WO2017084478A1 - Energy feedback method and system for magnetic levitation bearing - Google Patents

Energy feedback method and system for magnetic levitation bearing Download PDF

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Publication number
WO2017084478A1
WO2017084478A1 PCT/CN2016/103434 CN2016103434W WO2017084478A1 WO 2017084478 A1 WO2017084478 A1 WO 2017084478A1 CN 2016103434 W CN2016103434 W CN 2016103434W WO 2017084478 A1 WO2017084478 A1 WO 2017084478A1
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WIPO (PCT)
Prior art keywords
energy feedback
voltage
motor
current
power supply
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PCT/CN2016/103434
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French (fr)
Chinese (zh)
Inventor
胡余生
李燕
郭伟林
牛高产
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珠海格力节能环保制冷技术研究中心有限公司
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Publication of WO2017084478A1 publication Critical patent/WO2017084478A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • 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
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
    • Y04S20/20—End-user application control systems

Definitions

  • the present invention relates to the field of magnetic suspension bearings, and in particular to an energy feedback method and system for a magnetic suspension bearing.
  • Magnetic suspension bearings are widely used in various magnetic levitation equipment (for example, magnetic levitation compressors).
  • the magnetic levitation compressor When the magnetic levitation compressor is started, it must first ensure that the shaft of the bearing control system is stably suspended. When stopping, the magnetic levitation compressor must be stopped before the shaft suspension is suspended. . If the magnetic suspension compressor is in normal operation, the power supply suddenly abruptly loses power, which will cause the motor of the magnetic levitation compressor to be abnormally powered off, and the bearing control system will not work properly due to power failure, and the shaft will not fall to the magnetic suspension bearing. Suspended, while the motor of the magnetic suspension compressor is in an idle state, the entire bearing control system will be damaged.
  • the rotating shaft can still be stably suspended until the motor stops, and the power supply of the bearing control system needs to be optimally adjusted.
  • the current common method is to use a backup power supply (for example, UPS power supply).
  • UPS power supply for example, UPS power supply.
  • the power supply of the bearing control system is switched to the UPS power supply, so that the stable suspension of the rotating shaft can be maintained while the motor is in the idle state.
  • the cost is higher due to the need to increase the backup power.
  • the embodiment of the invention provides an energy feedback method and system for a magnetic suspension bearing, so as to at least solve the problem that in the prior art, in the case of abnormal power failure of the power supply, the standby power supply is required to maintain the stable suspension of the rotating shaft in the bearing control system. Higher cost technical issues.
  • an energy feedback system for a magnetic suspension bearing comprising: a bearing; a motor; a power supply for supplying power to the bearing and the motor; an energy feedback device,
  • the motor and the bearing are respectively electrically connected for supplying electric energy generated when the motor is in an idling state to the bearing in a case where the power supply is abnormally powered off.
  • the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: a voltage collecting device connected to the first end of the energy feedback device for collecting the energy The output voltage of the first end of the feedback device.
  • the system further includes: an adjustment device connected to the voltage collection device for receiving the location The output voltage collected by the voltage collecting device, and generating a modulated wave signal according to the preset reference voltage and the output voltage; the control device is respectively connected to the adjusting device and the energy feedback device for The modulated wave signal controls the operational state of the energy feedback device.
  • the adjusting device includes: a voltage adjusting ring respectively connected to the voltage collecting device and the control device, configured to calculate an absolute value of a difference between the reference voltage and the output voltage, to obtain an absolute value of the differential pressure And performing PI adjustment on the absolute value of the differential pressure, and outputting the modulated wave signal to the control device.
  • system further includes: a current collecting device connected to the motor, configured to collect an output current when the motor is in an idle state in a case where the power supply is abnormally powered off.
  • the system further includes: an adjusting device connected to the voltage collecting device and the current collecting device, configured to receive the output voltage collected by the voltage collecting device and the current collecting device to collect And the output current is generated, and the modulated wave signal is generated according to the preset reference voltage, the output voltage, the preset reference current, and the output current; the control device is respectively separated from the adjusting device and the energy feedback device And a connection for controlling an operating state of the energy feedback device according to the modulated wave signal.
  • the adjusting device includes: a voltage adjusting ring connected to the voltage collecting device, configured to calculate an absolute value of a difference between the reference voltage and the output voltage, to obtain an absolute value of the differential pressure, and to the pressure a difference current value is outputted after the PI adjustment, wherein the current signal includes a reference current; a current adjustment loop is connected to the voltage adjustment loop and the control device, and is used for calculating the reference current and the The absolute value of the difference between the output currents is obtained, and the absolute value of the current is obtained, and the absolute value of the current is PI-adjusted to output a modulated wave signal.
  • the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: an energy storage device, wherein the first end of the energy storage device and the energy feedback device The first end is connected, and the second end of the energy storage device is connected to the bearing for supplying stored electrical energy to the bearing in case the power supply is abnormally powered off.
  • the system further includes: a rectifying device, wherein an input end of the rectifying device is connected to the power supply, and an output is connected to the energy feedback device.
  • system further includes: a bearing controller, wherein an input end of the bearing controller is coupled to a second end of the energy feedback device, and an output of the bearing controller is coupled to the bearing, wherein And the energy feedback device supplies the electric energy generated when the motor is in an idle state by the bearing controller to the bearing.
  • control device includes: a PWM output module, configured to adjust a duty ratio of the switch tube in the energy feedback device according to the modulated wave signal.
  • an energy feedback method for a magnetic suspension bearing comprising: determining whether the power supply for powering the motor and the bearing is abnormally powered off; In the case where the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies electric energy generated when the motor is in an idle state to the bearing.
  • the energy feedback device in the energy feedback system supplies power generated when the motor is in an idle state to the bearing, including: acquiring the energy feedback An output voltage collected by a voltage collecting device in the system, wherein the output voltage is a voltage output by the first end of the energy feedback device; the adjusting device in the energy feedback system is based on the output voltage and a preset reference Generating a modulated wave signal; the control device in the energy feedback system adjusts a duty cycle of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device generates when the motor is in an idle state The electrical energy is supplied to the bearing.
  • the energy feedback device in the energy feedback system supplies power generated when the motor is in an idle state to the bearing, including: acquiring the energy feedback An output voltage collected by the voltage collecting device in the system and an output current collected by the current collecting device, wherein the output voltage is a voltage outputted by the first end of the energy feedback device, and the output current is an inertia of the motor a current outputted in a state; the adjusting means in the energy feedback system generates a modulated wave signal according to the output voltage, a preset reference voltage, an output current, and a preset set reference current; a control device in the energy feedback system Adjusting a duty ratio of the switching tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies electric energy generated when the motor is in an idle state to the bearing.
  • an energy feedback system having the following structure: a magnetic suspension bearing; a motor; a power supply for supplying power to the magnetic suspension bearing and the motor; an energy feedback device, and the motor and the magnetic suspension bearing Electrically connected, respectively, for supplying electrical energy generated when the motor is in an idle state to the magnetic suspension bearing in a case where the power supply is abnormally powered off.
  • the rotating shaft in the bearing control system can be stably suspended without additional power supply.
  • the purpose is to solve the technical problem that the standby power supply needs to maintain the stable suspension of the rotating shaft in the bearing control system and the cost is high in the prior art in the case of abnormal power failure of the power supply, thereby realizing the abnormal power failure of the power supply.
  • the technical effect of maintaining the cost of maintaining stable suspension of the shaft is reduced.
  • FIG. 1 is a schematic view of an energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention.
  • FIG. 4(a) is an equivalent circuit diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention.
  • 4(b) is an equivalent circuit diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention.
  • FIG. 5 is a flow chart of an energy feedback method for a magnetic suspension bearing in accordance with an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an energy feedback system for a magnetic suspension bearing, as shown in FIG. 1, including a magnetic suspension bearing 11, a motor M, a power supply 15, and an energy feedback device 17, in accordance with an embodiment of the present invention.
  • the power supply 15 is used to supply power to the magnetic suspension bearing and the motor;
  • the energy feedback device 17 is electrically connected to the motor M and the magnetic suspension bearing respectively, and is used for generating electric energy when the motor is in an idle state in the case that the power supply is abnormally powered off.
  • Supply magnetic suspension bearings are used to supply power to the magnetic suspension bearing and the motor.
  • the motor is a motor in a magnetic levitation device (for example, a magnetic levitation compressor), and may be an alternating current motor. It can also be a DC motor, but most of them are AC motors.
  • a magnetic levitation device for example, a magnetic levitation compressor
  • the motor When the power supply is abnormally powered off, the motor will not brake immediately, it will be in an idle state, and finally it will stop rotating. Since the winding inductance is set in the motor, when the power supply is working normally, the winding inductance in the motor is charged and saved. Energy, when the power supply suddenly loses power, the motor idles to generate electricity.
  • the power supply can be either an AC power source or a DC power source.
  • the power generated when the motor is in the idle state can be supplied to the magnetic suspension bearing under the condition that the power supply for the magnetic suspension bearing and the motor is abnormally powered off, thereby ensuring the bearing control.
  • the system is not damaged when the power supply is abnormally powered off, so that the rotating shaft maintains a stable suspension.
  • the bearing control system can be realized without additional backup power supply in the case of abnormal power supply failure.
  • the rotating shaft in the middle maintains the purpose of stable suspension, and solves the technical problem in the prior art that in the case of abnormal power failure of the power supply, the use of the backup power supply to maintain the stable suspension of the rotating shaft in the bearing control system leads to high cost, thereby realizing In the case where the power supply is abnormally powered off, the technical effect of maintaining the cost of the stable suspension of the rotating shaft is reduced.
  • the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: a voltage collecting device connected to the first end of the energy feedback device, The output voltage of the first end of the energy feedback device is collected.
  • the energy feedback device 17 is an inverter
  • the motor M is a three-phase AC motor
  • the power supply 15 is a three-phase AC power source, a three-phase AC power source and a first end of the inverter (ie, in the figure)
  • the position shown by the end point A in the inverter is electrically connected, and the voltage collecting device 19 is connected to the first end of the inverter for collecting the output voltage of the first end of the inverter.
  • the output voltage may also be referred to as a bus voltage.
  • the energy feedback device is an inverter and the motor is a three-phase AC motor
  • the power supply is a three-phase AC power supply
  • the inverter operates in a rectified state, and three The electric energy generated when the alternating current motor is in the idling state is converted into a direct current supply magnetic suspension bearing, so that the rotating shaft can continue to maintain stable suspension in the case of abnormal power supply failure.
  • the energy feedback system further includes: an adjustment device 21 and a control device 23.
