WO2021057162A1

WO2021057162A1 - Magnetic bearing control method, magnetic bearing, and magnetic bearing system

Info

Publication number: WO2021057162A1
Application number: PCT/CN2020/100388
Authority: WO
Inventors: 胡余生; 郭伟林; 王凡; 贺永玲; 胡叨福; 赵聪
Original assignee: 珠海格力电器股份有限公司
Priority date: 2019-09-24
Filing date: 2020-07-06
Publication date: 2021-04-01
Also published as: CN110566582A; CN110566582B

Abstract

A magnetic bearing control method, a magnetic bearing, and a magnetic bearing system. Said control method comprises: determining, according to whether a coil failure signal is received, whether there is a first-part bearing coil in the magnetic bearing, the first-part bearing coil being a failed bearing coil; and performing failure processing on the basis of a magnetic circuit in which the first-part bearing coil is located.

Description

磁悬浮轴承的控制方法、磁悬浮轴承以及磁悬浮轴承***Control method of magnetic suspension bearing, magnetic suspension bearing and magnetic suspension bearing system

相关申请的交叉引用Cross-references to related applications

本申请是以CN申请号为201910906547.0，申请日为2019年9月24日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。This application is based on the application whose CN application number is 201910906547.0 and the application date is September 24, 2019, and claims its priority. The disclosure of the CN application is hereby incorporated into this application as a whole.

技术领域Technical field

本公开涉及磁悬浮轴承控制领域，特别涉及一种磁悬浮轴承的控制方法、磁悬浮轴承的控制装置、磁悬浮轴承、磁悬浮轴承***和非瞬时性计算机可读存储介质。The present disclosure relates to the field of magnetic suspension bearing control, in particular to a magnetic suspension bearing control method, a magnetic suspension bearing control device, a magnetic suspension bearing, a magnetic suspension bearing system and a non-transient computer readable storage medium.

背景技术Background technique

磁悬浮轴承利用电磁力作用将转子悬浮于空中，以避免转子与定子之间存在机械接触。磁悬浮轴承***通常应用于高速旋转***。Magnetic suspension bearings use electromagnetic force to suspend the rotor in the air to avoid mechanical contact between the rotor and the stator. Magnetic bearing systems are usually used in high-speed rotating systems.

在相关技术中，与磁悬浮轴承有关的技术标准中提到：在转子以额定转速突然跌落的次数不小于两次的情况下，需要保证磁悬浮轴承***不会发生损坏。In the related art, the technical standards related to the magnetic bearing mentioned: in the case that the rotor suddenly drops at the rated speed not less than twice, it is necessary to ensure that the magnetic bearing system will not be damaged.

发明内容Summary of the invention

根据本公开的一些实施例，提供了一种磁悬浮轴承的控制方法，包括：根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，所述第一部分轴承线圈为已失效的轴承线圈；基于所述第一部分轴承线圈所在磁路，进行失效故障处理。According to some embodiments of the present disclosure, there is provided a control method of a magnetic suspension bearing, including: determining whether there is a first part of the bearing coil in the magnetic bearing according to whether a coil failure fault signal is received, and the first part of the bearing coil is failed Bearing coil; based on the magnetic circuit where the first part of the bearing coil is located, failure troubleshooting is performed.

在一些实施例中，根据是否接收到线圈失效故障信号，确定所述磁悬浮轴承中是否存在所述第一部分轴承线圈包括：判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号；如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。In some embodiments, determining whether the first part of the bearing coil exists in the magnetic bearing based on whether a coil failure fault signal is received includes: determining whether the coil failure is received from the output terminal of the magnetic bearing coil failure detection circuit Fault signal; if it is determined that the coil failure fault signal is received, record the number of consecutively received coil failure fault signals, and when the number of consecutively received coil failure fault signals is greater than the threshold, determine the magnetic bearing The first part of the bearing coil is present in it.

在一些实施例中，磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号。所述确定接收到所述线圈失效故障信号包括：当第一转换电压大于或等于第一参考电压时，确定从所述第一比较器接收到过流故障信号，所述第一转换电压为所述第一比较器的第一输入端处的输入电压，所述第一参考电压为所述第一比较器的第二输入端处的输入电压；当第二转换电压小于或等于第二参考电压时，确定从所述第二比较器接收到断路故障信号，所述第二转换电压为所述第二比较器的第一输入端处的输入电压，所述第二参考电压为所述第二比较器的第二输入端处的输入电压，所述第一转换电压和所述第二转换电压由所述第一部分轴承线圈的电流转换得到。In some embodiments, the fault detection circuit of the magnetic suspension bearing coil includes a first comparator and a second comparator, and the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal. The determining that the coil failure fault signal is received includes: when the first conversion voltage is greater than or equal to the first reference voltage, determining that an overcurrent fault signal is received from the first comparator, and the first conversion voltage is The input voltage at the first input terminal of the first comparator, and the first reference voltage is the input voltage at the second input terminal of the first comparator; when the second converted voltage is less than or equal to the second reference voltage When it is determined that an open-circuit fault signal is received from the second comparator, the second converted voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the second The input voltage at the second input terminal of the comparator, the first converted voltage and the second converted voltage are obtained by conversion of the current of the first part of the bearing coil.

在一些实施例中，基于所述第一部分轴承线圈所在磁路，进行失效故障处理包括：在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。In some embodiments, performing failure troubleshooting based on the magnetic circuit where the first part of the bearing coil is located includes: in the case where it is determined that the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located , Cutting off the pulse width modulated wave corresponding to the first part of the bearing coil, the reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference line extends in a horizontal direction.

在一些实施例中，基于所述第一部分轴承线圈所在磁路，进行失效故障处理包括：在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的下方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈。In some embodiments, performing failure troubleshooting based on the magnetic circuit where the first part of the bearing coil is located includes: in the case where it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located , Cut off the pulse width modulated wave corresponding to the first part of the bearing coil, and adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil, the reference line passes through the centroid of the rotor surrounded by the magnetic suspension bearing, and the The reference line extends in a horizontal direction, and the second partial bearing coil is a partial bearing coil of the magnetic suspension bearing except for the first partial bearing coil.

在一些实施例中，切断所述第二部分轴承线圈包括：采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行短路处理，切断所述第二部分轴承线圈；或者采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行断路处理，切断所述第二部分轴承线圈。In some embodiments, cutting the second part of the bearing coils includes: short-circuiting the second part of the bearing coils by using a tapped coil between each bearing coil in the second part of the bearing coils and adjacent bearing coils Processing, cut off the second part of the bearing coil; or use the tapped coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil to open the second part of the bearing coil to cut off all the The second part of the bearing coil.

根据本公开的另一些实施例，还提供了一种磁悬浮轴承的控制装置，包括：确定模块，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，所述第一部分轴承线圈为已失效的轴承线圈；处理模块，用于基于所述第一部分轴承线圈所在磁路，进行失效故障处理。According to other embodiments of the present disclosure, there is also provided a control device for a magnetic suspension bearing, including: a determining module for determining whether there is a first part of the bearing coil in the magnetic suspension bearing according to whether a coil failure fault signal is received. A part of the bearing coils is a failed bearing coil; the processing module is used to perform failure fault processing based on the magnetic circuit where the first part of the bearing coil is located.

在一些实施例中，确定模块包括：判断单元，用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号；第一确定单元，用于如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。In some embodiments, the determining module includes: a determining unit for determining whether the coil failure fault signal is received from the output terminal of the magnetic bearing coil fault detection circuit; a first determining unit for determining whether to receive the For the coil failure fault signal, the number of consecutively receiving the coil failure fault signal is recorded, and when the number of consecutively receiving the coil failure fault signal is greater than a threshold, it is determined that the first part of the bearing coil exists in the magnetic bearing.

在一些实施例中，所述磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号，所述第一确定单元，用于当第一转换电压大于或等于第一参考电压时，确定从所述第一比较器接收到过流故障信号，所述第一转换电压为所述第一比较器的第一输入端处的输入电压，所述第一参考电压为所述第一比较器的第二输入端处的输入电压，当第二转换电压小于或等于第二参考电压时，确定从所述第二比较器接收到断路故障信号，所述第二转换电压为所述第二比较器的第一输入端处的输入电压，所述第二参考电压为所述第二比较器的第二输入端处的输入电压，所述第一转换电压和所述第二转换电压由所述第一部分轴承线圈的电流转换得到。In some embodiments, the fault detection circuit of the magnetic bearing coil includes a first comparator and a second comparator, the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal, and the first determining unit uses When the first converted voltage is greater than or equal to the first reference voltage, it is determined that an overcurrent fault signal is received from the first comparator, and the first converted voltage is the voltage at the first input terminal of the first comparator. Input voltage, the first reference voltage is the input voltage at the second input terminal of the first comparator, and when the second conversion voltage is less than or equal to the second reference voltage, it is determined that the signal is received from the second comparator An open-circuit fault signal, the second converted voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the input voltage at the second input terminal of the second comparator, The first converted voltage and the second converted voltage are obtained by converting the current of the first part of the bearing coil.

在一些实施例中，处理模块包括：第二确定单元，用于基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈是否位于基准线的上方，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸；第一处理单元，用于在所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波。In some embodiments, the processing module includes: a second determining unit, configured to determine whether the first part of the bearing coil is located above a reference line based on the magnetic circuit where the first part of the bearing coil is located, and the reference line passes through the magnetic levitation The center of mass of the rotor surrounded by the bearing, and the reference line extends in the horizontal direction; the first processing unit is used to cut the first part of the bearing coil corresponding to the first part of the bearing coil when the first part of the bearing coil is located above the reference line The pulse width modulation wave.

在一些实施例中，所述处理模块包括：第三确定单元，用于基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈是否位于基准线的下方，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸；第二处理单元，用于切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈。In some embodiments, the processing module includes: a third determining unit, configured to determine whether the first part of the bearing coil is located below a reference line based on the magnetic circuit where the first part of the bearing coil is located, and the reference line passes through the magnetic levitation The center of mass of the rotor surrounded by the bearing, and the reference line extends in the horizontal direction; the second processing unit is used to cut off the pulse width modulated wave corresponding to the first part of the bearing coil, and adjust by cutting off the second part of the bearing coil For the output direction of the bearing magnetic force, the second partial bearing coil is a partial bearing coil of the magnetic suspension bearing except the first partial bearing coil.

在一些实施例中，所述第二处理单元，用于采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行短路处理，切断所述第二部分轴承线圈，或者，采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间新增的抽头线圈，将所述第二部分轴承线圈进行断路处理，切断所述第二部分轴承线圈。In some embodiments, the second processing unit is configured to use a tapped coil between each bearing coil in the second part of the bearing coils and adjacent bearing coils to short-circuit the second part of the bearing coils , Cut off the second part of the bearing coil, or use a newly-added tapped coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil to open the second part of the bearing coil, Cut the second part of the bearing coil.

