CN104457649B - Method and device for detecting shaft in magnetic suspension system - Google Patents
Method and device for detecting shaft in magnetic suspension system Download PDFInfo
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- CN104457649B CN104457649B CN201310416439.8A CN201310416439A CN104457649B CN 104457649 B CN104457649 B CN 104457649B CN 201310416439 A CN201310416439 A CN 201310416439A CN 104457649 B CN104457649 B CN 104457649B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
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Abstract
The invention discloses a shaft detection method and a device in a magnetic suspension system, wherein the shaft detection method in the magnetic suspension system comprises the following steps: detecting the displacement of a shaft in the magnetic suspension system deviating from the central position; judging whether a fault of a shaft collision protection bearing exists according to the detection result; and controlling a motor in the magnetic suspension system to stop rotating when judging that the shaft collision protection bearing has a fault. By the invention, the magnetic suspension system can be prevented from being damaged.
Description
Technical field
The present invention relates to magnetic suspension fields, in particular to the shaft detection method and apparatus in a kind of magnetic suspension system.
Background technique
Magnetic suspension bearing is generally all applied in high speed rotation occasion, very high to the reliability requirement of magnetic suspension bearing.Axis
It is possible to that the failure of axis crash protection bearing can be generated in rotary course, after the failure for generating axis crash protection bearing, such as
Fruit motor continues to rotate, and is easily damaged magnetic suspension system.Inventors have found that the failure of axis crash protection bearing is to may result in
One of the failure of magnetic bearing system damage, still, in the prior art, does not examine the failure of axis crash protection bearing
It surveys, so that magnetic suspension system be caused to be easily damaged.
Aiming at the problem that magnetic suspension system is easily damaged in the prior art, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the present invention is to provide the shaft detection method and apparatus in a kind of magnetic suspension system, to solve magnetcisuspension
The problem of floating system vulnerable.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of shaft detection in magnetic suspension system
Method.
Shaft detection method in magnetic suspension system according to the present invention includes: that detection magnetic suspension system axis deviates centre bit
The displacement set；The failure of axis crash protection bearing is judged whether there is according to testing result；And judging that there are axis collisions
When protecting the failure of bearing, the motor controlled in magnetic suspension system stops rotating.
Further, it includes: at interval of the first predetermined time that detection magnetic suspension system axis, which deviates the displacement of center,
Detection axis deviates the displacement and the displacement of deviation center in the Y direction of center in X-direction；And according to axis in X-direction
The displacement for deviateing center and the displacement for deviateing center in the Y direction calculate the displacement that axis deviates center.
Further, the failure for judging whether there is axis crash protection bearing according to testing result includes: to judge that axis deviates
Whether the displacement of center is greater than predetermined threshold；And judging the displacement of shaft deviation center greater than predetermined threshold
When, determine that there are the failures of axis crash protection bearing.
Further, it includes: default at interval of second for judging whether the displacement of axis deviation center is greater than predetermined threshold
Time judges whether the displacement of secondary axes deviation center is greater than predetermined threshold, in the displacement for judging shaft deviation center
When greater than predetermined threshold, determine there are the failure of axis crash protection bearing to include: continuously to judge that shaft deviates center
When the number that displacement is greater than predetermined threshold is greater than preset times, determine that there are the failures of axis crash protection bearing.
Further, in the following manner determine predetermined threshold: respectively detection axis in the x direction and the y direction it is movable most
Big value and minimum value；And processing is weighted to the maximum value and minimum value of detection, calculate predetermined threshold.
To achieve the goals above, according to another aspect of the present invention, the shaft detection in a kind of magnetic suspension system is provided
Device.
Shaft detection device in magnetic suspension system according to the present invention includes: detection unit, for detecting magnetic suspension system
The displacement of axis deviation center；Judging unit, for judging whether there is axis crash protection bearing according to testing result
Failure；And control unit, for judging to control the electricity in magnetic suspension system there are when the failure of axis crash protection bearing
Machine stops rotating.
Further, detection unit includes: detection module, for inclined in X-direction at interval of the first predetermined time detection axis
Displacement and the displacement of deviation center in the Y direction from center；And computing module, for inclined in X-direction according to axis
Displacement and the displacement for being displaced calculating axis and deviateing center of deviation center in the Y direction from center.
