙが目標値より小さ
く電流計（１０）の検出値が設定値より大きいときはス
イツチ（９）、（１１）をＯＦＦにし、Ｙが目標値より
小さく電流計（１０）の検出値が設定値より小さいとき
はスイツチ（９）をＯＮ、スイツチ（１１）をＯＦＦに
して軸の変位を制御することを特徴とする磁気軸受の制
御方法。 ３、特許請求の範囲第３項において、両電磁石（２）、
（３）のコイルにバイアス電流を流すことを特徴とする
磁気軸受の制御方法。[Claims] 1. A first electromagnet (2) that generates an attractive force in the positive direction, a second electromagnet (3) that generates an attractive force in the negative direction, an axis through which the magnetism passes, and the position of the axis In a magnetic bearing consisting of a displacement meter that detects, ammeters (10) and (12) that detect the current flowing through the coils of both electromagnets (2) and (3), a power source that operates the electromagnets, and electromagnets (2) and ( Switches (9) and (11) are provided to apply power supply voltage to the coils in step 3), and the switches (9) and (11) are turned on and off using the detected values of the displacement meter and ammeter (10) and (12). A method for controlling a magnetic bearing, characterized in that the displacement of a shaft is controlled by turning it off. 2. In claim 1, Y is the result of calculating a value proportional to the speed of the shaft using a computer using the detected value of the displacement meter, and adding a value proportional to the detected value of the displacement meter to this value. When it is within the control target value, turn switches (9) and (11) OFF.
F, and when Y is larger than the target value and the detected value of the ammeter (12) is larger than the set value, switch (10), (12)
When Y is larger than the target value and the detected value of the ammeter (12) is smaller than the set value, turn the switch (9) OFF.
F. Turn on the switch (11), and when Y is smaller than the target value and the detected value of the ammeter (10) is larger than the set value, turn off the switches (9) and (11), and when Y is smaller than the target value and the current A method for controlling a magnetic bearing, characterized in that when the detected value of the meter (10) is smaller than a set value, a switch (9) is turned ON and a switch (11) is turned OFF to control the displacement of the shaft. 3. In claim 3, both electromagnets (2),
(3) A method for controlling a magnetic bearing, characterized by passing a bias current through the coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20160184A JPS61165013A (en) | 1984-09-28 | 1984-09-28 | Controlling method of magnetic bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20160184A JPS61165013A (en) | 1984-09-28 | 1984-09-28 | Controlling method of magnetic bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61165013A true JPS61165013A (en) | 1986-07-25 |
Family
ID=16443752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20160184A Pending JPS61165013A (en) | 1984-09-28 | 1984-09-28 | Controlling method of magnetic bearing |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61165013A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0395116A2 (en) * | 1989-04-28 | 1990-10-31 | Nippon Ferrofluidics Corporation | Magnetic bearing device |
| US5682071A (en) * | 1994-05-25 | 1997-10-28 | Mecos Traxler Ag | Magnetic bearing with constant-current source |
| CN106090012A (en) * | 2016-08-19 | 2016-11-09 | 珠海格力节能环保制冷技术研究中心有限公司 | The control method of magnetic suspension bearing and device |
| CN109099062A (en) * | 2018-09-11 | 2018-12-28 | 西安交通大学 | A kind of Self-sensing Electromagnetic bearing based on coil ripple current slop estimation |
-
1984
- 1984-09-28 JP JP20160184A patent/JPS61165013A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0395116A2 (en) * | 1989-04-28 | 1990-10-31 | Nippon Ferrofluidics Corporation | Magnetic bearing device |
| US5682071A (en) * | 1994-05-25 | 1997-10-28 | Mecos Traxler Ag | Magnetic bearing with constant-current source |
| CH689808A5 (en) * | 1994-05-25 | 1999-11-30 | Mecos Traxler Ag | A method for contact-free supporting objects and device for performing this method. |
| CN106090012A (en) * | 2016-08-19 | 2016-11-09 | 珠海格力节能环保制冷技术研究中心有限公司 | The control method of magnetic suspension bearing and device |
| CN106090012B (en) * | 2016-08-19 | 2018-11-16 | 珠海格力电器股份有限公司 | control method and device for magnetic suspension bearing |
| CN109099062A (en) * | 2018-09-11 | 2018-12-28 | 西安交通大学 | A kind of Self-sensing Electromagnetic bearing based on coil ripple current slop estimation |
| CN109099062B (en) * | 2018-09-11 | 2020-02-11 | 西安交通大学 | Self-sensing electromagnetic bearing based on coil ripple current slope estimation |
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