根据本公开的又一些实施例，还提供了一种磁悬浮轴承，包括：磁悬浮轴承线圈的故障检测电路，用于输出线圈失效故障信号；轴承控制器，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，以及基于所述第一部分轴承线圈所在磁路，进行失效故障处理，所述第一部分轴承线圈为已失效的轴承线圈。According to still other embodiments of the present disclosure, there is also provided a magnetic bearing, which includes: a fault detection circuit of the magnetic bearing coil for outputting a coil failure fault signal; and a bearing controller for receiving a coil failure fault signal, It is determined whether there is a first part of the bearing coil in the magnetic suspension bearing, and the failure fault processing is performed based on the magnetic circuit where the first part of the bearing coil is located, and the first part of the bearing coil is a failed bearing coil.

在一些实施例中，轴承控制器，还用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号，以及如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。In some embodiments, the bearing controller is also used to determine whether the coil failure failure signal is received from the output terminal of the magnetic suspension bearing coil failure detection circuit, and if it is determined that the coil failure failure signal is received, recording continuous The number of times the coil failure fault signal is received, and when the number of times the coil failure fault signal is continuously received is greater than a threshold, it is determined that the first part of the bearing coil exists in the magnetic suspension bearing.

在一些实施例中，磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号，所述第一比较器用于输出所述过流故障信号，所述第二比较器用于所述输出断路故障信号。In some embodiments, the fault detection circuit of the magnetic bearing coil includes a first comparator and a second comparator, the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal, and the first comparator is used to output the An overcurrent fault signal, the second comparator is used for the output open circuit fault signal.

在一些实施例中，第一比较器包括：第一输入端，用于接收第一转换电压，所述第一转换电压由所述第一部分轴承线圈的电流转换得到；第二输入端，用于接收第一参考电压；输出端，用于当所述第一转换电压大于或等于所述第一参考电压时，输出所述过流故障信号。In some embodiments, the first comparator includes: a first input terminal for receiving a first converted voltage, the first converted voltage being converted from the current of the first part of the bearing coil; a second input terminal for Receiving a first reference voltage; an output terminal for outputting the overcurrent fault signal when the first conversion voltage is greater than or equal to the first reference voltage.

在一些实施例中，第二比较器包括：第一输入端，用于接收第二转换电压，所述第二转换电压由所述第一部分轴承线圈的电流转换得到；第二输入端，用于接收第二参考电压；输出端，用于当所述第二转换电压小于或等于所述第二参考电压时，输出所述断路故障信号。In some embodiments, the second comparator includes: a first input terminal for receiving a second converted voltage, the second converted voltage being converted from the current of the first part of the bearing coil; a second input terminal for Receiving a second reference voltage; an output terminal, used for outputting the open circuit fault signal when the second conversion voltage is less than or equal to the second reference voltage.

在一些实施例中，轴承控制器，还用于在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。In some embodiments, the bearing controller is further configured to cut off the first part of the bearing coil corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located. For pulse width modulated waves, the reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference line extends in the horizontal direction.

在一些实施例中，轴承控制器，还用于在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的下方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。In some embodiments, the bearing controller is further configured to cut off the first part of the bearing coil corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located. Pulse width modulated wave, and adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil, the second part of the bearing coil is the part of the bearing coil of the magnetic suspension bearing except the first part of the bearing coil, the The reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference line extends in the horizontal direction.

在一些实施例中，磁悬浮轴承为斜极式磁悬浮轴承，所述磁悬浮轴承的极数为4N，N为大于或等于2的正整数。In some embodiments, the magnetic suspension bearing is an oblique pole type magnetic suspension bearing, and the number of poles of the magnetic suspension bearing is 4N, and N is a positive integer greater than or equal to 2.

在一些实施例中，当所述磁悬浮轴承为8极磁悬浮轴承时，所述磁悬浮轴承包括8个极柱，每个极柱上分别设置有磁力线圈，位于同一磁路的两个相邻磁力线圈串联形成1个磁场，位于同一磁路的两个相邻磁力线圈中间设置有抽头线圈。In some embodiments, when the magnetic suspension bearing is an 8-pole magnetic suspension bearing, the magnetic suspension bearing includes 8 poles, each pole is provided with a magnetic coil, and two adjacent magnetic coils located on the same magnetic circuit A magnetic field is formed in series, and a tap coil is arranged between two adjacent magnetic coils in the same magnetic circuit.

根据本公开的再一些实施例，还提供了一种磁悬浮轴承***，包括：一个转子；和两个上述任一个实施例中的磁悬浮轴承，所述两个磁悬浮轴承分别位于所述转子的两端。According to still other embodiments of the present disclosure, there is also provided a magnetic suspension bearing system, including: a rotor; and two magnetic suspension bearings in any one of the foregoing embodiments, the two magnetic suspension bearings are respectively located at two ends of the rotor .

根据本公开的再一些实施例，还提供了一种磁悬浮轴承的控制装置，包括：存储器；和耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器装置中的指令，执行上述任一个实施例中的磁悬浮轴承的控制方法。According to still other embodiments of the present disclosure, there is also provided a control device for a magnetic suspension bearing, including: a memory; and a processor coupled to the memory, the processor being configured to be stored in the memory device based on To execute the control method of the magnetic suspension bearing in any of the above embodiments.

根据本公开的再一些实施例，还提供了一种非瞬时性计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述任一个实施例中的磁悬浮轴承的控制方法。According to still other embodiments of the present disclosure, there is also provided a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for controlling the magnetic bearing in any of the above embodiments is implemented .

附图说明Description of the drawings

此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present application. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached picture:

图1是根据本公开一些实施例的磁悬浮轴承***的结构示意图；Fig. 1 is a schematic structural diagram of a magnetic suspension bearing system according to some embodiments of the present disclosure;

图2是根据本公开一些实施例的磁悬浮轴承的结构示意图；Figure 2 is a schematic structural diagram of a magnetic suspension bearing according to some embodiments of the present disclosure;

图3是根据本公开一些实施例的磁悬浮轴承的控制方法的流程图；FIG. 3 is a flowchart of a control method of a magnetic suspension bearing according to some embodiments of the present disclosure;

图4是根据本公开一些实施例的斜极式磁悬浮轴承的结构示意图；FIG. 4 is a schematic diagram of the structure of an oblique pole magnetic suspension bearing according to some embodiments of the present disclosure;

图5是根据本公开一些实施例的磁悬浮轴承线圈故障检测和处理过程的流程图；Fig. 5 is a flowchart of a magnetic bearing coil fault detection and processing process according to some embodiments of the present disclosure;

图6是根据本公开一些实施例的连续接收到的失效故障信号的示意图；FIG. 6 is a schematic diagram of continuously received failure fault signals according to some embodiments of the present disclosure;

图7是根据本公开一些实施例的磁悬浮轴承线圈故障检测的电路结构示意图；FIG. 7 is a schematic diagram of a circuit structure of magnetic suspension bearing coil fault detection according to some embodiments of the present disclosure;

图8a-图8b是根据本公开一些实施例的下部分线圈失效处理的示意图；8a-8b are schematic diagrams of the failure processing of the lower part of the coil according to some embodiments of the present disclosure;

图9a-图9d是根据本公开一些实施例的上部分线圈失效处理的示意图；Figures 9a-9d are schematic diagrams of upper coil failure processing according to some embodiments of the present disclosure;

图10a-图10d是根据本公开一些实施例的串联磁力线圈结构示意图；10a-10d are schematic diagrams of the structure of series magnetic coils according to some embodiments of the present disclosure;

图11是根据本公开一些实施例的磁悬浮轴承的控制装置的结构框图。Fig. 11 is a structural block diagram of a control device for a magnetic suspension bearing according to some embodiments of the present disclosure.

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公开方案，下面将结合本公开实施例中的附图，对本公开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公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，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，都应当属于本公开保护的范围。In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only These are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of the present disclosure.

需要说明的是，本公开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，以便这里描述的本公开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 should be noted that the terms “first”, “second”, etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

如前所述，在磁悬浮轴承的实际运行过程中，难免由于发生各种难以预料的情形(线圈短路、线圈断路、出于轴承控制器保护需求、轴承控制器意外损坏)，造成部分轴承定子线圈失效。这样，会导致转子无法稳定悬浮并在运转时跌落下来，进而对磁悬浮轴承***造成损坏。As mentioned earlier, in the actual operation of the magnetic bearing, it is inevitable that various unforeseen situations (short circuit of the coil, open circuit of the coil, due to the protection of the bearing controller, accidental damage to the bearing controller) will inevitably cause some stator coils of the bearing. Invalidate. In this way, the rotor will not be able to stably levitate and will fall down during operation, which will damage the magnetic bearing system.

针对上述技术问题，本公开的一些实施例提供了一种磁悬浮轴承的控制方法、磁悬浮轴承的控制装置、磁悬浮轴承、磁悬浮轴承***和非瞬时性计算机可读存储介质。In view of the foregoing technical problems, some embodiments of the present disclosure provide a method for controlling a magnetic suspension bearing, a control device for a magnetic suspension bearing, a magnetic suspension bearing, a magnetic suspension bearing system, and a non-transitory computer-readable storage medium.

需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机***中执行。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。该方法实施例可以在磁悬浮轴承***中执行。It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions. And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here. The method embodiment can be implemented in a magnetic suspension bearing system.

图1是根据本公开一些实施例的磁悬浮轴承***的结构示意图。Fig. 1 is a schematic structural diagram of a magnetic suspension bearing system according to some embodiments of the present disclosure.

如图1所示，该磁悬浮轴承***包括：一个转子和两个磁悬浮轴承。两个磁悬浮轴承分别处于转子两端，以使转子稳定悬浮。处于转子前端的磁悬浮轴承为前端轴承，处于转子后端的磁悬浮轴承为后端轴承。As shown in Figure 1, the magnetic suspension bearing system includes: a rotor and two magnetic suspension bearings. Two magnetic suspension bearings are respectively located at the two ends of the rotor, so that the rotor is stably suspended. The magnetic bearing at the front end of the rotor is the front bearing, and the magnetic bearing at the rear end of the rotor is the rear bearing.

磁悬浮轴承可以包括一个或多个轴承控制器(轴承控制器可以包括但不限于中央处理器(CPU)、图形处理器(GPU)、数字信号处理(DSP)芯片、微处理器(MCU)或可编程逻辑器件(FPGA)等的处理装置)、用于存储数据的存储器、多个轴承线圈以及磁悬浮轴承线圈故障检测电路。Magnetic bearings can include one or more bearing controllers (bearing controllers can include but are not limited to central processing units (CPU), graphics processing units (GPU), digital signal processing (DSP) chips, microprocessors (MCU), or Programming logic device (FPGA) and other processing devices), memory for storing data, multiple bearing coils, and magnetic bearing coil failure detection circuit.