Further, judging unit includes: judgment module, for judging it is pre- whether the displacement of axis deviation center is greater than
Determine threshold value；And determining module, for determining that there are axis when judging that shaft deviates the displacement of center greater than predetermined threshold
The failure of crash protection bearing.
Further, judgment module is used to judge at interval of the second preset time that the displacement of secondary axes deviation center to be
No to be greater than predetermined threshold, determining module is used to be greater than the number of predetermined threshold in the continuous displacement for judging shaft deviation center
When greater than preset times, determine that there are the failures of axis crash protection bearing.
Further, judgment module for determining predetermined threshold in the following manner: detection axis is in X-direction and the side Y respectively
To movable maximum value and minimum value；And processing is weighted to the maximum value and minimum value of detection, calculate predetermined threshold
Value.
Through the invention, the displacement of center is deviateed using detection magnetic suspension system axis, and according to testing result
The failure of axis crash protection bearing is judged whether there is, and is judging to control there are when the failure of axis crash protection bearing
Motor in magnetic suspension system stops rotating, and the method for detecting magnetic suspension system axis crash protection bearing solves magnetic suspension
The problem of system vulnerable, and then achieved the effect that magnetic suspension system is avoided to damage.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of magnetic suspension bearing according to an embodiment of the present invention；
Fig. 2 is the schematic diagram of the shaft detection device in magnetic suspension system according to a first embodiment of the present invention；
Fig. 3 is the schematic diagram of the shaft detection device in magnetic suspension system according to a second embodiment of the present invention；
Fig. 4 is the schematic diagram of the shaft detection device in magnetic suspension system according to a third embodiment of the present invention；
Fig. 5 is the flow chart of the shaft detection method in magnetic suspension system according to a first embodiment of the present invention；
Fig. 6 is the flow chart of the shaft detection method in magnetic suspension system according to a second embodiment of the present invention；
Fig. 7 is the flow chart of the shaft detection method in magnetic suspension system according to a third embodiment of the present invention；
Fig. 8 is the flow chart of the shaft detection method in magnetic suspension system according to a fourth embodiment of the present invention；
Fig. 9 be it is according to an embodiment of the present invention it is continuous judgement shaft deviate center displacement be greater than predetermined threshold when
Between and status diagram；
Figure 10 is that judgement axis according to an embodiment of the present invention deviates the displacement of center and the time of predetermined threshold result
With status diagram；And
Figure 11 is the flow chart that the motor in control magnetic suspension system according to an embodiment of the present invention stops rotating.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
In cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units need not
Those of be limited to be clearly listed step or unit, but may include be not clearly listed or for these process, methods,
The other step or units of product or equipment inherently.
Fig. 1 is the schematic diagram of magnetic suspension bearing according to an embodiment of the present invention.As shown, the magnetic suspension bearing includes axis
1 and protection bearing 2.Wherein, axis 1 is located in protection bearing 2, multiple coils can be set in the outside of protection bearing 2, so that logical
The magnetic force that coil after electricity generates can drive the axis in protection bearing to be rotated, and so that axis is suspended in protection bearing and rotate.
Preferably, protecting multiple coils of Bearing outer can be symmetrical arranged, and can guarantee that axis suspends at the center of protection bearing and rotate.
It is rotated to detect the axis in magnetic suspension system and whether suspend at the center of protection bearing, is protecting Bearing outer also
Multiple sensors 3 can be set, multiple sensors can be arranged with multiple coils in identical direction.X1, Y1, X2 in Fig. 1,
Y2 respectively indicates a sensor.
Fig. 2 is the schematic diagram of the shaft detection device in magnetic suspension system according to a first embodiment of the present invention.As shown,
The detection device includes detection unit 10, judging unit 20 and control unit 30.
Detection unit 10 is used to detect the displacement that magnetic suspension system axis deviates center.Detect magnetic suspension system axis
The displacement for deviateing center can detect X-direction respectively and deviate the displacement of center and the position of Y-direction deviation center
It moves, magnetic suspension system is then calculated by the displacement that the displacement and Y-direction of X-direction deviation center deviate center
The displacement of axis deviation center.