  • the adjusting device 21 is connected to the voltage collecting device 19 for receiving the output voltage collected by the voltage collecting device, and generating a modulated wave signal according to the preset reference voltage U ref and the output voltage; the control device 23 and the adjusting device 21 and the energy
  • the feedback devices are respectively connected for controlling the operating state of the energy feedback device according to the modulated wave signal.
  • control device adjusts and controls the duty ratio of the switch tube in the inverter according to the received modulated wave signal, so that the inverter supplies the power generated when the three-phase AC motor is in the idle state to the magnetic suspension bearing.
  • the adjustment device 21 includes a voltage regulation ring 211.
  • the voltage regulating ring 211 is connected to the voltage collecting device 19 and the control device 23, respectively, for calculating the absolute value of the difference between the reference voltage and the output voltage, obtaining the absolute value of the differential pressure, and performing PI adjustment on the absolute value of the differential pressure.
  • the wave signal is sent to the control device.
  • the control device 23 controls the duty ratios of the three lower-arm switching tubes (ie, Q6, Q4, and Q2 in the figure) in the inverter according to the output of the voltage regulating ring 211, at this time, the upper arm
  • the switch tubes ie, Q5, Q3, and Q1 in the figure
  • the control device 23 controls the duty ratio of the three upper arm switches in the inverter according to the output of the voltage regulation ring 211, and the lower arm switch The tubes are all turned off).
  • the switching duty ratio of the modulated wave signal outputted by the voltage regulating ring is increased, and the bus voltage is increased;
  • the duty ratio of the modulated wave signal output by the voltage regulation loop decreases, and the bus voltage decreases until the bus voltage is equal to the reference voltage.
  • the corresponding switch tube of AB is Q6
  • the corresponding switch tube of BC is Q4
  • the corresponding switch tube of CA is Q2.
  • the energy feedback system further includes a current collecting device.
  • the current collecting device is connected with the motor, and is used for collecting the output current when the motor is in the idle state in the case that the power supply is abnormally powered off, that is, the current output when the collecting motor is in the idle state.
  • the energy feedback device 17 in the above embodiment is an inverter
  • the motor is a three-phase AC motor
  • the power supply is a three-phase AC power source
  • the energy feedback system further includes: an adjustment device. 21 and control device 23.
  • the adjusting device 23 is connected to the voltage collecting device and the current collecting device (not shown in FIG. 3) for receiving the output voltage collected by the voltage collecting device and the output current collected by the current collecting device, and according to preset settings.
  • the reference voltage, the output voltage, the preset reference current and the output current generate a modulated wave signal;
  • the control device 23 is respectively connected to the adjusting device and the energy feedback device for controlling the operating state of the energy feedback device according to the modulated wave signal.
  • the adjusting device 21 includes a voltage regulating ring 211 and a current regulating ring 212.
  • the voltage regulating ring 211 is connected to the voltage collecting device for calculating the absolute value of the difference between the reference voltage and the output voltage, obtaining the absolute value of the differential pressure, and performing the PI adjustment on the absolute value of the differential pressure, and outputting the current signal, wherein the current signal
  • the reference current is included therein;
  • the current regulating loop 212 is connected to the voltage regulating loop and the control device, and is used for calculating the absolute value of the difference between the reference current and the output current, obtaining the absolute value of the current, and performing PI adjustment on the absolute value of the current and output modulation. Wave signal.
  • the current inner loop ie, the current regulating loop
  • the current inner loop first uses the output of the voltage outer loop (ie, the voltage regulating loop) as the reference value of the current vector (ie, the reference current), and thus the current inner loop (ie, , current adjustment loop) calculate the absolute value of the difference between the output current and the reference current calculation, and perform PI adjustment on the absolute value of the above difference
  • the control device controls the duty ratio of the relevant switch tube in the inverter according to the modulated wave signal.
  • the duty ratio of the switch tube can be controlled by controlling the on-time of the switch tube.
  • the detected bus voltage ie, the output voltage
  • the difference between the reference voltage U ref and the bus voltage is positive
  • the output of the voltage regulation loop is used as the current reference value.
  • the reference current generates a negative torque, so that the three-phase AC motor operates in the power generation state to increase the bus voltage; when the bus voltage is raised above the reference voltage U ref , at this time, the output of the voltage loop is used as the current reference value.
  • Positive torque is generated, the three-phase AC motor consumes energy, and the bus voltage is reduced until the bus voltage is equal to the reference voltage U ref and stabilizes.
  • the motor rotates at a high speed
  • the power supply is abnormally powered off, in order to avoid the problem of excessive current caused by forced braking of the motor, the current inner loop is increased, and the inner loop of the current is the outer loop of the voltage.
  • the output is used as a reference current to control the magnitude of the current.
  • the motor driver includes an energy feedback device, a rectifying device, a power supply, a voltage collecting device, a current collecting device, an adjusting device, a control device, and an energy storage device.
  • the power supply is electrically connected to the first end of the energy feedback device, wherein the energy feedback system further includes an energy storage device 19, wherein the energy storage device 19 The first end is connected to the first end of the energy feedback device, and the second end of the energy storage device is connected to the magnetic suspension bearing for supplying the stored electrical energy to the magnetic suspension bearing in the case of abnormal power failure of the power supply.
  • the energy storage device 19 is a capacitor C.
  • the energy feedback system further includes a rectifying device 25, wherein the input end of the rectifying device is connected to the power supply, and the output end is connected to the energy feedback device.
  • the rectifying device 25 is a rectifier. Specifically, when the three-phase AC power supply normally supplies power to the magnetic suspension bearing and the three-phase alternating current motor, the alternating current supplied by the three-phase alternating current power source is first rectified by the rectifier to obtain direct current, and then the direct current power supply obtained by the rectifier is rectified and controlled by the bearing. And the magnetic suspension bearing to ensure the normal operation of the bearing control system. On the other hand, the DC current obtained by the rectifier after rectification passes through the capacitor C, and then flows through the inverter, and the inverter inverts the direct current flowing through it to obtain alternating current. Further, the above-mentioned alternating current power is supplied to the three-phase alternating current motor connected thereto.
  • the energy feedback system further includes: a bearing controller 13, wherein the input end of the bearing controller 13 and the second end of the energy feedback device (ie, , the position shown in the end point B of the inverter in FIG. 3 is connected, and the output end of the bearing controller 13 is connected with the magnetic suspension bearing, wherein the energy feedback device supplies the electric energy generated by the motor in the idle state through the bearing controller to the magnetic levitation Bearing.
  • a bearing controller 13 wherein the input end of the bearing controller 13 and the second end of the energy feedback device (ie, , the position shown in the end point B of the inverter in FIG. 3 is connected, and the output end of the bearing controller 13 is connected with the magnetic suspension bearing, wherein the energy feedback device supplies the electric energy generated by the motor in the idle state through the bearing controller to the magnetic levitation Bearing.
  • the control device 23 includes a PWM output module 231 for adjusting the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal.
  • the power generation control is performed when the motor is idling.
  • the inverter operates in the rectified state, using the motor.
  • the winding inductance, the switching tube in the inverter, the diode, etc. constitute a BOOST boost circuit, and the bus voltage is stably boosted by controlling the duty ratio of the switching tube.
  • the rectifiers in Figures 2 and 3 are equivalent to the resistors R in Figures 4(a) and 4(b), Ea represents Phase A in a three-phase AC motor, and Eb represents Phase B in a three-phase AC motor.
  • the three-phase AC motor includes a winding inductance Ls and a resistance Rs.
  • the solution provided by the present application not only enables the magnetic suspension compressor to brake quickly but also maintains the bus voltage of the compressor driver at a constant value when the power supply is abnormally powered off (ie, maintains the bus voltage of the driver). Stable output), to ensure effective power supply or normal power supply to the bearing control system before ensuring that the magnetic suspension compressor stops rotating, thereby protecting the entire magnetic suspension bearing control system from being damaged in the event of abnormal power failure.
  • any of the energy feedback systems for magnetic suspension bearings provided by the embodiments of the present invention can be applied to any device having a magnetic suspension bearing.
  • an energy feedback method for a magnetic suspension bearing the energy feedback method performing energy feedback of a magnetic suspension bearing by an energy feedback system for a magnetic suspension bearing according to any of the above embodiments of the present invention.
  • 5 is a flow chart of an energy feedback method for a magnetic suspension bearing according to an embodiment of the invention, the method comprising steps S502 to S504, as follows:
  • step S502 it is determined whether the power supply for supplying power to the motor and the magnetic suspension bearing is abnormally powered off.
  • Step S504 in the case that it is determined that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies the electric energy generated when the motor is in the idle state to the magnetic suspension bearing.
  • the motor is a motor in a magnetic levitation device (for example, a magnetic levitation compressor), and may be an alternating current motor or a direct current motor, but most of them are alternating current motors.
  • a magnetic levitation device for example, a magnetic levitation compressor
  • the motor When the power supply is abnormally powered off, the motor will not brake immediately, it will be in an idle state, and finally it will stop rotating. Since the winding inductance is set in the motor, when the power supply is working normally, the winding inductance in the motor is charged and saved. Energy, when the power supply suddenly loses power, the motor idles to generate electricity.
  • the power supply can be either an AC power source or a DC power source.
  • the power generated when the motor is in the idle state can be supplied to the magnetic suspension bearing under the condition that the power supply for the magnetic suspension bearing and the motor is abnormally powered off, thereby ensuring the bearing control.
  • the system is not damaged when the power supply is abnormally powered off, so that the rotating shaft maintains a stable suspension.
  • the bearing control system can be realized without additional backup power supply in the case of abnormal power supply failure.
  • the rotating shaft in the middle maintains the purpose of stable suspension, and solves the technical problem in the prior art that in the case of abnormal power failure of the power supply, the use of the backup power supply to maintain the stable suspension of the rotating shaft in the bearing control system leads to high cost, thereby realizing In the case where the power supply is abnormally powered off, the technical effect of maintaining the cost of the stable suspension of the rotating shaft is reduced.
  • the energy feedback device is an inverter and the motor is a three-phase AC motor
  • the power supply is a three-phase AC power supply
  • the inverter if the three-phase AC power supply is abnormally powered off, the inverter operates in a rectified state, and three The electric energy generated when the phase AC motor is in the idling state is converted into a direct current supply magnetic suspension bearing.
  • the energy feedback device in the energy feedback system supplies the power generated when the motor is in the idle state to the magnetic suspension bearing, including steps S1 to S5, as follows: :
  • Step S1 Acquire an output voltage collected by a voltage collecting device in the energy feedback system, wherein the output voltage is a voltage outputted by the first end of the energy feedback device.
  • the output voltage may also be referred to as a bus voltage.