本领域普通技术人员可以理解，上述结构描述仅为示意，其并不对上述磁悬浮轴承的结构造成限定。例如，磁悬浮轴承还可包括比上述结构描述更多或者更少的组件，或者具有与上述结构描述不同的配置。A person of ordinary skill in the art can understand that the foregoing description of the structure is merely illustrative, and does not limit the structure of the foregoing magnetic suspension bearing. For example, the magnetic suspension bearing may also include more or fewer components than the above-mentioned structure description, or have a different configuration from the above-mentioned structure description.

存储器可用于存储计算机程序如应用软件的软件程序以及模块。例如，计算机程序包括本公开实施例中的磁悬浮轴承的控制方法对应的计算机程序。轴承处理器通过运行存储在存储器内的计算机程序，执行各种功能应用以及数据处理，实现上述的磁悬浮轴承的控制方法。The memory can be used to store computer programs such as software programs and modules of application software. For example, the computer program includes a computer program corresponding to the method for controlling a magnetic suspension bearing in an embodiment of the present disclosure. The bearing processor executes various functional applications and data processing by running the computer program stored in the memory to realize the above-mentioned control method of the magnetic suspension bearing.

存储器可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

在一些实例中，存储器可包括相对于轴承处理器远程设置的存储器。这些远程存储器可以通过网络连接至磁悬浮轴承。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。In some examples, the memory may include a memory remotely located with respect to the bearing processor. These remote memories can be connected to the magnetic bearing through the network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

图2是根据本公开一些实施例的磁悬浮轴承的结构示意图。Fig. 2 is a schematic structural diagram of a magnetic suspension bearing according to some embodiments of the present disclosure.

如图2所示，该轴承表现为通常所采用的斜极式轴承(由利用磁悬浮的两个自由度轴承线圈组成)。即，将轴承线圈1、轴承线圈2、轴承线圈3以及轴承线圈4均按照预设角度(通常为45°)进行倾斜设置。该磁悬浮轴承通过轴承控制器加以控制。As shown in Figure 2, the bearing appears as a generally used oblique pole bearing (composed of two degrees of freedom bearing coils using magnetic levitation). That is, the bearing coil 1, the bearing coil 2, the bearing coil 3, and the bearing coil 4 are all inclined at a predetermined angle (usually 45°). The magnetic suspension bearing is controlled by the bearing controller.

在本实施例中提供了一种运行于上述磁悬浮轴承***的磁悬浮轴承的控制方法。In this embodiment, a method for controlling the magnetic suspension bearing operating in the above-mentioned magnetic suspension bearing system is provided.

图3是根据本公开一些实施例的磁悬浮轴承的控制方法的流程图。FIG. 3 is a flowchart of a control method of a magnetic suspension bearing according to some embodiments of the present disclosure.

如图3所示，该方法包括如下步骤。As shown in Figure 3, the method includes the following steps.

在步骤S32中，根据线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈。第一部分轴承线圈为已失效的轴承线圈。In step S32, according to the coil failure fault signal, it is determined whether the first part of the bearing coil exists in the magnetic bearing. The first part of the bearing coil is the failed bearing coil.

在步骤S34中，基于第一部分轴承线圈所在磁路，进行失效故障处理。In step S34, based on the magnetic circuit where the first part of the bearing coil is located, failure fault processing is performed.

通过上述步骤，可以根据线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，该第一部分轴承线圈为已失效的轴承线圈。通过第一部分轴承线圈所在磁路，进行失效故障处理，从而在磁悬浮轴承***运行过程中，可以达到通过检测失效的轴承定子线圈，并及时进行失效故障处理的技术目的。而且，可以改变现有的线圈、磁极和磁力，以达到保持转子稳定悬浮的技术目的。这样，可以实现显著提高磁悬浮轴承***的可靠性和使用寿命的技术效果，进而解决了相关技术中由于部分轴承定子线圈失效，导致的转子无法稳定悬浮并在运转时跌落下来，对磁悬浮轴承***造成损坏的技术问题。Through the above steps, it can be determined whether the first part of the bearing coil exists in the magnetic suspension bearing according to the coil failure fault signal, and the first part of the bearing coil is a failed bearing coil. Through the magnetic circuit where the first part of the bearing coil is located, the failure fault processing is performed, so that the technical purpose of detecting the failed bearing stator coil and timely processing the failure fault can be achieved during the operation of the magnetic suspension bearing system. Moreover, the existing coils, magnetic poles and magnetic force can be changed to achieve the technical purpose of keeping the rotor in a stable suspension. In this way, the technical effect of significantly improving the reliability and service life of the magnetic bearing system can be achieved, and the problem of the rotor being unable to levitate stably and falling down during operation due to the failure of part of the bearing stator coil in the related technology is solved, causing the magnetic bearing system Damaged technical issues.

上述第一部分轴承线圈所在磁路的划分与磁悬浮轴承的极数相关。在一些实施例中，上述磁悬浮轴承可以为斜极式磁悬浮轴承。磁悬浮轴承的极数为4N，N为大于或等于2的正整数。The division of the magnetic circuit where the first part of the bearing coil is located is related to the number of poles of the magnetic suspension bearing. In some embodiments, the above-mentioned magnetic suspension bearing may be an oblique pole type magnetic suspension bearing. The number of poles of the magnetic bearing is 4N, and N is a positive integer greater than or equal to 2.

以斜极式磁悬浮轴承是8极磁悬浮轴承为例，第一部分轴承线圈所在磁路的划分与平面直角坐标系的划分方式相类似。例如，以转子的质心为圆点，采用在水平方向上通过该质心的直线(或射线)以及在垂直方向上通过该质心的直线(或射线)划分出四个磁路。Taking the oblique pole magnetic suspension bearing as an 8-pole magnetic suspension bearing as an example, the division of the magnetic circuit where the first part of the bearing coil is located is similar to the division of the plane rectangular coordinate system. For example, taking the center of mass of the rotor as a circle point, a straight line (or ray) passing through the center of mass in the horizontal direction and a straight line (or ray) passing through the center of mass in the vertical direction are used to divide four magnetic circuits.

图4是根据本公开一些实施例的斜极式磁悬浮轴承的结构示意图。Fig. 4 is a schematic structural diagram of an oblique pole magnetic suspension bearing according to some embodiments of the present disclosure.

如图4所示，以串联方案为例(即诸如L1和L2所示的相邻极柱上的磁力线圈，通过串联方式连接)，A为转子，B为轴承，S1～S8为极柱，L1～L8为每个极柱上的磁力线圈，H1～H4为4个磁场的磁路。每个磁场的磁路是由相邻两个线圈绕组串联形成的磁场。F1～F4为轴承的4个磁力，出力方向和大小由轴承控制器确定。G为转子的重力。As shown in Figure 4, take the series scheme as an example (that is, the magnetic coils on the adjacent poles such as L1 and L2 are connected in series), A is the rotor, B is the bearing, and S1～S8 are the poles. L1～L8 are the magnetic coils on each pole, H1～H4 are the magnetic circuits of 4 magnetic fields. The magnetic circuit of each magnetic field is a magnetic field formed by two adjacent coil windings in series. F1～F4 are the 4 magnetic forces of the bearing, and the direction and magnitude of the output force are determined by the bearing controller. G is the gravity of the rotor.

在一些实施例中，在步骤S32中，根据线圈失效故障信号，确定磁悬浮轴承中存在的第一部分轴承线圈可以包括以下执行步骤。In some embodiments, in step S32, determining the first part of the bearing coils existing in the magnetic suspension bearing according to the coil failure fault signal may include the following execution steps.

在步骤S321中，判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到线圈失效故障信号。线圈失效故障信号包括过流故障信号或者断路故障信号。In step S321, it is determined whether a coil failure fault signal is received from the output terminal of the fault detection circuit of the magnetic bearing coil. The coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal.

在步骤S322中，如果确定接收到线圈失效故障信号，则记录连续接收到线圈失效故障信号的次数，并且当连续接收到线圈失效故障信号的次数大于预设阈值时，确定磁悬浮轴承中存在第一部分轴承线圈。In step S322, if it is determined that a coil failure fault signal is received, the number of consecutively received coil failure fault signals is recorded, and when the number of consecutively received coil failure fault signals is greater than a preset threshold, it is determined that the first part of the magnetic bearing is present Bearing coil.

为了确保能够准确地切断失效轴承线圈并避免误操作，轴承控制器不仅需要确定接收到线圈失效故障信号，而且还需要记录连续接收到线圈失效故障信号的次数。即，当连续接收到线圈失效故障信号的次数大于预设阈值时，确定磁悬浮轴承中存在已失效的轴承线圈。In order to ensure that the failed bearing coil can be cut off accurately and to avoid misoperation, the bearing controller not only needs to determine that the coil failure fault signal is received, but also needs to record the number of consecutively received coil failure fault signals. That is, when the number of times that the coil failure fault signal is continuously received is greater than the preset threshold, it is determined that there is a failed bearing coil in the magnetic suspension bearing.

图5是根据本公开一些实施例的磁悬浮轴承线圈故障检测和处理过程的流程图。Fig. 5 is a flowchart of a magnetic bearing coil fault detection and processing process according to some embodiments of the present disclosure.

如图5所示，该控制逻辑可以包括如下处理步骤。As shown in Figure 5, the control logic may include the following processing steps.

在步骤S502中，轴承控制器实时检测各个线圈是否发生失效。如果未检测到线圈发生失效，则重复执行该步骤；如果检测到线圈发生失效，则继续执行步骤S504。In step S502, the bearing controller detects in real time whether each coil fails. If failure of the coil is not detected, this step is repeated; if failure of the coil is detected, step S504 is continued.

在步骤S504中，判断连续接收到的失效故障信号的次数是否达到预设阈值(n次)。如果连续接收到的失效故障信号的次数未达到n次，则重复执行该步骤；如果连续接收到的失效故障信号的次数达到n次，则继续执行步骤S506。In step S504, it is determined whether the number of consecutively received failure fault signals reaches a preset threshold (n times). If the number of consecutively received failure fault signals does not reach n times, this step is repeated; if the number of consecutively received failure fault signals reaches n times, then continue to perform step S506.

在步骤S506中，关闭该线圈的PWM(Pulse Width Modulation，脉冲宽度调制)波，同时执行线圈故障处理。In step S506, the PWM (Pulse Width Modulation, pulse width modulation) wave of the coil is turned off, and the coil fault processing is performed at the same time.

图6是根据本公开一些实施例的连续接收到的失效故障信号的示意图。Fig. 6 is a schematic diagram of continuously received failure fault signals according to some embodiments of the present disclosure.

如图6所示，如果确定连续接收到的失效故障信号的次数达到n次，则确定线圈已经失效。在这种情况下，可以关闭驱动该线圈功放的PWM波，停止给该线圈电流，同时执行线圈失效故障处理。As shown in Fig. 6, if it is determined that the number of consecutively received failure fault signals reaches n times, it is determined that the coil has failed. In this case, you can turn off the PWM wave that drives the coil power amplifier, stop the current to the coil, and perform the coil failure troubleshooting at the same time.