Judging unit 20 is used to judge whether there is the failure of axis crash protection bearing according to testing result.Axis is in X-direction
Deviate center, then axis may collide protection bearing in the X direction, reach if axis deviates center in X-direction
Scheduled threshold value, it may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing；Axis deviates in the Y direction
Center, then axis may collide protection bearing in the Y direction, if axis deviates center in the Y direction reaches predetermined
Threshold value, it may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing.According to testing result judgement be
It is no there are the failure of axis crash protection bearing can also include then by X-direction deviation center displacement and Y-direction it is inclined
Displacement from center is calculated after the displacement that magnetic suspension system axis deviates center, if in magnetic suspension system
The displacement that axis deviates center reaches scheduled threshold value, it may be considered that axis collides protection bearing, there are axis crash protections
The failure of bearing.
Control unit 30 is used to judge to control the electricity in magnetic suspension system there are when the failure of axis crash protection bearing
Machine stops rotating.In order to avoid damaging magnetic suspension system, judge that there are the failures of axis crash protection bearing in judging unit 20
When, controlling motor stalls in magnetic suspension system so that the axis controlled in magnetic levitation bearing system stops operating makes magnetic suspension
Axis no longer crash protection bearing in bearing arrangement.
By the above method, the failure of axis crash protection bearing can be detected in time, and is detecting axis collision guarantor
When protecting the failure of bearing, the motor controlled in magnetic suspension system stops rotating, and avoids the failure of axis crash protection bearing to magnetic
It is damaged caused by suspension system.
Fig. 3 is the schematic diagram of the shaft detection device in magnetic suspension system according to a second embodiment of the present invention.As shown,
The detection device includes detection unit 10, judging unit 20 and control unit 30, wherein detection unit 10 includes detection module
101 and computing module 102.
It should be noted that in judging unit 20 and control unit 30 and embodiment illustrated in fig. 2 in embodiment illustrated in fig. 3
Judging unit 20 it is identical with 30 content of control unit, this will not be repeated here.
Detection module 101 is used to deviate the displacement of center in X-direction at interval of the first predetermined time detection axis and in Y
The displacement of direction deviation center.Detection module 101 can be displacement sensor, can be detected by detection displacement signal
Axis deviates the displacement and the displacement of deviation center in the Y direction of center in X-direction.First predetermined time can be basis
The time that experimental calculation obtains, such as 50us, 100us, 1ms etc..101 detection axis of detection module deviates center in X-direction
Displacement can be Err_X=X-Ref_X, the displacement that axis deviates center in the Y direction can be Err_Y=Y-Ref_Y.Its
In, X is actual displacement of the axis in X-direction, and Y is the actual displacement of axis in the Y direction, and Ref_X is axis in the center of X-direction,
Ref_Y is the center of axis in the Y direction, and Err_X is the displacement that axis deviates center in X-direction, and Err_Y is axis in the side Y
To the displacement for deviateing center.
Computing module 102 is used to deviate the displacement of center and the position for deviateing center in the Y direction in X-direction according to axis
It moves and calculates the displacement that axis deviates center.Detect axis in the displacement of X-direction deviation center and in the side Y in detection module 101
To deviate center displacement after, computing module 102 can according to axis X-direction deviate center displacement Err_X and
The displacement that axis deviates center is calculated in the displacement Err_Y that Y-direction deviates center
Wherein, Err_XY is the displacement that axis deviates center.
Fig. 4 is the schematic diagram of the shaft detection device in magnetic suspension system according to a third embodiment of the present invention.As shown,
The detection device includes detection unit 10, judging unit 20 and control unit 30, wherein judging unit 20 includes judgment module
201 and determining module 202.
It should be noted that in detection unit 10 and control unit 30 and embodiment illustrated in fig. 2 in embodiment illustrated in fig. 4
Detection unit 10 it is identical with 30 content of control unit, this will not be repeated here.