  • step S3 the adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage and a preset reference voltage.
  • the adjusting device first calculates the absolute value of the difference between the reference voltage and the output voltage to obtain an absolute value of the differential pressure, and then performs PI adjustment on the absolute value of the differential pressure to output a modulated wave signal.
  • step S5 the control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the power generated when the motor is in the idle state to the magnetic suspension bearing.
  • the energy feedback device is described as an inverter.
  • the switching duty ratio of the modulated wave signal outputted by the voltage regulating ring increases, and the control device receives the modulated wave signal according to the received signal.
  • the control device receives the The modulated wave signal reduces the duty cycle of the corresponding switch tube, so that the bus voltage is lowered until the bus voltage is equal to the reference voltage and stabilizes, so that the power supply can be powered normally, thereby ensuring normal bearing power to the bearing control system, thereby ensuring the bearing The control system is not damaged due to abnormal power failure of the power supply.
  • the energy feedback device in the energy feedback system supplies the power generated when the motor is in the idle state to the magnetic suspension bearing, including steps S7 to S11, as follows: :
  • Step S7 acquiring an output voltage collected by the voltage collecting device in the energy feedback system and an output current collected by the current collecting device, wherein the output voltage is a voltage outputted by the first end of the energy feedback device, and the output current is when the motor is in an idle state.
  • the current output is a voltage outputted by the first end of the energy feedback device, and the output current is when the motor is in an idle state.
  • step S9 the adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage, the preset reference voltage, the output current, and the preset set reference current.
  • step S11 the control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the power generated when the motor is in the idle state to the magnetic suspension bearing.
  • the adjusting device includes a voltage regulating ring and a current adjusting ring.
  • the voltage adjustment loop calculates the absolute value of the difference between the reference voltage and the output voltage, obtains the absolute value of the differential pressure, and performs PI adjustment on the absolute value of the differential pressure to output a current signal including the reference current, and then calculates the reference current by the current adjustment loop.
  • the absolute value of the difference between the output current and the output current is obtained, and the absolute value of the current is adjusted by PI, and the modulated wave signal is output.
  • the motor rotates at a high speed
  • the power supply is abnormally powered off, in order to avoid the problem of excessive current caused by forced braking of the motor, the current inner loop is increased, and the inner loop of the current is the outer loop of the voltage.
  • the output is used as a reference current to control the magnitude of the current.
  • the disclosed technical contents may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • Another point, The mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .

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  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

An energy feedback method and system for magnetic levitation bearing, the system comprises: a magnetic levitation bearing (11), an electrical motor (M), a power supply (15) for supplying power to the magnetic levitation bearing (11) and the electrical motor (M), and an energy feedback device (17) electrically connected to the electrical motor (M) and the magnetic levitation bearing (11) respectively for supplying the electric energy generated by the electrical motor (M) in an idling state to the magnetic suspension bearing (11) in the case where the power supply (15) is abnormally powered off, thus solving the technical problem of higher costs caused by the use of a standby power supply to maintain the stable levitation of a rotating shaft in the bearing control system in the case of abnormal power-off of the power supply.

Description

用于磁悬浮轴承的能量回馈方法和***Energy feedback method and system for magnetic suspension bearings 技术领域Technical field
本发明涉及磁悬浮轴承领域，具体而言，涉及一种用于磁悬浮轴承的能量回馈方法和***。The present invention relates to the field of magnetic suspension bearings, and in particular to an energy feedback method and system for a magnetic suspension bearing.
背景技术Background technique
磁悬浮轴承被广泛的应用在各个磁悬浮设备(例如，磁悬浮压缩机)中，磁悬浮压缩机启动时必须先确保轴承控制***中的转轴稳定悬浮，停止时必须先使磁悬浮压缩机停止转动再停止转轴悬浮。若磁悬浮压缩机在正常运转时，供电电源突然发生异常断电，将导致磁悬浮压缩机的电机异常断电，并且轴承控制***将因断电而无法正常工作，进而转轴跌落到磁悬浮轴承上无法正常悬浮，而此时磁悬浮压缩机的电机又处于惰转状态，整个轴承控制***将会损坏。为了使磁悬浮压缩机在异常断电情况下，转轴仍能稳定悬浮，直至电机停转，需要对轴承控制***的供电进行优化调整。目前常用的方法是使用备用电源(例如，UPS电源)，当磁悬浮压缩机异常断电时，轴承控制***的供电切换到UPS电源，从而能够在电机处于惰转状态时，维持转轴的稳定悬浮。由于需要增加备用电源，导致成本较高。Magnetic suspension bearings are widely used in various magnetic levitation equipment (for example, magnetic levitation compressors). When the magnetic levitation compressor is started, it must first ensure that the shaft of the bearing control system is stably suspended. When stopping, the magnetic levitation compressor must be stopped before the shaft suspension is suspended. . If the magnetic suspension compressor is in normal operation, the power supply suddenly abruptly loses power, which will cause the motor of the magnetic levitation compressor to be abnormally powered off, and the bearing control system will not work properly due to power failure, and the shaft will not fall to the magnetic suspension bearing. Suspended, while the motor of the magnetic suspension compressor is in an idle state, the entire bearing control system will be damaged. In order to make the magnetic suspension compressor under abnormal power failure, the rotating shaft can still be stably suspended until the motor stops, and the power supply of the bearing control system needs to be optimally adjusted. The current common method is to use a backup power supply (for example, UPS power supply). When the magnetic suspension compressor is abnormally powered off, the power supply of the bearing control system is switched to the UPS power supply, so that the stable suspension of the rotating shaft can be maintained while the motor is in the idle state. The cost is higher due to the need to increase the backup power.
针对上述的问题，目前尚未提出有效的解决方案。In response to the above problems, no effective solution has been proposed yet.
发明内容Summary of the invention
本发明实施例提供了一种用于磁悬浮轴承的能量回馈方法和***，以至少解决现有技术中在供电电源异常断电的情况下，需要使用备用电源维持轴承控制***中转轴的稳定悬浮导致成本较高的技术问题。The embodiment of the invention provides an energy feedback method and system for a magnetic suspension bearing, so as to at least solve the problem that in the prior art, in the case of abnormal power failure of the power supply, the standby power supply is required to maintain the stable suspension of the rotating shaft in the bearing control system. Higher cost technical issues.
根据本发明实施例的一个方面，提供了一种用于磁悬浮轴承的能量回馈***，包括：轴承；电机；供电电源，用于对所述轴承和所述电机供电；能量回馈装置，与所述电机和所述轴承分别电连接，用于在所述供电电源异常断电的情况下，将所述电机处于惰转状态时产生的电能供给所述轴承。According to an aspect of an embodiment of the present invention, an energy feedback system for a magnetic suspension bearing is provided, comprising: a bearing; a motor; a power supply for supplying power to the bearing and the motor; an energy feedback device, The motor and the bearing are respectively electrically connected for supplying electric energy generated when the motor is in an idling state to the bearing in a case where the power supply is abnormally powered off.
进一步地，所述供电电源与所述能量回馈装置的第一端电连接，其中，所述***还包括：电压采集装置，与所述能量回馈装置的第一端连接，用于采集所述能量回馈装置的第一端的输出电压。Further, the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: a voltage collecting device connected to the first end of the energy feedback device for collecting the energy The output voltage of the first end of the feedback device.
进一步地，所述***还包括：调节装置，与所述电压采集装置连接，用于接收所 述电压采集装置采集到的所述输出电压，并根据预先设置的参考电压和所述输出电压生成调制波信号；控制装置，与所述调节装置和所述能量回馈装置分别连接，用于根据所述调制波信号控制所述能量回馈装置的运行状态。Further, the system further includes: an adjustment device connected to the voltage collection device for receiving the location The output voltage collected by the voltage collecting device, and generating a modulated wave signal according to the preset reference voltage and the output voltage; the control device is respectively connected to the adjusting device and the energy feedback device for The modulated wave signal controls the operational state of the energy feedback device.
进一步地，所述调节装置包括：电压调节环，与所述电压采集装置和所述控制装置分别连接，用于计算所述参考电压和所述输出电压之差的绝对值，得到压差绝对值，并对所述压差绝对值进行PI调节后输出所述调制波信号至所述控制装置。Further, the adjusting device includes: a voltage adjusting ring respectively connected to the voltage collecting device and the control device, configured to calculate an absolute value of a difference between the reference voltage and the output voltage, to obtain an absolute value of the differential pressure And performing PI adjustment on the absolute value of the differential pressure, and outputting the modulated wave signal to the control device.
进一步地，所述***还包括：电流采集装置，与所述电机连接，用于在所述供电电源异常断电的情况下，采集所述电机处于惰转状态时的输出电流。Further, the system further includes: a current collecting device connected to the motor, configured to collect an output current when the motor is in an idle state in a case where the power supply is abnormally powered off.
进一步地，所述***还包括：调节装置，与所述电压采集装置和所述电流采集装置均相连接，用于接收所述电压采集装置采集到的所述输出电压和所述电流采集装置采集到的所述输出电流，并根据预先设置的参考电压、所述输出电压、预先设置的参考电流以及所述输出电流生成调制波信号；控制装置，与所述调节装置和所述能量回馈装置分别连接，用于根据所述调制波信号控制所述能量回馈装置的运行状态。Further, the system further includes: an adjusting device connected to the voltage collecting device and the current collecting device, configured to receive the output voltage collected by the voltage collecting device and the current collecting device to collect And the output current is generated, and the modulated wave signal is generated according to the preset reference voltage, the output voltage, the preset reference current, and the output current; the control device is respectively separated from the adjusting device and the energy feedback device And a connection for controlling an operating state of the energy feedback device according to the modulated wave signal.
进一步地，所述调节装置包括：电压调节环，与所述电压采集装置连接，用于计算所述参考电压和所述输出电压之差的绝对值，得到压差绝对值，并对所述压差绝对值进行PI调节后输出电流信号，其中，所述电流信号中包含参考电流；电流调节环，与所述电压调节环和所述控制装置均相连接，用于计算所述参考电流和所述输出电流之差的绝对值，得到电流绝对值，并对所述电流绝对值进行PI调节后输出调制波信号。Further, the adjusting device includes: a voltage adjusting ring connected to the voltage collecting device, configured to calculate an absolute value of a difference between the reference voltage and the output voltage, to obtain an absolute value of the differential pressure, and to the pressure a difference current value is outputted after the PI adjustment, wherein the current signal includes a reference current; a current adjustment loop is connected to the voltage adjustment loop and the control device, and is used for calculating the reference current and the The absolute value of the difference between the output currents is obtained, and the absolute value of the current is obtained, and the absolute value of the current is PI-adjusted to output a modulated wave signal.