在一些实施例中，磁悬浮轴承线圈故障检测电路包括：第一比较器和第二比较器。在步骤S322中，确定接收到线圈失效故障信号可以包括以下执行步骤。In some embodiments, the magnetic bearing coil fault detection circuit includes: a first comparator and a second comparator. In step S322, determining that a coil failure fault signal is received may include the following execution steps.

在步骤S3221中，当第一转换电压大于或等于第一参考电压时，确定从第一比较器接收到过流故障信号。第一转换电压为第一比较器的第一输入端处的输入电压，第一参考电压为第一比较器的第二输入端处的输入电压。In step S3221, when the first conversion voltage is greater than or equal to the first reference voltage, it is determined that an overcurrent fault signal is received from the first comparator. The first converted voltage is the input voltage at the first input terminal of the first comparator, and the first reference voltage is the input voltage at the second input terminal of the first comparator.

在步骤S3222中，当第二转换电压小于或等于第二参考电压时，确定从第二比较器接收到断路故障信号。第二转换电压为第二比较器的第一输入端处的输入电压，第二参考电压为第二比较器的第二输入端处的输入电压。In step S3222, when the second conversion voltage is less than or equal to the second reference voltage, it is determined that a disconnection fault signal is received from the second comparator. The second converted voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the input voltage at the second input terminal of the second comparator.

例如，第一转换电压和第二转换电压由第一部分轴承线圈的电流转换得到。For example, the first converted voltage and the second converted voltage are obtained by converting the current of the first part of the bearing coil.

在转子悬浮时，通过检测线圈电流，依据线圈是否短路(过流)和断路(电流几乎为零)，来判断轴承线圈是否失效。When the rotor is suspended, by detecting the current of the coil, whether the coil is short-circuited (overcurrent) and open (the current is almost zero) can be used to determine whether the bearing coil fails.

图7是根据本公开一些实施例的磁悬浮轴承线圈故障检测的电路结构示意图。Fig. 7 is a schematic diagram of a circuit structure of magnetic suspension bearing coil fault detection according to some embodiments of the present disclosure.

如图7所示，检测线圈电流并将其转换为电压信号V _i。当V _i(相当于上述第一转换电压)≥V _REF1(相当于上述第一参考电压)时，判断线圈电流发生过流现象，进而输出过流故障信号V _ocp。当V _i(相当于上述第二转换电压)≤V _REF2(相当于上述第二参考电压)时，判断磁悬浮轴承线圈发生断路现象，进而输出故障信号V _ucp。V _ocp和V _ucp均为线圈失效故障信号。 As shown in FIG 7, the coil current is detected and converted to a voltage signal V _i. When V _i (corresponding to the first conversion voltage) ≥V _REF1 (corresponding to the first reference voltage), determines the coil current flow phenomenon occurred, whereby the output signal of overcurrent faults V _ocp. When V _i (corresponding to the second voltage converter) ≤V _REF2 (corresponding to the second reference voltage), it is determined magnetic bearing coil circuit phenomenon occurred, and accordingly outputs a failure signal V _ucp. _Both V ocp and V _ucp are coil failure fault signals.

在一些实施例中，在步骤S34中，基于第一部分轴承线圈所在磁路，进行失效故障处理可以包括以下执行步骤。In some embodiments, in step S34, based on the magnetic circuit where the first part of the bearing coil is located, performing failure fault handling may include the following execution steps.

在步骤S341中，基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的上方。基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸。In step S341, based on the magnetic circuit where the first part of the bearing coil is located, it is determined that the first part of the bearing coil is located above the reference line. The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction.

步骤S342，切断第一部分轴承线圈对应的脉冲宽度调制波。In step S342, the pulse width modulation wave corresponding to the first part of the bearing coil is cut off.

在磁悬浮轴承***运行过程中，如果确定发生线圈失效，则需要执行线圈失效故障处理。线圈失效处理通常可以分为以下两种。During the operation of the magnetic bearing system, if it is determined that a coil failure has occurred, it is necessary to perform the failure processing of the coil failure. Coil failure treatment can generally be divided into the following two types.

(1)下部分线圈失效，下部分线圈为出力向下的部分，即为上述L5～L8；(1) The lower part of the coil fails, and the lower part of the coil is the part with the downward force, that is, the above-mentioned L5 ~ L8;

(2)上部分线圈失效，上部分线圈为出力向上的部分，即为上述L1～L4。(2) The upper part of the coil fails, and the upper part of the coil is the part with upward force, that is, the above-mentioned L1 to L4.

如果基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的上方(即上部分线圈失效)，则切断该线圈对应的PWM波。此时，磁悬浮轴承利用剩余的磁力仍然能够保持转子悬浮稳定。If, based on the magnetic circuit where the first part of the bearing coil is located, it is determined that the first part of the bearing coil is located above the reference line (that is, the upper part of the coil fails), then the PWM wave corresponding to the coil is cut off. At this time, the magnetic bearing can still keep the rotor suspension stable by using the remaining magnetic force.

图8a-图8b是根据本公开一些实施例的下部分线圈失效处理的示意图。8a-8b are schematic diagrams of the failure processing of the lower part of the coil according to some embodiments of the present disclosure.

如图8a所示，当L5～L8部分线圈失效时，如果确定F4对应的部分线圈已失效，则切断该线圈对应的脉冲宽度调制(PWM)波。此时，磁悬浮轴承利用剩余的3个磁力F1、F2、F3仍能保持转子悬浮稳定。As shown in Figure 8a, when part of the coils L5 to L8 fails, if it is determined that the part of the coil corresponding to F4 has failed, the pulse width modulation (PWM) wave corresponding to the coil is cut off. At this time, the magnetic suspension bearing uses the remaining three magnetic forces F1, F2, F3 to still maintain the rotor suspension stability.

如图8b所示，当L5～L8部分线圈失效时，如果确定F3对应的部分线圈已失效，则切断该线圈对应的PWM波。此时，磁悬浮轴承利用剩余的3个磁力F1、F2、F4仍能保持转子悬浮稳定。As shown in Figure 8b, when part of the coils L5 to L8 fails, if it is determined that the part of the coil corresponding to F3 has failed, the PWM wave corresponding to the coil is cut off. At this time, the magnetic suspension bearing uses the remaining three magnetic forces F1, F2, F4 to still maintain the rotor suspension stability.

在步骤S343中，基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的下方。基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸。In step S343, based on the magnetic circuit where the first part of the bearing coil is located, it is determined that the first part of the bearing coil is located below the reference line. The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction.

在步骤S344中，切断第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向。第二部分轴承线圈为磁悬浮轴承中除第一部分轴承线圈之外的部分轴承线圈。In step S344, the pulse width modulated wave corresponding to the first part of the bearing coil is cut off, and the output direction of the bearing magnetic force is adjusted by cutting off the second part of the bearing coil. The second part of the bearing coil is a part of the bearing coil except the first part of the bearing coil in the magnetic suspension bearing.

与上部分线圈失效不同，如果基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的下方(即下部分线圈失效)，则在仅切断该线圈对应的PWM波的情况下，磁悬浮轴承利用剩余的磁力将无法保持转子悬浮稳定。因此，还需要通过切断第二部分轴承线圈来调整轴承磁力的出力方向。Different from the failure of the upper part of the coil, if it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located (that is, the lower part of the coil fails), then only the PWM wave corresponding to the coil will be cut off. The bearing will not be able to keep the rotor suspension stable by using the remaining magnetic force. Therefore, it is also necessary to adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil.

图9a-图9d是根据本公开一些实施例的上部分线圈失效处理的示意图。Figures 9a-9d are schematic diagrams of upper coil failure processing according to some embodiments of the present disclosure.

如图9a所示，当L1～L4部分线圈失效时，如果确定F2对应的部分线圈已失效，则切断该线圈对应的PWM波。此时，磁悬浮轴承剩余3个磁力F1、F3、F4，其受力分析如图9c所示。鉴于斜极式磁悬浮轴承通常倾斜45°，且4个力夹角为90°，因此θ ₁＝θ ₂＝θ ₃＝45°。G为转子本身重力。 As shown in Figure 9a, when part of the coils L1 to L4 fails, if it is determined that the part of the coil corresponding to F2 has failed, the PWM wave corresponding to the coil is cut off. At this time, the magnetic bearing has three remaining magnetic forces F1, F3, F4, and the force analysis is shown in Figure 9c. In view of the oblique pole type magnetic suspension bearing is usually inclined 45°, and the four force angles are 90°, so θ ₁ =θ ₂ =θ ₃ =45°. G is the gravity of the rotor itself.

在垂直方向(H)分析转子受力如下：The force on the rotor is analyzed in the vertical direction (H) as follows:

向上的力F _H上＝F1×sinθ ₁； = F1 × sinθ ₁ _upward force F _H;

向下的力F _H下＝G+F3×sinθ ₃+F4×sinθ ₂； Downward force F _{H under} =G+F3×sinθ ₃ +F4×sinθ ₂ ;

在水平方向(L)分析转子受力如下：The analysis of the rotor force in the horizontal direction (L) is as follows:

向左的力F _L左＝F1×cosθ ₁+F4×cosθ ₂； Leftward force F _{L left} _{= F1 × cosθ 1 + F4 ×} cosθ 2;

向右的力F _L右＝F3×cosθ ₃； _Right rightward force F _L = F3 × cosθ _3;

如果希望转子稳定悬浮，则需要在水平方向和垂直方向上均达到受力平衡。即，在水平方向上F _L左＝F _L右，以及在垂直方向上F _H上＝F _H下。 If you want the rotor to float stably, you need to achieve a balance of forces in both the horizontal and vertical directions. That is, F _{L left} = F _{L right} in the horizontal direction, and F _{H up} = F _{H down} in the vertical direction.

然而，在水平方向上，由于F1×cosθ ₁≤F3×cosθ ₃，导致F _H上<F _H下，因此，磁悬浮轴承利用剩余的3个磁力F1、F3、F4无法保持转子悬浮。 However, in the horizontal direction, F1×cosθ ₁ ≤ F3×cosθ ₃ results in F _{H up} <F _{H down} . Therefore, the magnetic bearing can not keep the rotor in suspension by using the remaining three magnetic forces F1, F3, and F4.

为此，鉴于L3和L4对应的PWM波已经被切断，没有电流通过，此时在切断该PWM波同时，再切断线圈L1和L6，以使L2和L5单独工作。由此轴承的磁极、磁场和磁力均改变为图9b所示，磁力F1变为磁力F1’，磁力F3变为磁力F3’。For this reason, in view of the fact that the PWM waves corresponding to L3 and L4 have been cut off and no current flows, at this time, when the PWM wave is cut off, the coils L1 and L6 are cut off to make L2 and L5 work independently. As a result, the magnetic pole, magnetic field, and magnetic force of the bearing are all changed as shown in Fig. 9b, the magnetic force F1 becomes the magnetic force F1', and the magnetic force F3 becomes the magnetic force F3'.