进一步地，所述供电电源与所述能量回馈装置的第一端电连接，其中，所述***还包括：储能装置，其中，所述储能装置的第一端与所述能量回馈装置的第一端连接，所述储能装置的第二端与所述轴承连接，用于在所述供电电源异常断电的情况下，将存储的电能供给所述轴承。Further, the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: an energy storage device, wherein the first end of the energy storage device and the energy feedback device The first end is connected, and the second end of the energy storage device is connected to the bearing for supplying stored electrical energy to the bearing in case the power supply is abnormally powered off.
进一步地，所述***还包括：整流装置，其中，所述整流装置的输入端与所述供电电源相连接，输出端与所述能量回馈装置连接。Further, the system further includes: a rectifying device, wherein an input end of the rectifying device is connected to the power supply, and an output is connected to the energy feedback device.
进一步地，所述***还包括：轴承控制器，其中，所述轴承控制器的输入端与所述能量回馈装置的第二端连接，所述轴承控制器的输出端与所述轴承连接，其中，所述能量回馈装置通过所述轴承控制器将所述电机处于惰转状态时产生的电能供给所述轴承。Further, the system further includes: a bearing controller, wherein an input end of the bearing controller is coupled to a second end of the energy feedback device, and an output of the bearing controller is coupled to the bearing, wherein And the energy feedback device supplies the electric energy generated when the motor is in an idle state by the bearing controller to the bearing.
进一步地，所述控制装置包括：PWM输出模块，用于根据所述调制波信号调整所述能量回馈装置中开关管的占空比。Further, the control device includes: a PWM output module, configured to adjust a duty ratio of the switch tube in the energy feedback device according to the modulated wave signal.
根据本发明实施例的另一方面，提供了一种用于磁悬浮轴承的能量回馈方法，通 过上述内容所提供的任一种所述的用于磁悬浮轴承的能量回馈***进行磁悬浮轴承的能量回馈，包括：判断用于对电机和轴承供电的供电电源是否异常断电；在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈装置将所述电机处于惰转状态时产生的电能供给所述轴承。According to another aspect of an embodiment of the present invention, an energy feedback method for a magnetic suspension bearing is provided. The energy feedback system for the magnetic levitation bearing of the magnetic levitation bearing according to any one of the foregoing provides the energy feedback of the magnetic levitation bearing, comprising: determining whether the power supply for powering the motor and the bearing is abnormally powered off; In the case where the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies electric energy generated when the motor is in an idle state to the bearing.
进一步地，在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈装置将所述电机处于惰转状态时产生的电能供给所述轴承包括：获取所述能量回馈***中的电压采集装置采集的输出电压，其中，所述输出电压为所述能量回馈装置的第一端输出的电压；所述能量回馈***中的调节装置根据所述输出电压和预先设置的参考电压生成调制波信号；所述能量回馈***中的控制装置根据所述调制波信号调整所述能量回馈装置中开关管的占空比，以使所述能量回馈装置将电机处于惰转状态时产生的电能供给所述轴承。Further, in the case that it is determined that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies power generated when the motor is in an idle state to the bearing, including: acquiring the energy feedback An output voltage collected by a voltage collecting device in the system, wherein the output voltage is a voltage output by the first end of the energy feedback device; the adjusting device in the energy feedback system is based on the output voltage and a preset reference Generating a modulated wave signal; the control device in the energy feedback system adjusts a duty cycle of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device generates when the motor is in an idle state The electrical energy is supplied to the bearing.
进一步地，在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈装置将所述电机处于惰转状态时产生的电能供给所述轴承包括：获取所述能量回馈***中的电压采集装置采集的输出电压和电流采集装置采集的输出电流，其中，所述输出电压为所述能量回馈装置的第一端输出的电压，所述输出电流为所述电机处于惰转状态时输出的电流；所述能量回馈***中的调节装置根据所述输出电压、预先设置的参考电压、输出电流和预设设置的参考电流生成调制波信号；所述能量回馈***中的控制装置根据所述调制波信号调整所述能量回馈装置中开关管的占空比，以使所述能量回馈装置将电机处于惰转状态时产生的电能供给所述轴承。Further, in the case that it is determined that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies power generated when the motor is in an idle state to the bearing, including: acquiring the energy feedback An output voltage collected by the voltage collecting device in the system and an output current collected by the current collecting device, wherein the output voltage is a voltage outputted by the first end of the energy feedback device, and the output current is an inertia of the motor a current outputted in a state; the adjusting means in the energy feedback system generates a modulated wave signal according to the output voltage, a preset reference voltage, an output current, and a preset set reference current; a control device in the energy feedback system Adjusting a duty ratio of the switching tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies electric energy generated when the motor is in an idle state to the bearing.
在本发明实施例中，采用具有以下结构的能量回馈***：磁悬浮轴承；电机；供电电源，用于对所述磁悬浮轴承和所述电机供电；能量回馈装置，与所述电机和所述磁悬浮轴承分别电连接，用于在所述供电电源异常断电的情况下，将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承。通过设置能量回馈装置使得在为磁悬浮轴承和电机供电的供电电源异常断电的情况下，能够将电机处于惰转状态时产生的电能供给磁悬浮轴承，从而保证了轴承控制***在供电电源异常断电时不被破坏，进而使得转轴维持稳定的悬浮，与现有技术相比，达到了在供电电源异常断电的情况下，无需额外增加备用电源就能使轴承控制***中的转轴维持稳定悬浮的目的，解决了现有技术中在供电电源异常断电的情况下，需要使用备用电源维持轴承控制***中转轴的稳定悬浮导致成本较高的技术问题，从而实现了在供电电源异常断电的情况下，降低了维持转轴稳定悬浮的成本的技术效果。In an embodiment of the present invention, an energy feedback system having the following structure is employed: a magnetic suspension bearing; a motor; a power supply for supplying power to the magnetic suspension bearing and the motor; an energy feedback device, and the motor and the magnetic suspension bearing Electrically connected, respectively, for supplying electrical energy generated when the motor is in an idle state to the magnetic suspension bearing in a case where the power supply is abnormally powered off. By setting the energy feedback device, when the power supply for the magnetic suspension bearing and the motor is abnormally powered off, the electric energy generated when the motor is in the idle state can be supplied to the magnetic suspension bearing, thereby ensuring that the bearing control system is abnormally powered off in the power supply. When the time is not destroyed, the rotating shaft maintains a stable suspension. Compared with the prior art, in the case of abnormal power failure of the power supply, the rotating shaft in the bearing control system can be stably suspended without additional power supply. The purpose is to solve the technical problem that the standby power supply needs to maintain the stable suspension of the rotating shaft in the bearing control system and the cost is high in the prior art in the case of abnormal power failure of the power supply, thereby realizing the abnormal power failure of the power supply. The technical effect of maintaining the cost of maintaining stable suspension of the shaft is reduced.
附图说明DRAWINGS
此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发 明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The drawings described herein are provided to provide a further understanding of the invention and constitute a part of the invention. The illustrative embodiments and the description thereof are intended to explain the present invention and are not intended to limit the invention. In the drawing:
图1是根据本发明实施例的一种用于磁悬浮轴承的能量回馈***的示意图；1 is a schematic view of an energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention;
图2是根据本发明实施例的另一种用于磁悬浮轴承的能量回馈***的示意图；2 is a schematic diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention;
图3是根据本发明实施例的另一种用于磁悬浮轴承的能量回馈***的示意图；3 is a schematic diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention;
图4(a)是根据本发明实施例的另一种用于磁悬浮轴承的能量回馈***的等效电路图；4(a) is an equivalent circuit diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention;
图4(b)是根据本发明实施例的另一种用于磁悬浮轴承的能量回馈***的等效电路图；以及4(b) is an equivalent circuit diagram of another energy feedback system for a magnetic suspension bearing according to an embodiment of the present invention;
图5是根据本发明实施例的一种用于磁悬浮轴承的能量回馈方法的流程图。5 is a flow chart of an energy feedback method for a magnetic suspension bearing in accordance with an embodiment of the present invention.
具体实施方式detailed description
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It is to be understood that the terms "first", "second" and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the data so used may be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.
根据本发明实施例，提供了一种用于磁悬浮轴承的能量回馈***的实施例。图1是根据本发明实施例的一种用于磁悬浮轴承的能量回馈***的示意图，如图1所示，该***包括：磁悬浮轴承11、电机M、供电电源15和能量回馈装置17。其中，供电电源15用于对磁悬浮轴承和电机供电；能量回馈装置17与电机M和磁悬浮轴承分别电连接，用于在供电电源异常断电的情况下，将电机处于惰转状态时产生的电能供给磁悬浮轴承。In accordance with an embodiment of the present invention, an embodiment of an energy feedback system for a magnetically levitated bearing is provided. 1 is a schematic diagram of an energy feedback system for a magnetic suspension bearing, as shown in FIG. 1, including a magnetic suspension bearing 11, a motor M, a power supply 15, and an energy feedback device 17, in accordance with an embodiment of the present invention. The power supply 15 is used to supply power to the magnetic suspension bearing and the motor; the energy feedback device 17 is electrically connected to the motor M and the magnetic suspension bearing respectively, and is used for generating electric energy when the motor is in an idle state in the case that the power supply is abnormally powered off. Supply magnetic suspension bearings.
具体地，电机为磁悬浮设备(例如：磁悬浮压缩机)中的电机，可以是交流电机， 也可以是直流电机，但大多数为交流电机。当供电电源异常断电后，电机不会立即制动，会处于惰转状态，最后逐渐停止转动，由于电机内设置有绕组电感，当供电电源正常工作时，向电机中的绕组电感充电，积蓄能量，当供电电源突然停电时，电机惰转发电产生电能。Specifically, the motor is a motor in a magnetic levitation device (for example, a magnetic levitation compressor), and may be an alternating current motor. It can also be a DC motor, but most of them are AC motors. When the power supply is abnormally powered off, the motor will not brake immediately, it will be in an idle state, and finally it will stop rotating. Since the winding inductance is set in the motor, when the power supply is working normally, the winding inductance in the motor is charged and saved. Energy, when the power supply suddenly loses power, the motor idles to generate electricity.
同样的，供电电源可以是交流电源，也可以是直流电源。Similarly, the power supply can be either an AC power source or a DC power source.