通过改变轴承出力方向，不仅可以增大θ ₁(θ ₁’>θ ₁)，即增大F1在H方向的分力，减小F1在L方向的分力；而且还可以减小θ ₃(θ ₃’<θ ₃)，即减小F3在H方向的分力，增大F3在L方向的分力。 By changing the direction of bearing output, not only can increase θ ₁ (θ ₁ '>θ ₁ ), that is, increase the component force of F1 in the H direction and reduce the component force of F1 in the L direction; but also reduce θ ₃ ( θ ₃ '<θ ₃ ), that is, reduce the component force of F3 in the H direction and increase the component force of F3 in the L direction.

此时，再次分析转子受力，如图9d所示，在垂直方向(H)分析转子受力如下：At this time, analyze the rotor force again, as shown in Figure 9d, the analysis of the rotor force in the vertical direction (H) is as follows:

向上的力F _H上＝F1’×sinθ ₁’ _The upward force _{_{F H = F1 '× sinθ 1}} '

向下的力F _H下＝G+F3’×sinθ ₃’+F4’×sinθ ₂’ Downward force F _{H under} =G+F3'×sinθ ₃ '+F4'×sinθ ₂ '

向左的力F _L左＝F1’×cosθ ₁’+F4’×cosθ ₂’ Leftward force F _Lleft =F1'×cosθ ₁ '+F4'×cosθ ₂ '

向右的力F _L右＝F3’×cosθ ₃’ Rightward force F _{L right} = F3'×cosθ ₃ '

由于，在垂直方向上sinθ ₁’>sinθ ₃’，并且在水平方向上cosθ ₁’<cosθ ₃’，因此，水平和垂直方向均可以达到受力平衡，即： Since sinθ ₁ '>sinθ ₃ 'in the vertical direction and cosθ ₁ '<cosθ ₃ ' in the horizontal direction, the force balance can be achieved in both the horizontal and vertical directions, namely:

F _H上＝F _H下→F1’×sinθ ₁’＝G+F3’×sinθ ₃’+F4’×sinθ ₂’； F _{H up} = F _{H down} → F1'×sinθ ₁ '=G+F3'×sinθ ₃ '+F4'×sinθ ₂ ';

F _L左＝F _L右→F1’×cosθ ₁’+F4’×cosθ ₂’＝F3’×cosθ ₃’； F _{L left} = F _{L right} → F1'×cosθ ₁ '+F4'×cosθ ₂ '=F3'×cosθ ₃ ';

综合上述分析，磁悬浮轴承利用3个磁力F1’、F3’、F4便能够保持转子悬浮。由此在切断已失效线圈的PWM波的情况下，通过改变轴承和控制来调整轴承磁力出力方向确保转子悬浮，以此达到保护磁悬浮***的目的。Based on the above analysis, the magnetic suspension bearing uses three magnetic forces F1', F3', and F4 to keep the rotor in suspension. Therefore, when the PWM wave of the failed coil is cut off, the bearing and the control are used to adjust the bearing magnetic output direction to ensure the rotor suspension, so as to achieve the purpose of protecting the magnetic levitation system.

在一些实施例中，在步骤S344中，切断第二部分轴承线圈的方式包括以下之一。In some embodiments, in step S344, the method of cutting the second part of the bearing coil includes one of the following.

在方式一中，采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间新增的抽头线圈将第二部分轴承线圈进行短路处理，切断第二部分轴承线圈。In the first way, the second part of the bearing coil is short-circuited by the newly added tapped coil between each bearing coil and the adjacent bearing coil in the second part of the bearing coil, and the second part of the bearing coil is cut off.

在方式二中，采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间新增的抽头线圈将第二部分轴承线圈进行断路处理，切断第二部分轴承线圈。In the second way, the second part of the bearing coil is cut off by using the newly added tapped coils between each bearing coil and the adjacent bearing coil in the second part of the bearing coils to cut off the second part of the bearing coils.

仍然以斜极式磁悬浮轴承是8极磁悬浮轴承为例，磁悬浮轴承包括8个极柱。每个极柱上分别设置有磁力线圈，位于同一磁路的两个相邻磁力线圈可以串联形成1个磁场的磁路。另外，位于同一磁路的两个相邻磁力线圈中间新增有抽头线圈，以便在需要断开特定磁力线圈时，对该磁力线圈进行短路或断路处理。Still taking the oblique pole type magnetic suspension bearing as an 8-pole magnetic suspension bearing as an example, the magnetic suspension bearing includes 8 poles. Each pole is respectively provided with a magnetic coil, and two adjacent magnetic coils located on the same magnetic circuit can be connected in series to form a magnetic circuit of a magnetic field. In addition, a tap coil is added between two adjacent magnetic coils located in the same magnetic circuit, so that when a specific magnetic coil needs to be disconnected, the magnetic coil can be short-circuited or disconnected.

图10a-图10d是根据本公开一些实施例的串联磁力线圈结构示意图。10a-10d are schematic diagrams of the structure of series magnetic coils according to some embodiments of the present disclosure.

如图10a所示，由轴承控制器来控制相互串联的磁力线圈L1和磁力线圈L2。如图10b所示，在磁力线圈L1与磁力线圈L2的中间增加抽头的线圈。在正常工作状态下，磁力线圈L1和磁力线圈L2仍然保持串联工作状态。如果需要切断L1，则既可以通过如图10c所示的连接方式将L1短路，也可以通过如图10d所示的连接方式将L1断路。As shown in Fig. 10a, the magnetic coil L1 and the magnetic coil L2 connected in series are controlled by the bearing controller. As shown in Figure 10b, a tapped coil is added between the magnetic coil L1 and the magnetic coil L2. In the normal working state, the magnetic coil L1 and the magnetic coil L2 still maintain the working state in series. If L1 needs to be cut off, L1 can be short-circuited through the connection method shown in FIG. 10c, or L1 can be disconnected through the connection method shown in FIG. 10d.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现。当然也可以通过硬件实现上述实施例的方法，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开的技术方案本质上或者说对相关技术做出贡献的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(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。Through the description of the foregoing embodiments, those skilled in the art can clearly understand that the method of the foregoing embodiment can be implemented by means of software plus a necessary general hardware platform. Of course, the method of the foregoing embodiment can also be implemented by hardware, but the former is a better implementation in many cases. Based on this understanding, the essence of the technical solution of the present disclosure or the part that contributes to the related technology can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes several instructions to make a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute each of the disclosures. The method described in the embodiment.

在本实施例中，还提供了一种磁悬浮轴承的控制装置，该装置用于实现上述实施例，已经进行过说明的不再赘述。如以下所使用的术语“模块”为可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置可以通过软件来实现，但是通过硬件或者软件和硬件的组合的方式实现也是可能的并被构想的。In this embodiment, there is also provided a control device for a magnetic suspension bearing, which is used to implement the above-mentioned embodiments, and what has been described will not be repeated. The term "module" as used below is a combination of software and/or hardware that can implement predetermined functions. Although the device described in the following embodiments can be implemented by software, it is also possible and conceived to be implemented by hardware or a combination of software and hardware.

图11是根据本公开其中一实施例的磁悬浮轴承的控制装置的结构框图。Fig. 11 is a structural block diagram of a control device for a magnetic suspension bearing according to one of the embodiments of the present disclosure.

如图11所示，该装置包括：确定模块10，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，第一部分轴承线圈为已失效的轴承线圈；处理模块20，用于基于第一部分轴承线圈所在磁路，进行失效故障处理。As shown in Fig. 11, the device includes: a determination module 10 for determining whether there is a first part of the bearing coil in the magnetic bearing according to whether a coil failure fault signal is received, and the first part of the bearing coil is a failed bearing coil; a processing module 20 , Used for failure troubleshooting based on the magnetic circuit where the first part of the bearing coil is located.

在一些实施例中，确定模块10包括：判断单元(图中未示出)，用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到线圈失效故障信号；第一确定单元(图中未示出)，用于如果确定接收到线圈失效故障信号，则记录连续接收到线圈失效故障信号的次数，并且当连续接收到线圈失效故障信号的次数大于阈值时，确定磁悬浮轴承中存在第一部分轴承线圈。In some embodiments, the determining module 10 includes: a determining unit (not shown in the figure) for determining whether a coil failure fault signal is received from the output terminal of the fault detection circuit of the magnetic bearing coil; a first determining unit (not shown in the figure) Not shown), used to record the number of consecutively received coil failure failure signals if it is determined that the coil failure failure signal is received, and when the number of consecutively received coil failure failure signals is greater than the threshold, determine that the first part of the magnetic bearing is present Bearing coil.

在一些实施例中，磁悬浮轴承线圈的故障检测电路包括：第一比较器和第二比较器。线圈失效故障信号包括过流故障信号或者断路故障信号。第一确定单元(图中未示出)，用于当第一转换电压大于或等于第一参考电压时，确定从第一比较器接收到过流故障信号。第一转换电压为所述第一比较器的第一输入端处的输入电压，第一参考电压为第一比较器的第二输入端处的输入电压。In some embodiments, the fault detection circuit of the magnetic bearing coil includes: a first comparator and a second comparator. The coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal. The first determining unit (not shown in the figure) is configured to determine that an overcurrent fault signal is received from the first comparator when the first conversion voltage is greater than or equal to the first reference voltage. The first converted voltage is the input voltage at the first input terminal of the first comparator, and the first reference voltage is the input voltage at the second input terminal of the first comparator.

当第二转换电压小于或等于第二参考电压时，确定从第二比较器接收到断路故障信号。第二转换电压为所述第二比较器的第一输入端处的输入电压。第二参考电压为第二比较器的第二输入端处的输入电压。第一转换电压和第二转换电压由第一部分轴承线圈的电流转换得到。When the second conversion voltage is less than or equal to the second reference voltage, it is determined that an open circuit fault signal is received from the second comparator. The second converted voltage is the input voltage at the first input terminal of the second comparator. The second reference voltage is the input voltage at the second input terminal of the second comparator. The first converted voltage and the second converted voltage are obtained by converting the current of the first part of the bearing coil.

在一些实施例中，处理模块20包括：第二确定单元(图中未示出)，用于基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈是否位于基准线的上方，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸；第一处理单元(图中未示出)，用于在第一部分轴承线圈位于基准线的上方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波。In some embodiments, the processing module 20 includes: a second determining unit (not shown in the figure) for determining whether the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located, The reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference line extends in the horizontal direction; the first processing unit (not shown in the figure) is used to cut off the first part of the bearing coils when the reference line is above the reference line The pulse width modulation wave corresponding to the first part of the bearing coil.

在一些实施例中，处理模块20包括：第三确定单元(图中未示出)，用于基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈是否位于基准线的下方，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸；第二处理单元(图中未示出)，用于切断第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，第二部分轴承线圈为磁悬浮轴承中除第一部分轴承线圈之外的部分轴承线圈。In some embodiments, the processing module 20 includes: a third determining unit (not shown in the figure) for determining whether the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located, and the reference line passes through the magnetic levitation The center of mass of the rotor surrounded by the bearing, and the reference line extends in the horizontal direction; the second processing unit (not shown in the figure) is used to cut off the pulse width modulated wave corresponding to the first part of the bearing coil, and by cutting off the second part of the bearing The coil is used to adjust the output direction of the bearing magnetic force, and the second part of the bearing coil is the part of the bearing coil in the magnetic suspension bearing except the first part of the bearing coil.

在一些实施例中，第二处理单元(图中未示出)，用于采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间抽头线圈将第二部分轴承线圈进行短路处理，切断第二部分轴承线圈；或者，采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间抽头线圈将第二部分轴承线圈进行断路处理，切断第二部分轴承线圈。In some embodiments, the second processing unit (not shown in the figure) is used to short-circuit the second part of the bearing coil by using a tapped coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil, Cut off the second part of the bearing coil; or, use the tapped coil between each bearing coil and the adjacent bearing coil in the second part of the bearing coil to open the second part of the bearing coil and cut off the second part of the bearing coil.

需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。It should be noted that each of the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following manner, but not limited to this: the above modules are all located in the same processor; or, the above modules can be combined in any combination. The forms are located in different processors.

本公开的实施例还提供了一种存储介质，该存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。The embodiment of the present disclosure also provides a storage medium in which a computer program is stored, wherein the computer program is configured to execute the steps in any one of the foregoing method embodiments when running.

在一些实施例中，上述存储介质可以被设置为存储用于执行以下步骤的计算机程序：S1，根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，第一部分轴承线圈为已失效的轴承线圈；S2，基于第一部分轴承线圈所在磁路，进行失效故障处理。In some embodiments, the above-mentioned storage medium may be configured to store a computer program for performing the following steps: S1, according to whether a coil failure fault signal is received, determine whether there is a first part of the bearing coil in the magnetic bearing, and the first part of the bearing coil is Failed bearing coil; S2, based on the magnetic circuit of the first part of the bearing coil, perform failure troubleshooting.

在一些实施例中，存储介质还被设置为存储用于执行以下步骤的计算机程序：判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到线圈失效故障信号；如果确定接收到线圈失效故障信号，则记录连续接收到线圈失效故障信号的次数，并且当连续接收到线圈失效故障信号的次数大于阈值时，确定磁悬浮轴承中存在所述第一部分轴承线圈。In some embodiments, the storage medium is further configured to store a computer program for performing the following steps: determine whether a coil failure failure signal is received from the output terminal of the failure detection circuit of the magnetic bearing coil; if it is determined that the coil failure failure signal is received , Then record the number of consecutively received coil failure fault signals, and when the number of consecutively received coil failure fault signals is greater than the threshold, it is determined that the first part of the bearing coil exists in the magnetic bearing.

在一些实施例中，存储介质还被设置为存储用于执行以下步骤的计算机程序：当第一转换电压大于或等于第一参考电压时，确定从第一比较器接收到过流故障信号，第一转换电压为第一比较器的第一输入端处的输入电压，第一参考电压为第一比较器的第二输入端处的输入电压；当第二转换电压小于或等于第二参考电压时，确定从第二比较器接收到断路故障信号，第二转换电压为第二比较器的第一输入端处的输入电压，第二参考电压为第二比较器的第二输入端处的输入电压；第一转换电压和第二转换电压由第一部分轴承线圈的电流转换得到。In some embodiments, the storage medium is further configured to store a computer program for performing the following steps: when the first conversion voltage is greater than or equal to the first reference voltage, it is determined that an overcurrent fault signal is received from the first comparator, and the first A conversion voltage is the input voltage at the first input terminal of the first comparator, and the first reference voltage is the input voltage at the second input terminal of the first comparator; when the second conversion voltage is less than or equal to the second reference voltage , It is determined that the open-circuit fault signal is received from the second comparator, the second converted voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the input voltage at the second input terminal of the second comparator ; The first conversion voltage and the second conversion voltage are obtained by the current conversion of the first part of the bearing coil.

在一些实施例中，存储介质还被设置为存储用于执行以下步骤的计算机程序：基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的上方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸。In some embodiments, the storage medium is further configured to store a computer program for performing the following steps: based on the magnetic circuit of the first part of the bearing coil, when it is determined that the first part of the bearing coil is located above the reference line, the first part of the bearing coil is cut off Corresponding to the pulse width modulated wave, the reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction.

在一些实施例中，存储介质还被设置为存储用于执行以下步骤的计算机程序：在基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的下方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸，第二部分轴承线圈为磁悬浮轴承中除第一部分轴承线圈之外的部分轴承线圈。In some embodiments, the storage medium is further configured to store a computer program for performing the following steps: cutting off the first part of the bearing when it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located The coil corresponds to the pulse width modulation wave, and the direction of the bearing magnetic force is adjusted by cutting off the second part of the bearing coil. The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction. The second part of the bearing coil It is the part of the bearing coil in the magnetic suspension bearing except the first part of the bearing coil.

在一些实施例中，存储介质还被设置为存储用于执行以下步骤的计算机程序：采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将第二部分轴承线圈进行短路处理，切断第二部分轴承线圈；或者采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将第二部分轴承线圈进行断路处理，切断第二部分轴承线圈。In some embodiments, the storage medium is further configured to store a computer program for executing the following steps: using a tapped coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil, the second part of the bearing coil Perform short-circuit treatment to cut off the second part of the bearing coil; or use the tapped coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil to open the second part of the bearing coil and cut off the second part of the bearing coil .

在一些实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。In some embodiments, the aforementioned storage medium may include, but is not limited to: U disk, Read-Only Memory (Read-Only Memory, ROM for short), Random Access Memory (RAM for short), mobile hard disk, magnetic disk Various media that can store computer programs, such as discs or optical discs.

本公开的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。An embodiment of the present disclosure also provides an electronic device, including a memory and a processor, the memory is stored with a computer program, and the processor is configured to run the computer program to execute the steps in any of the foregoing method embodiments.

在一些实施例中，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。In some embodiments, the aforementioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the aforementioned processor, and the input-output device is connected to the aforementioned processor.

在一些实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：S1，根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，第一部分轴承线圈为已失效的轴承线圈；S2，基于第一部分轴承线圈所在磁路，进行失效故障处理。In some embodiments, the above-mentioned processor may be configured to perform the following steps through a computer program: S1, according to whether a coil failure fault signal is received, determine whether there is a first part of the bearing coil in the magnetic bearing, and the first part of the bearing coil is failed Bearing coil; S2, based on the magnetic circuit where the first part of the bearing coil is located, perform failure troubleshooting.

在一些实施例中，上述处理器还可以被设置为通过计算机程序执行以下步骤：判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到线圈失效故障信号；如果确定接收到线圈失效故障信号，则记录连续接收到线圈失效故障信号的次数，并且当连续接收到线圈失效故障信号的次数大于阈值时，确定磁悬浮轴承中存在所述第一部分轴承线圈。In some embodiments, the above-mentioned processor may also be configured to execute the following steps through a computer program: determine whether a coil failure fault signal is received from the output terminal of the magnetic bearing coil failure detection circuit; if it is determined that the coil failure signal is received, Then, the number of consecutively received coil failure fault signals is recorded, and when the number of consecutively received coil failure fault signals is greater than the threshold, it is determined that the first part of the bearing coil exists in the magnetic suspension bearing.

在一些实施例中，上述处理器还可以被设置为通过计算机程序执行以下步骤：当第一转换电压大于或等于第一参考电压时，确定从第一比较器接收到过流故障信号，第一转换电压为第一比较器的第一输入端处的输入电压，第一参考电压为第一比较器的第二输入端处的输入电压；当第二转换电压小于或等于第二参考电压时，确定从第二比较器接收到断路故障信号，第二转换电压为第二比较器的第一输入端处的输入电压，第二参考电压为第二比较器的第二输入端处的输入电压；第一转换电压和第二转换电压由第一部分轴承线圈的电流转换得到。In some embodiments, the above-mentioned processor may be further configured to execute the following steps through a computer program: when the first conversion voltage is greater than or equal to the first reference voltage, determining that an overcurrent fault signal is received from the first comparator, and the first The converted voltage is the input voltage at the first input terminal of the first comparator, and the first reference voltage is the input voltage at the second input terminal of the first comparator; when the second converted voltage is less than or equal to the second reference voltage, Determining that the open circuit fault signal is received from the second comparator, the second converted voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the input voltage at the second input terminal of the second comparator; The first converted voltage and the second converted voltage are obtained by converting the current of the first part of the bearing coil.

在一些实施例中，上述处理器还可以被设置为通过计算机程序执行以下步骤：基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的上方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸。In some embodiments, the above-mentioned processor may also be configured to execute the following steps through a computer program: based on the magnetic circuit of the first part of the bearing coil, when it is determined that the first part of the bearing coil is located above the reference line, cut off the corresponding portion of the first part of the bearing coil The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction.

在一些实施例中，上述处理器还可以被设置为通过计算机程序执行以下步骤：在基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的下方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸，第二部分轴承线圈为磁悬浮轴承中除第一部分轴承线圈之外的部分轴承线圈。In some embodiments, the above-mentioned processor may be further configured to execute the following steps through a computer program: in the case where it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located, the first part of the bearing coil is cut off Corresponding pulse width modulation wave, and adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil. The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction. The second part of the bearing coil is Part of the bearing coil in the magnetic suspension bearing except the first part of the bearing coil.

在一些实施例中，上述处理器还可以被设置为通过计算机程序执行以下步骤：采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将第二部分轴承线圈进行短路处理，切断第二部分轴承线圈；或者采用第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将第二部分轴承线圈进行断路处理，切断第二部分轴承线圈。In some embodiments, the above-mentioned processor may also be configured to execute the following steps through a computer program: using a tap coil between each bearing coil in the second part of the bearing coil and the adjacent bearing coil to perform the second part of the bearing coil. Short-circuit treatment, cut off the second part of the bearing coil; or use the tapped coil between each bearing coil and the adjacent bearing coil in the second part of the bearing coil to open the second part of the bearing coil to cut off the second part of the bearing coil.

本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。For specific examples in this embodiment, reference may be made to the examples described in the above-mentioned embodiments and alternative implementations, and this embodiment will not be repeated here.