在本发明实施例中，通过设置能量回馈装置使得在为磁悬浮轴承和电机供电的供电电源异常断电的情况下，能够将电机处于惰转状态时产生的电能供给磁悬浮轴承，从而保证了轴承控制***在供电电源异常断电时不被破坏，进而使得转轴维持稳定的悬浮，与现有技术相比，达到了在供电电源异常断电的情况下，无需额外增加备用电源就能使轴承控制***中的转轴维持稳定悬浮的目的，解决了现有技术中在供电电源异常断电的情况下，需要使用备用电源维持轴承控制***中转轴的稳定悬浮导致成本较高的技术问题，从而实现了在供电电源异常断电的情况下，降低了维持转轴稳定悬浮的成本的技术效果。In the embodiment of the present invention, by setting the energy feedback device, the power generated when the motor is in the idle state can be supplied to the magnetic suspension bearing under the condition that the power supply for the magnetic suspension bearing and the motor is abnormally powered off, thereby ensuring the bearing control. The system is not damaged when the power supply is abnormally powered off, so that the rotating shaft maintains a stable suspension. Compared with the prior art, the bearing control system can be realized without additional backup power supply in the case of abnormal power supply failure. The rotating shaft in the middle maintains the purpose of stable suspension, and solves the technical problem in the prior art that in the case of abnormal power failure of the power supply, the use of the backup power supply to maintain the stable suspension of the rotating shaft in the bearing control system leads to high cost, thereby realizing In the case where the power supply is abnormally powered off, the technical effect of maintaining the cost of the stable suspension of the rotating shaft is reduced.
作为一种可选实施方式，在本发明实施例中，供电电源与能量回馈装置的第一端电连接，其中，***还包括：电压采集装置，与能量回馈装置的第一端连接，用于采集能量回馈装置的第一端的输出电压。In an embodiment of the invention, the power supply is electrically connected to the first end of the energy feedback device, wherein the system further comprises: a voltage collecting device connected to the first end of the energy feedback device, The output voltage of the first end of the energy feedback device is collected.
具体地，参见图2，能量回馈装置17为逆变器，电机M为三相交流电机，供电电源15为三相交流电源，三相交流电源与逆变器的第一端(即，图中逆变器中端点A所示的位置)电连接，电压采集装置19与逆变器的第一端连接，用于采集逆变器的第一端的输出电压。在本发明实施例中，输出电压也可以称为母线电压。Specifically, referring to FIG. 2, the energy feedback device 17 is an inverter, the motor M is a three-phase AC motor, and the power supply 15 is a three-phase AC power source, a three-phase AC power source and a first end of the inverter (ie, in the figure) The position shown by the end point A in the inverter is electrically connected, and the voltage collecting device 19 is connected to the first end of the inverter for collecting the output voltage of the first end of the inverter. In the embodiment of the invention, the output voltage may also be referred to as a bus voltage.
需要说明的是，当能量回馈装置为逆变器、电机为三相交流电机，供电电源为三相交流电源时，若三相交流电源异常断电，则逆变器工作在整流状态，将三相交流电机处于惰转状态时产生的电能转换为直流电供给磁悬浮轴承，从而能够在供电电源异常断电的情况下，使得转轴能够继续维持稳定悬浮。It should be noted that when the energy feedback device is an inverter and the motor is a three-phase AC motor, and the power supply is a three-phase AC power supply, if the three-phase AC power supply is abnormally powered off, the inverter operates in a rectified state, and three The electric energy generated when the alternating current motor is in the idling state is converted into a direct current supply magnetic suspension bearing, so that the rotating shaft can continue to maintain stable suspension in the case of abnormal power supply failure.
作为一种可选实施方式，如图2所示，能量回馈***还包括：调节装置21和控制装置23。其中，调节装置21与电压采集装置19连接，用于接收电压采集装置采集到的输出电压，并根据预先设置的参考电压Uref和输出电压生成调制波信号；控制装置23与调节装置21和能量回馈装置分别连接，用于根据调制波信号控制能量回馈装置的运行状态。As an alternative embodiment, as shown in FIG. 2, the energy feedback system further includes: an adjustment device 21 and a control device 23. The adjusting device 21 is connected to the voltage collecting device 19 for receiving the output voltage collected by the voltage collecting device, and generating a modulated wave signal according to the preset reference voltage U ref and the output voltage; the control device 23 and the adjusting device 21 and the energy The feedback devices are respectively connected for controlling the operating state of the energy feedback device according to the modulated wave signal.
具体地，控制装置根据接收到的调制波信号对逆变器中开关管的占空比进行调节控制，从而使得逆变器将三相交流电机处于惰转状态时产生的电能供给磁悬浮轴承。 Specifically, the control device adjusts and controls the duty ratio of the switch tube in the inverter according to the received modulated wave signal, so that the inverter supplies the power generated when the three-phase AC motor is in the idle state to the magnetic suspension bearing.
当三相交流电机在中低速运行时，作为一种可选实施方式，如图2所示，调节装置21包括电压调节环211。其中，电压调节环211与电压采集装置19和控制装置23分别连接，用于计算参考电压和输出电压之差的绝对值，得到压差绝对值，并对压差绝对值进行PI调节后输出调制波信号至控制装置。When the three-phase AC motor is operating at a medium to low speed, as an alternative embodiment, as shown in FIG. 2, the adjustment device 21 includes a voltage regulation ring 211. The voltage regulating ring 211 is connected to the voltage collecting device 19 and the control device 23, respectively, for calculating the absolute value of the difference between the reference voltage and the output voltage, obtaining the absolute value of the differential pressure, and performing PI adjustment on the absolute value of the differential pressure. The wave signal is sent to the control device.
如图2所示，控制装置23根据电压调节环211的输出控制逆变器中三个下桥臂开关管(即，图中的Q6、Q4和Q2)的占空比，此时上桥臂开关管(即，图中的Q5、Q3和Q1)都关断(或控制装置23根据电压调节环211的输出控制逆变器中三个上桥臂开关管的占空比，下桥臂开关管都关断)。其中，当检测的母线电压低于参考电压Uref时，参考电压Uref与母线电压的差为正，电压调节环输出的调制波信号中开关占空比增大，母线电压会提升；当母线电压提升到高于参考电压Uref时，电压调节环输出的调制波信号中占空比减小，母线电压降低，直至母线电压等于参考电压后稳定。As shown in FIG. 2, the control device 23 controls the duty ratios of the three lower-arm switching tubes (ie, Q6, Q4, and Q2 in the figure) in the inverter according to the output of the voltage regulating ring 211, at this time, the upper arm The switch tubes (ie, Q5, Q3, and Q1 in the figure) are all turned off (or the control device 23 controls the duty ratio of the three upper arm switches in the inverter according to the output of the voltage regulation ring 211, and the lower arm switch The tubes are all turned off). Wherein, when the detected bus voltage is lower than the reference voltage U ref , the difference between the reference voltage U ref and the bus voltage is positive, the switching duty ratio of the modulated wave signal outputted by the voltage regulating ring is increased, and the bus voltage is increased; When the voltage is raised above the reference voltage U ref , the duty ratio of the modulated wave signal output by the voltage regulation loop decreases, and the bus voltage decreases until the bus voltage is equal to the reference voltage.
需要说明的是，在本发明实施例中，对于图2所示的三相交流电机而言，AB相对应的开关管是Q6，BC相对应的开关管是Q4，CA相对应的开关管是Q2。It should be noted that, in the embodiment of the present invention, for the three-phase alternating current motor shown in FIG. 2, the corresponding switch tube of AB is Q6, the corresponding switch tube of BC is Q4, and the corresponding switch tube of CA is Q2.
作为一种可选实施方式，在本发明实施例中，能量回馈***还包括电流采集装置。其中，电流采集装置与电机连接，用于在供电电源异常断电的情况下，采集电机处于惰转状态时的输出电流，也就是，采集电机处于惰转状态时输出的电流。As an optional implementation manner, in the embodiment of the present invention, the energy feedback system further includes a current collecting device. Wherein, the current collecting device is connected with the motor, and is used for collecting the output current when the motor is in the idle state in the case that the power supply is abnormally powered off, that is, the current output when the collecting motor is in the idle state.
如图3所示，在本发明实施例中，上述实施例中的能量回馈装置17为逆变器，电机为三相交流电机，供电电源为三相交流电源，能量回馈***还包括：调节装置21和控制装置23。其中，调节装置23与电压采集装置和电流采集装置(图3中未示出)均相连接，用于接收电压采集装置采集到的输出电压和电流采集装置采集到的输出电流，并根据预先设置的参考电压、输出电压、预先设置的参考电流以及输出电流生成调制波信号；控制装置23与调节装置和能量回馈装置分别连接，用于根据调制波信号控制能量回馈装置的运行状态。As shown in FIG. 3, in the embodiment of the present invention, the energy feedback device 17 in the above embodiment is an inverter, the motor is a three-phase AC motor, the power supply is a three-phase AC power source, and the energy feedback system further includes: an adjustment device. 21 and control device 23. The adjusting device 23 is connected to the voltage collecting device and the current collecting device (not shown in FIG. 3) for receiving the output voltage collected by the voltage collecting device and the output current collected by the current collecting device, and according to preset settings. The reference voltage, the output voltage, the preset reference current and the output current generate a modulated wave signal; the control device 23 is respectively connected to the adjusting device and the energy feedback device for controlling the operating state of the energy feedback device according to the modulated wave signal.
当三相交流电机在高速运行时，作为一种可选实施方式，如图3所示，调节装置21包括电压调节环211和电流调节环212。其中，电压调节环211与电压采集装置连接，用于计算参考电压和输出电压之差的绝对值，得到压差绝对值，并对压差绝对值进行PI调节后输出电流信号，其中，电流信号中包含参考电流；电流调节环212与电压调节环和控制装置均相连接，用于计算参考电流和输出电流之差的绝对值，得到电流绝对值，并对电流绝对值进行PI调节后输出调制波信号。When the three-phase AC motor is running at high speed, as an alternative embodiment, as shown in FIG. 3, the adjusting device 21 includes a voltage regulating ring 211 and a current regulating ring 212. The voltage regulating ring 211 is connected to the voltage collecting device for calculating the absolute value of the difference between the reference voltage and the output voltage, obtaining the absolute value of the differential pressure, and performing the PI adjustment on the absolute value of the differential pressure, and outputting the current signal, wherein the current signal The reference current is included therein; the current regulating loop 212 is connected to the voltage regulating loop and the control device, and is used for calculating the absolute value of the difference between the reference current and the output current, obtaining the absolute value of the current, and performing PI adjustment on the absolute value of the current and output modulation. Wave signal.