在本实施例中还提供了一种磁悬浮轴承。该磁悬浮轴承包括：磁悬浮轴承线圈的故障检测电路，用于输出线圈失效故障信号；轴承控制器，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，以及基于第一部分轴承线圈所在磁路，进行失效故障处理，第一部分轴承线圈为已失效的轴承线圈。In this embodiment, a magnetic suspension bearing is also provided. The magnetic bearing includes: a fault detection circuit of the magnetic bearing coil, which is used to output a coil failure fault signal; a bearing controller, which is used to determine whether the first part of the bearing coil exists in the magnetic bearing according to whether the coil failure fault signal is received, and based on the first part of the bearing coil. A part of the bearing coil is located in the magnetic circuit, and the failure fault treatment is performed. The first part of the bearing coil is the failed bearing coil.

在一些实施例中，轴承控制器，还用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到线圈失效故障信号，以及如果确定接收到线圈失效故障信号，则记录连续接收到线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定磁悬浮轴承中存在第一部分轴承线圈。In some embodiments, the bearing controller is also used to determine whether a coil failure failure signal is received from the output terminal of the magnetic suspension bearing coil failure detection circuit, and if it is determined that the coil failure failure signal is received, it records that the coil failure is continuously received The number of failure signals, and when the number of consecutively receiving the coil failure failure signal is greater than the threshold, it is determined that the first part of the bearing coil exists in the magnetic suspension bearing.

在一些实施例中，磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，线圈失效故障信号包括过流故障信号或者断路故障信号，第一比较器用于输出过流故障信号，所述第二比较器用于输出断路故障信号。In some embodiments, the fault detection circuit of the magnetic bearing coil includes a first comparator and a second comparator. The coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal. The first comparator is used to output an overcurrent fault signal. The second comparator is used to output an open circuit fault signal.

在一些实施例中，第一比较器包括：第一输入端，用于接收第一转换电压，第一转换电压由第一部分轴承线圈的电流转换得到；第二输入端，用于接收第一参考电压；输出端，用于当第一转换电压大于或等于第一参考电压时，输出过流故障信号。In some embodiments, the first comparator includes: a first input terminal for receiving a first converted voltage, the first converted voltage is converted from the current of the first part of the bearing coil; a second input terminal for receiving the first reference Voltage; The output terminal is used to output an overcurrent fault signal when the first conversion voltage is greater than or equal to the first reference voltage.

在一些实施例中，第二比较器包括：第一输入端，用于接收第二转换电压，第二转换电压由所述第一部分轴承线圈的电流转换得到；第二输入端，用于接收第二参考电压；输出端，用于当第二转换电压小于或等于第二参考电压时，输出断路故障信号。In some embodiments, the second comparator includes: a first input terminal for receiving a second converted voltage, the second converted voltage being converted from the current of the first part of the bearing coil; a second input terminal for receiving the second Two reference voltages; the output terminal is used to output an open circuit fault signal when the second conversion voltage is less than or equal to the second reference voltage.

在一些实施例中，轴承控制器，还用于在基于第一部分轴承线圈所在磁路，确定第一部分轴承线圈位于基准线的上方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，基准线通过磁悬浮轴承所环绕的转子的质心，且基准线在水平方向上延伸。In some embodiments, the bearing controller is further configured to cut off the pulse width modulated wave corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located. The line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction.

在一些实施例中，轴承控制器，还用于在基于第一部分轴承线圈所在磁路确定第一部分轴承线圈位于基准线的下方的情况下，切断第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，第二部分轴承线圈为磁悬浮轴承中除第一部分轴承线圈之外的部分轴承线圈，基准线通过磁悬浮轴承所环绕的转子的质心且基准线在水平方向上延伸。In some embodiments, the bearing controller is further configured to cut off the pulse width modulated wave corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located, and pass Cut off the second part of the bearing coil to adjust the direction of the bearing magnetic force. The second part of the bearing coil is part of the bearing coil of the magnetic bearing except the first part of the bearing coil. The reference line passes through the center of mass of the rotor surrounded by the magnetic bearing and the reference line is at Extend in the horizontal direction.

在一些实施例中，磁悬浮轴承为斜极式磁悬浮轴承，磁悬浮轴承的极数为4N，N为大于或等于2的正整数。In some embodiments, the magnetic suspension bearing is an oblique pole type magnetic suspension bearing, the number of poles of the magnetic suspension bearing is 4N, and N is a positive integer greater than or equal to 2.

在一些实施例中，当磁悬浮轴承为8极磁悬浮轴承时，磁悬浮轴承包括8个极柱，每个极柱上分别设置有磁力线圈，位于同一磁路的两个相邻磁力线圈串联形成1个磁场，位于同一磁路的两个相邻磁力线圈中间设置有抽头线圈。In some embodiments, when the magnetic suspension bearing is an 8-pole magnetic suspension bearing, the magnetic suspension bearing includes 8 poles, each pole is provided with a magnetic coil, and two adjacent magnetic coils located in the same magnetic circuit are connected in series to form one For the magnetic field, a tap coil is arranged between two adjacent magnetic coils in the same magnetic circuit.

上述本公开实施例序号仅仅为了描述，不代表实施例的优劣。The sequence numbers of the above-mentioned embodiments of the present disclosure are only for description, and do not represent the superiority of the embodiments.

在本公开的上述实施例中，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 disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

在本申请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 in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.

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, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

另外，在本公开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, the functional units in the various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware or 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，本公开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)执行本公开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。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present disclosure essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes. .

以上所述仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。The above are only the preferred embodiments of the present disclosure. It should be pointed out that for those of ordinary skill in the art, without departing from the principles of the present disclosure, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of this disclosure.

Claims

一种磁悬浮轴承的控制方法，包括：A control method of a magnetic suspension bearing includes:

根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，所述第一部分轴承线圈为已失效的轴承线圈；According to whether a coil failure fault signal is received, determine whether there is a first part of the bearing coil in the magnetic suspension bearing, and the first part of the bearing coil is a failed bearing coil;

基于所述第一部分轴承线圈所在磁路，进行失效故障处理。Based on the magnetic circuit where the first part of the bearing coil is located, failure fault processing is performed.
根据权利要求1所述的控制方法，其中，所述根据是否接收到线圈失效故障信号，确定所述磁悬浮轴承中是否存在所述第一部分轴承线圈包括：The control method according to claim 1, wherein the determining whether the first part of the bearing coil exists in the magnetic suspension bearing according to whether a coil failure fault signal is received comprises:

判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号；Judging whether the coil failure fault signal is received from the output terminal of the fault detection circuit of the magnetic suspension bearing coil;

如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。If it is determined that the coil failure fault signal is received, the number of consecutively received coil failure fault signals is recorded, and when the number of consecutively received coil failure fault signals is greater than the threshold, it is determined that all the magnetic bearings are present. The first part of the bearing coil.
根据权利要求2所述的控制方法，其中，所述磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号，The control method according to claim 2, wherein the fault detection circuit of the magnetic suspension bearing coil includes a first comparator and a second comparator, and the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal,

所述确定接收到所述线圈失效故障信号包括：The determining that the coil failure fault signal is received includes:

当第一转换电压大于或等于第一参考电压时，确定从所述第一比较器接收到过流故障信号，所述第一转换电压为所述第一比较器的第一输入端处的输入电压，所述第一参考电压为所述第一比较器的第二输入端处的输入电压；When the first conversion voltage is greater than or equal to the first reference voltage, it is determined that an overcurrent fault signal is received from the first comparator, and the first conversion voltage is the input at the first input terminal of the first comparator Voltage, the first reference voltage is the input voltage at the second input terminal of the first comparator;

当第二转换电压小于或等于第二参考电压时，确定从所述第二比较器接收到断路故障信号，所述第二转换电压为所述第二比较器的第一输入端处的输入电压，所述第二参考电压为所述第二比较器的第二输入端处的输入电压，所述第一转换电压和所述第二转换电压由所述第一部分轴承线圈的电流转换得到。When the second conversion voltage is less than or equal to the second reference voltage, it is determined that an open circuit fault signal is received from the second comparator, and the second conversion voltage is the input voltage at the first input terminal of the second comparator The second reference voltage is the input voltage at the second input terminal of the second comparator, and the first converted voltage and the second converted voltage are obtained by conversion of the current of the first part of the bearing coil.
根据权利要求1所述的控制方法，其中，所述基于所述第一部分轴承线圈所在磁路，进行失效故障处理包括：The control method according to claim 1, wherein the performing failure fault processing based on the magnetic circuit where the first part of the bearing coil is located comprises:

在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。When it is determined that the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located, the pulse width modulated wave corresponding to the first part of the bearing coil is cut off, and the reference line passes through the magnetic levitation The center of mass of the rotor surrounded by the bearing, and the reference line extends in the horizontal direction.
根据权利要求1所述的控制方法，其中，所述基于所述第一部分轴承线圈所在磁路，进行失效故障处理包括：The control method according to claim 1, wherein the performing failure fault processing based on the magnetic circuit where the first part of the bearing coil is located comprises:

在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的下方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈。When it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located, the pulse width modulated wave corresponding to the first part of the bearing coil is cut off, and by cutting off the second part of the bearing coil To adjust the output direction of the bearing magnetic force, the reference line passes through the center of mass of the rotor surrounded by the magnetic bearing, and the reference line extends in the horizontal direction. The second part of the bearing coil is divided by the magnetic bearing Part of the bearing coil other than the first part of the bearing coil.
根据权利要求5所述的控制方法，其中，所述切断所述第二部分轴承线圈包括：The control method according to claim 5, wherein the cutting off the second part of the bearing coil comprises:

采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行短路处理，切断所述第二部分轴承线圈；或者Using the tapped coils between each bearing coil and the adjacent bearing coils in the second part of the bearing coils, short-circuit the second part of the bearing coils, and cut off the second part of the bearing coils; or

采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行断路处理，切断所述第二部分轴承线圈。Using the tapped coils between each bearing coil and the adjacent bearing coils in the second part of the bearing coils, the second part of the bearing coils are subjected to circuit breaker processing to cut off the second part of the bearing coils.
一种磁悬浮轴承的控制装置，包括：A control device of a magnetic suspension bearing includes:

确定模块，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，所述第一部分轴承线圈为已失效的轴承线圈；The determining module is configured to determine whether there is a first part of the bearing coil in the magnetic suspension bearing according to whether a coil failure fault signal is received, and the first part of the bearing coil is a failed bearing coil;

处理模块，用于基于所述第一部分轴承线圈所在磁路，进行失效故障处理。The processing module is configured to perform failure fault processing based on the magnetic circuit where the first part of the bearing coil is located.
根据权利要求7所述的控制装置，其中，所述确定模块包括：The control device according to claim 7, wherein the determining module comprises:

判断单元，用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号；A judging unit for judging whether the coil failure fault signal is received from the output terminal of the fault detection circuit of the magnetic suspension bearing coil;

第一确定单元，用于如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。The first determining unit is configured to, if it is determined that the coil failure fault signal is received, record the number of times the coil failure fault signal is continuously received, and determine when the number of times the coil failure fault signal is continuously received is greater than a threshold The first partial bearing coil is present in the magnetic suspension bearing.
根据权利要求8所述的控制装置，其中，所述磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号，8. The control device according to claim 8, wherein the fault detection circuit of the magnetic suspension bearing coil includes a first comparator and a second comparator, and the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal,

所述第一确定单元，用于当第一转换电压大于或等于第一参考电压时，确定从所述第一比较器接收到过流故障信号，所述第一转换电压为所述第一比较器的第一输入端处的输入电压，所述第一参考电压为所述第一比较器的第二输入端处的输入电压，当第二转换电压小于或等于第二参考电压时，确定从所述第二比较器接收到断路故障信号，所述第二转换电压为所述第二比较器的第一输入端处的输入电压，所述第二参考电压为所述第二比较器的第二输入端处的输入电压，所述第一转换电压和所述第二转换电压由所述第一部分轴承线圈的电流转换得到。The first determining unit is configured to determine that an overcurrent fault signal is received from the first comparator when the first conversion voltage is greater than or equal to the first reference voltage, and the first conversion voltage is the first comparison The input voltage at the first input terminal of the comparator, the first reference voltage is the input voltage at the second input terminal of the first comparator, and when the second converted voltage is less than or equal to the second reference voltage, it is determined from The second comparator receives an open-circuit fault signal, the second conversion voltage is the input voltage at the first input terminal of the second comparator, and the second reference voltage is the first input voltage of the second comparator. The input voltage at the second input terminal, the first converted voltage and the second converted voltage are obtained by conversion of the current of the first part of the bearing coil.
根据权利要求7所述的控制装置，其中，所述处理模块包括：The control device according to claim 7, wherein the processing module comprises:

第二确定单元，用于基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈是否位于基准线的上方，所述基准线通过所述磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸；The second determining unit is configured to determine whether the first part of the bearing coil is located above a reference line based on the magnetic circuit where the first part of the bearing coil is located, and the reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and The reference line extends in the horizontal direction;

第一处理单元，用于在所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波。The first processing unit is configured to cut off the pulse width modulated wave corresponding to the first part of the bearing coil when the first part of the bearing coil is located above the reference line.
根据权利要求7所述的控制装置，其中，所述处理模块包括：The control device according to claim 7, wherein the processing module comprises:

第三确定单元，用于基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈是否位于基准线的下方，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸；The third determining unit is configured to determine whether the first part of the bearing coil is located below a reference line based on the magnetic circuit where the first part of the bearing coil is located, the reference line passing through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference The line extends in the horizontal direction;

第二处理单元，用于切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈。The second processing unit is used to cut off the pulse width modulation wave corresponding to the first part of the bearing coil, and adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil. The second part of the bearing coil is in the magnetic suspension bearing Part of the bearing coil other than the first part of the bearing coil.
根据权利要求11所述的控制装置，其中，The control device according to claim 11, wherein:

所述第二处理单元，用于采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间的抽头线圈，将所述第二部分轴承线圈进行短路处理，切断所述第二部分轴承线圈，或者，采用所述第二部分轴承线圈中每个轴承线圈与相邻轴承线圈之间抽头线圈，将所述第二部分轴承线圈进行断路处理，切断所述第二部分轴承线圈。The second processing unit is configured to use the tapped coils between each bearing coil and the adjacent bearing coils in the second part of the bearing coils to short-circuit the second part of the bearing coils, and to cut off the second part of the bearing coils. Part of the bearing coil, or, using a tapped coil between each bearing coil and the adjacent bearing coil in the second part of the bearing coil, the second part of the bearing coil is subjected to circuit breaker processing, and the second part of the bearing coil is cut off.
一种磁悬浮轴承，包括：A magnetic suspension bearing includes:

磁悬浮轴承线圈的故障检测电路，用于输出线圈失效故障信号；The fault detection circuit of the magnetic suspension bearing coil is used to output the failure signal of the coil;

轴承控制器，用于根据是否接收到线圈失效故障信号，确定磁悬浮轴承中是否存在第一部分轴承线圈，以及基于所述第一部分轴承线圈所在磁路，进行失效故障处理，所述第一部分轴承线圈为已失效的轴承线圈。The bearing controller is used to determine whether there is a first part of the bearing coil in the magnetic bearing according to whether a coil failure fault signal is received, and to perform failure fault processing based on the magnetic circuit of the first part of the bearing coil, the first part of the bearing coil is Bearing coils that have failed.
根据权利要求13所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 13, wherein:

所述轴承控制器，还用于判断是否从磁悬浮轴承线圈的故障检测电路的输出端接收到所述线圈失效故障信号，以及如果确定接收到所述线圈失效故障信号，则记录连续接收到所述线圈失效故障信号的次数，并且当连续接收到所述线圈失效故障信号的次数大于阈值时，确定所述磁悬浮轴承中存在所述第一部分轴承线圈。The bearing controller is also used to determine whether the coil failure failure signal is received from the output terminal of the magnetic suspension bearing coil failure detection circuit, and if it is determined that the coil failure failure signal is received, record that the coil failure failure signal is continuously received The number of times of the coil failure fault signal, and when the number of times of continuously receiving the coil failure signal is greater than a threshold value, it is determined that the first part of the bearing coil exists in the magnetic suspension bearing.
根据权利要求14所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 14, wherein:

所述磁悬浮轴承线圈的故障检测电路包括第一比较器和第二比较器，所述线圈失效故障信号包括过流故障信号或者断路故障信号，所述第一比较器用于输出所述过流故障信号，所述第二比较器用于所述输出断路故障信号。The fault detection circuit of the magnetic suspension bearing coil includes a first comparator and a second comparator, the coil failure fault signal includes an overcurrent fault signal or an open circuit fault signal, and the first comparator is used to output the overcurrent fault signal , The second comparator is used for the output open circuit fault signal.
根据权利要求15所述的磁悬浮轴承，其中，所述第一比较器包括：The magnetic suspension bearing according to claim 15, wherein the first comparator comprises:

第一输入端，用于接收第一转换电压，所述第一转换电压由所述第一部分轴承线圈的电流转换得到；A first input terminal for receiving a first converted voltage, the first converted voltage being obtained by converting the current of the first part of the bearing coil;

第二输入端，用于接收第一参考电压；The second input terminal is used to receive the first reference voltage;

输出端，用于当所述第一转换电压大于或等于所述第一参考电压时，输出所述过流故障信号。The output terminal is used to output the overcurrent fault signal when the first conversion voltage is greater than or equal to the first reference voltage.
根据权利要求15所述的磁悬浮轴承，其中，所述第二比较器包括：The magnetic suspension bearing according to claim 15, wherein the second comparator comprises:

第一输入端，用于接收第二转换电压，所述第二转换电压由所述第一部分轴承线圈的电流转换得到；The first input terminal is used to receive a second converted voltage, the second converted voltage is obtained by converting the current of the first part of the bearing coil;

第二输入端，用于接收第二参考电压；The second input terminal is used to receive the second reference voltage;

输出端，用于当所述第二转换电压小于或等于所述第二参考电压时，输出所述断路故障信号。The output terminal is used to output the open circuit fault signal when the second conversion voltage is less than or equal to the second reference voltage.
根据权利要求13所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 13, wherein:

所述轴承控制器，还用于在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的上方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。The bearing controller is further configured to cut off the pulse width modulated wave corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located above the reference line based on the magnetic circuit where the first part of the bearing coil is located The reference line passes through the center of mass of the rotor surrounded by the magnetic suspension bearing, and the reference line extends in a horizontal direction.
根据权利要求13所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 13, wherein:

所述轴承控制器，还用于在基于所述第一部分轴承线圈所在磁路，确定所述第一部分轴承线圈位于基准线的下方的情况下，切断所述第一部分轴承线圈对应的脉冲宽度调制波，并且通过切断第二部分轴承线圈来调整轴承磁力的出力方向，所述第二部分轴承线圈为所述磁悬浮轴承中除所述第一部分轴承线圈之外的部分轴承线圈，所述基准线通过磁悬浮轴承所环绕的转子的质心，且所述基准线在水平方向上延伸。The bearing controller is further configured to cut off the pulse width modulated wave corresponding to the first part of the bearing coil when it is determined that the first part of the bearing coil is located below the reference line based on the magnetic circuit where the first part of the bearing coil is located , And adjust the output direction of the bearing magnetic force by cutting off the second part of the bearing coil. The second part of the bearing coil is the part of the bearing coil in the magnetic suspension bearing except the first part of the bearing coil, and the reference line passes through the magnetic suspension. The center of mass of the rotor surrounded by the bearing, and the reference line extends in the horizontal direction.
根据权利要求13所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 13, wherein:

所述磁悬浮轴承为斜极式磁悬浮轴承，所述磁悬浮轴承的极数为4N，N为大于或等于2的正整数。The magnetic suspension bearing is an oblique pole type magnetic suspension bearing, and the number of poles of the magnetic suspension bearing is 4N, and N is a positive integer greater than or equal to 2.
根据权利要求20所述的磁悬浮轴承，其中，The magnetic suspension bearing according to claim 20, wherein:

当所述磁悬浮轴承为8极磁悬浮轴承时，所述磁悬浮轴承包括8个极柱，每个极柱上分别设置有磁力线圈，位于同一磁路的两个相邻磁力线圈串联形成1个磁场，位于同一磁路的两个相邻磁力线圈中间设置有抽头线圈。When the magnetic suspension bearing is an 8-pole magnetic suspension bearing, the magnetic suspension bearing includes 8 poles, each pole is provided with a magnetic coil, and two adjacent magnetic coils on the same magnetic circuit are connected in series to form a magnetic field. A tap coil is arranged between two adjacent magnetic coils on the same magnetic circuit.
一种磁悬浮轴承***，包括：A magnetic suspension bearing system includes:

一个转子；和A rotor; and

两个如权利要求13至21中任一项所述的磁悬浮轴承，所述两个磁悬浮轴承分别位于所述转子的两端。Two magnetic suspension bearings according to any one of claims 13 to 21, the two magnetic suspension bearings are respectively located at two ends of the rotor.
一种磁悬浮轴承的控制装置，包括：A control device of a magnetic suspension bearing includes:

存储器；和Memory; and

耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器装置中的指令，执行权利要求1-6任一项所述的磁悬浮轴承的控制方法。A processor coupled to the memory, and the processor is configured to execute the method for controlling a magnetic suspension bearing according to any one of claims 1 to 6, based on instructions stored in the memory device.
一种非瞬时性计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如权利要求1-6任一项所述的磁悬浮轴承的控制方法。A non-transitory computer-readable storage medium with a computer program stored thereon, and when the program is executed by a processor, the method for controlling a magnetic suspension bearing according to any one of claims 1 to 6 is realized.