在本发明实施例中，电流内环(即，电流调节环)先将电压外环(即，电压调节环)的输出作为电流矢量的参考值(即，参考电流)，进而电流内环(即，电流调节环)计算输出电流和参考电流计算之间差值的绝对值，并对上述差值的绝对值进行PI调节 后输出调制波信号至控制装置，控制装置接收到调制波信号后，根据调制波信号控制逆变器中相关开关管的占空比。具体可以通过控制上述开关管的导通时间的方式来控制该开关管的占空比大小。In the embodiment of the present invention, the current inner loop (ie, the current regulating loop) first uses the output of the voltage outer loop (ie, the voltage regulating loop) as the reference value of the current vector (ie, the reference current), and thus the current inner loop (ie, , current adjustment loop) calculate the absolute value of the difference between the output current and the reference current calculation, and perform PI adjustment on the absolute value of the above difference After the modulated wave signal is output to the control device, after receiving the modulated wave signal, the control device controls the duty ratio of the relevant switch tube in the inverter according to the modulated wave signal. Specifically, the duty ratio of the switch tube can be controlled by controlling the on-time of the switch tube.
与上述实施例相同，当检测的母线电压(即，输出电压)低于参考电压Uref时，参考电压Uref与母线电压的差为正，此时，将电压调节环的输出作为电流参考值(即，参考电流)产生负扭矩，使三相交流电机工作在发电状态，以提升母线电压；当母线电压提升到高于参考电压Uref时，此时，将电压环的输出作为电流参考值产生正扭矩，三相交流电机消耗能量，母线电压会降低，直至母线电压等于参考电压Uref后稳定。As in the above embodiment, when the detected bus voltage (ie, the output voltage) is lower than the reference voltage U ref , the difference between the reference voltage U ref and the bus voltage is positive, and at this time, the output of the voltage regulation loop is used as the current reference value. (ie, the reference current) generates a negative torque, so that the three-phase AC motor operates in the power generation state to increase the bus voltage; when the bus voltage is raised above the reference voltage U ref , at this time, the output of the voltage loop is used as the current reference value. Positive torque is generated, the three-phase AC motor consumes energy, and the bus voltage is reduced until the bus voltage is equal to the reference voltage U ref and stabilizes.
在本发明实施例中，当电机高速旋转时，若供电电源异常断电，为了避免对电机强制制动时引起的电流过大的问题，增加了电流内环，电流内环将电压外环的输出作为参考电流来控制电流的大小。In the embodiment of the present invention, when the motor rotates at a high speed, if the power supply is abnormally powered off, in order to avoid the problem of excessive current caused by forced braking of the motor, the current inner loop is increased, and the inner loop of the current is the outer loop of the voltage. The output is used as a reference current to control the magnitude of the current.
通过上述实施例可知，当电机运转在低速场合时，采用单BOOST升压方式，当电机运转在高速场合时，采用双闭环发电回馈控制，实现了在供电电源异常断电的情况下，维持电机驱动器处的母线电压的恒定，确保在电机惰转时轴承控制***能够从电机驱动器的母线电压处平稳取电，维持转轴的稳定悬浮，并使电机快速制动，保护磁悬浮轴承控制***在异常断电时不被破坏。需要说明的是，上述电机驱动器包括能量回馈装置、整流装置、供电电源、电压采集装置、电流采集装置、调节装置、控制装置以及储能装置等。According to the above embodiment, when the motor is running at a low speed, the single BOOST boosting mode is adopted, and when the motor is running at a high speed, the double closed loop power generation feedback control is adopted, thereby realizing the maintenance of the motor in the case of abnormal power supply failure. The constant bus voltage at the driver ensures that the bearing control system can smoothly draw power from the bus voltage of the motor driver when the motor is idling, maintain the stable suspension of the shaft, and quickly brake the motor to protect the magnetic suspension bearing control system from abnormally broken. The electricity is not destroyed. It should be noted that the motor driver includes an energy feedback device, a rectifying device, a power supply, a voltage collecting device, a current collecting device, an adjusting device, a control device, and an energy storage device.
作为一种可选实施方式，参见图3，在本发明实施例中，供电电源与能量回馈装置的第一端电连接，其中，能量回馈***还包括储能装置19，其中，储能装置19的第一端与能量回馈装置的第一端连接，储能装置的第二端与磁悬浮轴承连接，用于在供电电源异常断电的情况下，将存储的电能供给磁悬浮轴承。具体地，储能装置19为电容C。As an alternative embodiment, referring to FIG. 3, in the embodiment of the present invention, the power supply is electrically connected to the first end of the energy feedback device, wherein the energy feedback system further includes an energy storage device 19, wherein the energy storage device 19 The first end is connected to the first end of the energy feedback device, and the second end of the energy storage device is connected to the magnetic suspension bearing for supplying the stored electrical energy to the magnetic suspension bearing in the case of abnormal power failure of the power supply. Specifically, the energy storage device 19 is a capacitor C.
参见图3，在本发明实施例中，能量回馈***还包括整流装置25，其中，整流装置的输入端与供电电源相连接，输出端与能量回馈装置连接。Referring to FIG. 3, in the embodiment of the present invention, the energy feedback system further includes a rectifying device 25, wherein the input end of the rectifying device is connected to the power supply, and the output end is connected to the energy feedback device.
作为一种可选实施方式，在本发明实施例中，整流装置25为整流器。具体地，当三相交流电源正常为磁悬浮轴承和三相交流电机供电时，首先由整流器将三相交流电源提供的交流电进行整流后得到直流电，接下来一方面整流器整流后得到的直流电供给轴承控制器以及磁悬浮轴承，以保证轴承控制***正常运行，另一方面整流器整流后得到的直流电流经电容C后，再流经逆变器，逆变器对流经其的直流电进行逆变，得到交流电，进而将上述交流电供给与其连接的三相交流电机。 As an alternative embodiment, in the embodiment of the invention, the rectifying device 25 is a rectifier. Specifically, when the three-phase AC power supply normally supplies power to the magnetic suspension bearing and the three-phase alternating current motor, the alternating current supplied by the three-phase alternating current power source is first rectified by the rectifier to obtain direct current, and then the direct current power supply obtained by the rectifier is rectified and controlled by the bearing. And the magnetic suspension bearing to ensure the normal operation of the bearing control system. On the other hand, the DC current obtained by the rectifier after rectification passes through the capacitor C, and then flows through the inverter, and the inverter inverts the direct current flowing through it to obtain alternating current. Further, the above-mentioned alternating current power is supplied to the three-phase alternating current motor connected thereto.
作为一种可选实施方式，参见图3，在本发明实施例中，能量回馈***还包括：轴承控制器13，其中，轴承控制器13的输入端与能量回馈装置的第二端(也即，图3中逆变器中端点B所示的位置)连接，轴承控制器13的输出端与磁悬浮轴承连接，其中，能量回馈装置通过轴承控制器将电机处于惰转状态时产生的电能供给磁悬浮轴承。As an alternative embodiment, referring to FIG. 3, in the embodiment of the present invention, the energy feedback system further includes: a bearing controller 13, wherein the input end of the bearing controller 13 and the second end of the energy feedback device (ie, , the position shown in the end point B of the inverter in FIG. 3 is connected, and the output end of the bearing controller 13 is connected with the magnetic suspension bearing, wherein the energy feedback device supplies the electric energy generated by the motor in the idle state through the bearing controller to the magnetic levitation Bearing.
作为一种可选实施方式，参见图2或者图3，在本发明实施例中，控制装置23包括：PWM输出模块231，用于根据调制波信号调整能量回馈装置中开关管的占空比。As an alternative embodiment, referring to FIG. 2 or FIG. 3, in the embodiment of the present invention, the control device 23 includes a PWM output module 231 for adjusting the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal.
当图2或者图3中的三相交流电机运行在中低速时，若供电电源异常断电的话，则在电机惰转时进行发电控制，此时逆变器工作在整流状态，利用电机中的绕组电感、逆变器中的开关管、二极管等构成BOOST升压电路，通过控制开关管的占空比来实现母线电压的稳定升压。以电机侧A、B相为例，当逆变器中的开关管Q6导通时，能量回馈***的等效电路为图4(a)所示的电路，当逆变器中的开关管Q6关断时，能量回馈***的等效电路为为图4(b)所示的电路。其中，当开关管Q6导通时，由于感应电动势的存在，电机中的绕组电感Ls储能；当开关管Q6关断时，电机反电势和电机内的绕组电感Ls的储能给电容C充电，使电容C两端的电压升高，也就是实现了母线电压的升压。When the three-phase AC motor in Figure 2 or Figure 3 is running at medium and low speeds, if the power supply is abnormally powered off, the power generation control is performed when the motor is idling. At this time, the inverter operates in the rectified state, using the motor. The winding inductance, the switching tube in the inverter, the diode, etc. constitute a BOOST boost circuit, and the bus voltage is stably boosted by controlling the duty ratio of the switching tube. Taking the motor side A and B phases as an example, when the switching tube Q6 in the inverter is turned on, the equivalent circuit of the energy feedback system is the circuit shown in Fig. 4(a), when the switching tube Q6 in the inverter When turned off, the equivalent circuit of the energy feedback system is the circuit shown in Figure 4(b). Wherein, when the switch tube Q6 is turned on, the winding inductance Ls in the motor stores energy due to the presence of the induced electromotive force; when the switch tube Q6 is turned off, the motor back-potential and the stored energy of the winding inductance Ls in the motor charge the capacitor C To increase the voltage across the capacitor C, that is, to boost the bus voltage.
其中，图2和图3中的整流器等效为图4(a)和图4(b)中的电阻R，Ea表示三相交流电机中的A相，Eb表示三相交流电机中的B相，三相交流电机中包括绕组电感Ls和电阻Rs。Wherein, the rectifiers in Figures 2 and 3 are equivalent to the resistors R in Figures 4(a) and 4(b), Ea represents Phase A in a three-phase AC motor, and Eb represents Phase B in a three-phase AC motor. The three-phase AC motor includes a winding inductance Ls and a resistance Rs.
通过上述内容可知，本申请所提供的方案在供电电源异常断电时，不仅能使磁悬浮压缩机快速制动，还能使压缩机驱动器的母线电压维持在恒定值(即，维持驱动器母线电压的稳定输出)，进以在确保磁悬浮压缩机停止转动前对轴承控制***的有效供电或者正常供电，从而保护整个磁悬浮轴承控制***在异常断电时不被破坏。It can be seen from the above that the solution provided by the present application not only enables the magnetic suspension compressor to brake quickly but also maintains the bus voltage of the compressor driver at a constant value when the power supply is abnormally powered off (ie, maintains the bus voltage of the driver). Stable output), to ensure effective power supply or normal power supply to the bearing control system before ensuring that the magnetic suspension compressor stops rotating, thereby protecting the entire magnetic suspension bearing control system from being damaged in the event of abnormal power failure.
需要说明的是，本发明实施例所提供的任一种用于磁悬浮轴承的能量回馈***可以适用于任一具有磁悬浮轴承的设备中。It should be noted that any of the energy feedback systems for magnetic suspension bearings provided by the embodiments of the present invention can be applied to any device having a magnetic suspension bearing.
根据本发明实施例，还提供了一种用于磁悬浮轴承的能量回馈方法，该能量回馈方法通过本发明上述实施例中任一种用于磁悬浮轴承的能量回馈***进行磁悬浮轴承的能量回馈。图5是根据本发明实施例的一种用于磁悬浮轴承的能量回馈方法的流程图，该方法包括步骤S502至步骤S504，具体如下：According to an embodiment of the present invention, there is also provided an energy feedback method for a magnetic suspension bearing, the energy feedback method performing energy feedback of a magnetic suspension bearing by an energy feedback system for a magnetic suspension bearing according to any of the above embodiments of the present invention. 5 is a flow chart of an energy feedback method for a magnetic suspension bearing according to an embodiment of the invention, the method comprising steps S502 to S504, as follows:
步骤S502，判断用于对电机和磁悬浮轴承供电的供电电源是否异常断电。In step S502, it is determined whether the power supply for supplying power to the motor and the magnetic suspension bearing is abnormally powered off.
步骤S504，在判断出供电电源异常断电的情况下，能量回馈***中的能量回馈装置将电机处于惰转状态时产生的电能供给磁悬浮轴承。 Step S504, in the case that it is determined that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies the electric energy generated when the motor is in the idle state to the magnetic suspension bearing.
具体地，电机为磁悬浮设备(例如：磁悬浮压缩机)中的电机，可以是交流电机，也可以是直流电机，但大多数为交流电机。当供电电源异常断电后，电机不会立即制动，会处于惰转状态，最后逐渐停止转动，由于电机内设置有绕组电感，当供电电源正常工作时，向电机中的绕组电感充电，积蓄能量，当供电电源突然停电时，电机惰转发电产生电能。Specifically, the motor is a motor in a magnetic levitation device (for example, a magnetic levitation compressor), and may be an alternating current motor or a direct current motor, but most of them are alternating current motors. When the power supply is abnormally powered off, the motor will not brake immediately, it will be in an idle state, and finally it will stop rotating. Since the winding inductance is set in the motor, when the power supply is working normally, the winding inductance in the motor is charged and saved. Energy, when the power supply suddenly loses power, the motor idles to generate electricity.
同样的，供电电源可以是交流电源，也可以是直流电源。Similarly, the power supply can be either an AC power source or a DC power source.
在本发明实施例中，通过设置能量回馈装置使得在为磁悬浮轴承和电机供电的供电电源异常断电的情况下，能够将电机处于惰转状态时产生的电能供给磁悬浮轴承，从而保证了轴承控制***在供电电源异常断电时不被破坏，进而使得转轴维持稳定的悬浮，与现有技术相比，达到了在供电电源异常断电的情况下，无需额外增加备用电源就能使轴承控制***中的转轴维持稳定悬浮的目的，解决了现有技术中在供电电源异常断电的情况下，需要使用备用电源维持轴承控制***中转轴的稳定悬浮导致成本较高的技术问题，从而实现了在供电电源异常断电的情况下，降低了维持转轴稳定悬浮的成本的技术效果。In the embodiment of the present invention, by setting the energy feedback device, the power generated when the motor is in the idle state can be supplied to the magnetic suspension bearing under the condition that the power supply for the magnetic suspension bearing and the motor is abnormally powered off, thereby ensuring the bearing control. The system is not damaged when the power supply is abnormally powered off, so that the rotating shaft maintains a stable suspension. Compared with the prior art, the bearing control system can be realized without additional backup power supply in the case of abnormal power supply failure. The rotating shaft in the middle maintains the purpose of stable suspension, and solves the technical problem in the prior art that in the case of abnormal power failure of the power supply, the use of the backup power supply to maintain the stable suspension of the rotating shaft in the bearing control system leads to high cost, thereby realizing In the case where the power supply is abnormally powered off, the technical effect of maintaining the cost of the stable suspension of the rotating shaft is reduced.
需要说明的是，当能量回馈装置为逆变器、电机为三相交流电机，供电电源为三相交流电源时，若三相交流电源异常断电，则逆变器工作在整流状态，将三相交流电机处于惰转状态时产生的电能转换为直流电供给磁悬浮轴承。It should be noted that when the energy feedback device is an inverter and the motor is a three-phase AC motor, and the power supply is a three-phase AC power supply, if the three-phase AC power supply is abnormally powered off, the inverter operates in a rectified state, and three The electric energy generated when the phase AC motor is in the idling state is converted into a direct current supply magnetic suspension bearing.
作为一种可选实施方式，在判断出供电电源异常断电的情况下，能量回馈***中的能量回馈装置将电机处于惰转状态时产生的电能供给磁悬浮轴承包括步骤S1至步骤S5，具体如下：As an optional implementation manner, in the case that it is determined that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies the power generated when the motor is in the idle state to the magnetic suspension bearing, including steps S1 to S5, as follows: :
步骤S1，获取能量回馈***中的电压采集装置采集的输出电压，其中，输出电压为能量回馈装置的第一端输出的电压。具体地，该输出电压也可以称为母线电压。Step S1: Acquire an output voltage collected by a voltage collecting device in the energy feedback system, wherein the output voltage is a voltage outputted by the first end of the energy feedback device. Specifically, the output voltage may also be referred to as a bus voltage.
步骤S3，能量回馈***中的调节装置根据输出电压和预先设置的参考电压生成调制波信号。In step S3, the adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage and a preset reference voltage.
具体地，调节装置先计算参考电压和输出电压之差的绝对值，得到压差绝对值，再对压差绝对值进行PI调节后输出调制波信号。Specifically, the adjusting device first calculates the absolute value of the difference between the reference voltage and the output voltage to obtain an absolute value of the differential pressure, and then performs PI adjustment on the absolute value of the differential pressure to output a modulated wave signal.
步骤S5，能量回馈***中的控制装置根据调制波信号调整能量回馈装置中开关管的占空比，以使能量回馈装置将电机处于惰转状态时产生的电能供给磁悬浮轴承。In step S5, the control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the power generated when the motor is in the idle state to the magnetic suspension bearing.
以能量回馈装置为逆变器进行说明如下：当参考电压Uref与母线电压的差为正，电压调节环输出的调制波信号中开关占空比增大，控制装置根据接收到的调制波信号增大相应开关管的占空比，从而使得母线电压会提升；当母线电压提升到高于参考电 压Uref时，电压调节环输出的调制波信号中占空比减小，控制装置根据接收到的调制波信号减小相应开关管的占空比，从而使得母线电压降低，直至母线电压等于参考电压后稳定，使得供电电源断电的情况下，仍然能够对轴承控制***正常供电，从而保证轴承控制***不因供电电源异常断电导致损坏。The energy feedback device is described as an inverter. When the difference between the reference voltage U ref and the bus voltage is positive, the switching duty ratio of the modulated wave signal outputted by the voltage regulating ring increases, and the control device receives the modulated wave signal according to the received signal. Increasing the duty ratio of the corresponding switching tube, so that the bus voltage is increased; when the bus voltage is raised above the reference voltage U ref , the duty ratio of the modulated wave signal outputted by the voltage regulating ring is reduced, and the control device receives the The modulated wave signal reduces the duty cycle of the corresponding switch tube, so that the bus voltage is lowered until the bus voltage is equal to the reference voltage and stabilizes, so that the power supply can be powered normally, thereby ensuring normal bearing power to the bearing control system, thereby ensuring the bearing The control system is not damaged due to abnormal power failure of the power supply.
作为一种可选实施方式，在判断出供电电源异常断电的情况下，能量回馈***中的能量回馈装置将电机处于惰转状态时产生的电能供给磁悬浮轴承包括步骤S7至步骤S11，具体如下：As an optional implementation manner, in the case that the power supply is abnormally powered off, the energy feedback device in the energy feedback system supplies the power generated when the motor is in the idle state to the magnetic suspension bearing, including steps S7 to S11, as follows: :
步骤S7，获取能量回馈***中的电压采集装置采集的输出电压和电流采集装置采集的输出电流，其中，输出电压为能量回馈装置的第一端输出的电压，输出电流为电机处于惰转状态时输出的电流。Step S7, acquiring an output voltage collected by the voltage collecting device in the energy feedback system and an output current collected by the current collecting device, wherein the output voltage is a voltage outputted by the first end of the energy feedback device, and the output current is when the motor is in an idle state. The current output.
步骤S9，能量回馈***中的调节装置根据输出电压、预先设置的参考电压、输出电流和预设设置的参考电流生成调制波信号。In step S9, the adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage, the preset reference voltage, the output current, and the preset set reference current.
步骤S11，能量回馈***中的控制装置根据调制波信号调整能量回馈装置中开关管的占空比，以使能量回馈装置将电机处于惰转状态时产生的电能供给磁悬浮轴承。In step S11, the control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the power generated when the motor is in the idle state to the magnetic suspension bearing.
具体地，调节装置中包括电压调节环和电流调节环。其中，电压调节环计算参考电压和输出电压之差的绝对值，得到压差绝对值，并对压差绝对值进行PI调节后输出包含参考电流的电流信号，接下来电流调节环再计算参考电流和输出电流之差的绝对值，得到电流绝对值，并对电流绝对值进行PI调节后输出调制波信号。Specifically, the adjusting device includes a voltage regulating ring and a current adjusting ring. Wherein, the voltage adjustment loop calculates the absolute value of the difference between the reference voltage and the output voltage, obtains the absolute value of the differential pressure, and performs PI adjustment on the absolute value of the differential pressure to output a current signal including the reference current, and then calculates the reference current by the current adjustment loop. The absolute value of the difference between the output current and the output current is obtained, and the absolute value of the current is adjusted by PI, and the modulated wave signal is output.
在本发明实施例中，当电机高速旋转时，若供电电源异常断电，为了避免对电机强制制动时引起的电流过大的问题，增加了电流内环，电流内环将电压外环的输出作为参考电流来控制电流的大小。In the embodiment of the present invention, when the motor rotates at a high speed, if the power supply is abnormally powered off, in order to avoid the problem of excessive current caused by forced braking of the motor, the current inner loop is increased, and the inner loop of the current is the outer loop of the voltage. The output is used as a reference current to control the magnitude of the current.
同样需要说明的是，本发明实施例所提供的任一种磁悬浮电机的能量回馈方法可以适用于任一具有磁悬浮轴承的设备中。It should also be noted that the energy feedback method of any of the magnetic levitation motors provided by the embodiments of the present invention can be applied to any device having a magnetic suspension bearing.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present invention, the descriptions of the various embodiments are different, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.
在本发明所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所 显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed technical contents may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed. Another point, The mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。 The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims (14)

  1. 一种用于磁悬浮轴承的能量回馈***，其中，包括：An energy feedback system for a magnetic suspension bearing, comprising:
    磁悬浮轴承；Magnetic suspension bearing
    电机；Motor
    供电电源，用于对所述磁悬浮轴承和所述电机供电；a power supply for supplying power to the magnetic suspension bearing and the motor;
    能量回馈装置，与所述电机和所述磁悬浮轴承分别电连接，用于在所述供电电源异常断电的情况下，将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承。An energy feedback device is electrically connected to the motor and the magnetic levitation bearing, respectively, for supplying electric energy generated when the motor is in an idling state to the magnetic levitation bearing in a case where the power supply is abnormally powered off.
  2. 根据权利要求1所述的***，其中，所述供电电源与所述能量回馈装置的第一端电连接，其中，所述***还包括：The system of claim 1, wherein the power supply is electrically coupled to the first end of the energy feedback device, wherein the system further comprises:
    电压采集装置，与所述能量回馈装置的第一端连接，用于采集所述能量回馈装置的第一端的输出电压。And a voltage collecting device connected to the first end of the energy feedback device for collecting an output voltage of the first end of the energy feedback device.
  3. 根据权利要求2所述的***，其中，所述***还包括：The system of claim 2 wherein said system further comprises:
    调节装置，与所述电压采集装置连接，用于接收所述电压采集装置采集到的所述输出电压，并根据预先设置的参考电压和所述输出电压生成调制波信号；An adjusting device is connected to the voltage collecting device, configured to receive the output voltage collected by the voltage collecting device, and generate a modulated wave signal according to a preset reference voltage and the output voltage;
    控制装置，与所述调节装置和所述能量回馈装置分别连接，用于根据所述调制波信号控制所述能量回馈装置的运行状态。The control device is respectively connected to the adjusting device and the energy feedback device for controlling an operating state of the energy feedback device according to the modulated wave signal.
  4. 根据权利要求3所述的***，其中，所述调节装置包括：The system of claim 3 wherein said adjusting means comprises:
    电压调节环，与所述电压采集装置和所述控制装置分别连接，用于计算所述参考电压和所述输出电压之差的绝对值，得到压差绝对值，并对所述压差绝对值进行PI调节后输出所述调制波信号至所述控制装置。a voltage regulating ring connected to the voltage collecting device and the control device respectively for calculating an absolute value of a difference between the reference voltage and the output voltage, obtaining an absolute value of the differential pressure, and determining an absolute value of the differential pressure The modulated wave signal is output to the control device after the PI adjustment is performed.
  5. 根据权利要求2所述的***，其中，所述***还包括：The system of claim 2 wherein said system further comprises:
    电流采集装置，与所述电机连接，用于在所述供电电源异常断电的情况下，采集所述电机处于惰转状态时的输出电流。And a current collecting device connected to the motor for collecting an output current when the motor is in an idle state in a case where the power supply is abnormally powered off.
  6. 根据权利要求5所述的***，其中，所述***还包括：The system of claim 5 wherein said system further comprises:
    调节装置，与所述电压采集装置和所述电流采集装置均相连接，用于接收所述电压采集装置采集到的所述输出电压和所述电流采集装置采集到的所述输出电流，并根据预先设置的参考电压、所述输出电压、预先设置的参考电流以及所述输出电流生成调制波信号； The adjusting device is connected to the voltage collecting device and the current collecting device, and is configured to receive the output voltage collected by the voltage collecting device and the output current collected by the current collecting device, and according to a preset reference voltage, the output voltage, a preset reference current, and the output current generate a modulated wave signal;
    控制装置，与所述调节装置和所述能量回馈装置分别连接，用于根据所述调制波信号控制所述能量回馈装置的运行状态。The control device is respectively connected to the adjusting device and the energy feedback device for controlling an operating state of the energy feedback device according to the modulated wave signal.
  7. 根据权利要求6所述的***，其中，所述调节装置包括：The system of claim 6 wherein said adjusting means comprises:
    电压调节环，与所述电压采集装置连接，用于计算所述参考电压和所述输出电压之差的绝对值，得到压差绝对值，并对所述压差绝对值进行PI调节后输出电流信号，其中，所述电流信号中包含参考电流；a voltage regulating ring connected to the voltage collecting device for calculating an absolute value of a difference between the reference voltage and the output voltage, obtaining an absolute value of the differential pressure, and performing PI adjustment on the absolute value of the differential pressure a signal, wherein the current signal includes a reference current;
    电流调节环，与所述电压调节环和所述控制装置均相连接，用于计算所述参考电流和所述输出电流之差的绝对值，得到电流绝对值，并对所述电流绝对值进行PI调节后输出调制波信号。a current regulating ring connected to the voltage regulating ring and the control device for calculating an absolute value of a difference between the reference current and the output current, obtaining an absolute value of the current, and performing an absolute value of the current The modulated wave signal is output after PI adjustment.
  8. 根据权利要求1所述的***，其中，所述供电电源与所述能量回馈装置的第一端电连接，其中，所述***还包括：The system of claim 1, wherein the power supply is electrically coupled to the first end of the energy feedback device, wherein the system further comprises:
    储能装置，其中，所述储能装置的第一端与所述能量回馈装置的第一端连接，所述储能装置的第二端与所述磁悬浮轴承连接，用于在所述供电电源异常断电的情况下，将存储的电能供给所述磁悬浮轴承。An energy storage device, wherein a first end of the energy storage device is coupled to a first end of the energy feedback device, and a second end of the energy storage device is coupled to the magnetic suspension bearing for use in the power supply In the case of abnormal power failure, stored electrical energy is supplied to the magnetic suspension bearing.
  9. 根据权利要求1所述的***，其中，所述***还包括：The system of claim 1 wherein said system further comprises:
    整流装置，其中，所述整流装置的输入端与所述供电电源相连接，输出端与所述能量回馈装置连接。And a rectifying device, wherein an input end of the rectifying device is connected to the power supply, and an output end is connected to the energy feedback device.
  10. 根据权利要求1所述的***，其中，所述***还包括：The system of claim 1 wherein said system further comprises:
    轴承控制器，其中，所述轴承控制器的输入端与所述能量回馈装置的第二端连接，所述轴承控制器的输出端与所述磁悬浮轴承连接，a bearing controller, wherein an input end of the bearing controller is coupled to a second end of the energy feedback device, and an output end of the bearing controller is coupled to the magnetic suspension bearing
    其中，所述能量回馈装置通过所述轴承控制器将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承。Wherein, the energy feedback device supplies the electric energy generated when the motor is in an idle state by the bearing controller to the magnetic suspension bearing.
  11. 根据权利要求3或6所述的***，其中，所述控制装置包括：A system according to claim 3 or claim 6, wherein said control means comprises:
    PWM输出模块，用于根据所述调制波信号调整所述能量回馈装置中开关管的占空比。And a PWM output module, configured to adjust a duty cycle of the switch tube in the energy feedback device according to the modulated wave signal.
  12. 一种用于磁悬浮轴承的能量回馈方法，其中，通过权利要求1至11中任一项所述的用于磁悬浮轴承的能量回馈***进行磁悬浮轴承的能量回馈，所述方法包括：An energy feedback method for a magnetic suspension bearing, wherein the energy feedback of the magnetic suspension bearing is performed by the energy feedback system for a magnetic suspension bearing according to any one of claims 1 to 11, the method comprising:
    判断用于对电机和磁悬浮轴承供电的供电电源是否异常断电；以及Determining whether the power supply for powering the motor and the magnetic suspension bearing is abnormally powered off;
    在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈 装置将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承。The energy feedback in the energy feedback system is determined in the case that the power supply is abnormally powered off The device supplies electrical energy generated when the motor is in an idle state to the magnetic suspension bearing.
  13. 根据权利要求12所述的方法，其中，在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈装置将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承包括：The method according to claim 12, wherein, in the case where it is judged that the power supply is abnormally powered off, the energy feedback means in the energy feedback system supplies the electric energy generated when the motor is in an idle state to the Magnetic suspension bearings include:
    获取所述能量回馈***中的电压采集装置采集的输出电压，其中，所述输出电压为所述能量回馈装置的第一端输出的电压；Acquiring an output voltage collected by the voltage collecting device in the energy feedback system, wherein the output voltage is a voltage output by the first end of the energy feedback device;
    所述能量回馈***中的调节装置根据所述输出电压和预先设置的参考电压生成调制波信号；The adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage and a preset reference voltage;
    所述能量回馈***中的控制装置根据所述调制波信号调整所述能量回馈装置中开关管的占空比，以使所述能量回馈装置将电机处于惰转状态时产生的电能供给所述磁悬浮轴承。The control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the electric energy generated when the motor is in the idle state to the magnetic levitation Bearing.
  14. 根据权利要求12所述的方法，其中，在判断出所述供电电源异常断电的情况下，所述能量回馈***中的能量回馈装置将所述电机处于惰转状态时产生的电能供给所述磁悬浮轴承包括：The method according to claim 12, wherein, in the case where it is judged that the power supply is abnormally powered off, the energy feedback means in the energy feedback system supplies the electric energy generated when the motor is in an idle state to the Magnetic suspension bearings include:
    获取所述能量回馈***中的电压采集装置采集的输出电压和电流采集装置采集的输出电流，其中，所述输出电压为所述能量回馈装置的第一端输出的电压，所述输出电流为所述电机处于惰转状态时输出的电流；Acquiring an output voltage collected by the voltage collecting device in the energy feedback system and an output current collected by the current collecting device, wherein the output voltage is a voltage outputted by the first end of the energy feedback device, and the output current is The current output when the motor is in an idle state;
    所述能量回馈***中的调节装置根据所述输出电压、预先设置的参考电压、输出电流和预设设置的参考电流生成调制波信号；The adjusting device in the energy feedback system generates a modulated wave signal according to the output voltage, a preset reference voltage, an output current, and a preset set reference current;
    所述能量回馈***中的控制装置根据所述调制波信号调整所述能量回馈装置中开关管的占空比，以使所述能量回馈装置将电机处于惰转状态时产生的电能供给所述磁悬浮轴承。 The control device in the energy feedback system adjusts the duty ratio of the switch tube in the energy feedback device according to the modulated wave signal, so that the energy feedback device supplies the electric energy generated when the motor is in the idle state to the magnetic levitation Bearing.
PCT/CN2016/103434 2015-11-18 2016-10-26 Energy feedback method and system for magnetic levitation bearing WO2017084478A1 (en)

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