Judgment module 201 is used to judge whether the displacement of axis deviation center to be greater than predetermined threshold.In detection unit 10
After detecting the displacement that axis deviates center, judgment module 201 can deviate the displacement of center by comparing axis
Err_XY and predetermined threshold, judge whether the displacement of axis deviation center is greater than predetermined threshold.Predetermined threshold can be according to reality
It tests Data Summary to obtain, it is preferable that in order to keep the value of predetermined threshold more accurate, judgment module can in the following manner really
Determine predetermined threshold:
Distinguish detection axis movable maximum value and minimum value in the x direction and the y direction.Because the internal diameter for protecting bearing is that have
Limit, axis in magnetic bearing system and protect the gap of bearing generally all in 100-500um or so, therefore predetermined threshold can be with
Be in the range of such as 100-500um maximum value (such as 450um), minimum value that axis can be acted in X-direction (such as
50um) maximum value (such as 450um), the minimum value (such as 50um) that can be acted in the Y direction with axis.
Maximum value and minimum value to detection are weighted processing, calculate predetermined threshold.By the axis to detection in the side X
Maximum value, the minimum value that can be acted in the Y direction to the maximum value, minimum value and axis that can act are weighted processing, can be with
Calculate predetermined threshold.The predetermined threshold can be the limiting value that axis collides protection bearing.
Determining module 202 is used to determine that there are axis when judging that shaft deviates the displacement of center greater than predetermined threshold
The failure of crash protection bearing.When judging that shaft deviates the displacement of center greater than predetermined threshold, determining module 202 is determined
There are the failures of axis crash protection bearing, have also determined that axis collides protection bearing.
In order to more accurately judge whether there is the failure of axis crash protection bearing, magnetic suspension through the embodiment of the present invention
Judgment module 201 in shaft detection device and determining module 202 in system can further determine that there are axis crash protections
The failure of bearing, judgment module 201 and determining module 202 can determine the event there are axis crash protection bearing by the following method
Barrier:
Judgment module 201 is used to judge at interval of the second preset time whether the displacement of secondary axes deviation center to be greater than
Predetermined threshold.Second preset time can be greater than the first preset time, when the second preset time may include multiple first default
Between.In the second preset time, it can detecte multiple axis obtained at interval of the first preset time in X-direction and deviate centre bit
The displacement and the displacement of deviation center in the Y direction set.Judgment module 201 can judge primary at interval of the second preset time
Whether the displacement that the multiple axis detected in the second preset time deviate center is greater than predetermined threshold.For example,
There are 100 the first preset times in two preset times, then there are 100 axis to deviate centre bit in each second preset time
The displacement set then judges the displacement of 100 axis deviation centers in second preset time at interval of the second preset time
In each axis deviate center displacement whether be greater than predetermined threshold.
Determining module 202 is used to be greater than in the number that the continuous displacement for judging shaft deviation center is greater than predetermined threshold
When preset times, determine that there are the failures of axis crash protection bearing.
If continuously judging that the displacement of shaft deviation center is greater than in the displacement that above-mentioned 100 axis deviate center
When the number of predetermined threshold is more than or equal to preset times, determine that there are the failures of axis crash protection bearing.If continuously judged
The number that the displacement that axis deviates center is greater than predetermined threshold is less than or equal to preset times, then judging result before is clear
Zero, whether the displacement for rejudging axis deviation center is greater than preset times greater than the number of predetermined threshold.For example, continuous 5
When the displacement that secondary judgement shaft deviates center is greater than predetermined threshold, determine that there are the failures of axis crash protection bearing.If
Continuously judge that 4 secondary axes deviate the displacement of center greater than predetermined threshold, and the displacement that the 5th axis deviates center is less than
Predetermined threshold is then counted when judging for the 6th time again, and preceding 5 states are reset.Wherein, the value of preset times can be with
System structure, revolving speed, load and experience are related, and such as the speed of motor exists in the magnetic suspension system of the embodiment of the present invention
It is 7 that preset times can be taken when 200Hz, has reached relatively good detection effect, protection axis is broken when effectively axis can be avoided to collide
It holds.
By continuously judging that the displacement of shaft deviation center is greater than preset times greater than the number of predetermined threshold come really
Surely there is the method for the failure of axis crash protection bearing, can be avoided the inaccuracy of breakdown judge caused by sampling error, to mention
The precision and accuracy of high detection.
The embodiments of the present invention also provide a kind of shaft detection methods in magnetic suspension system.The magnetcisuspension of the embodiment of the present invention
Shaft detection method in floating system can through the embodiment of the present invention provided by shaft detection device in magnetic suspension system hold
It goes, the shaft detection device in the magnetic suspension system of the embodiment of the present invention can be used for executing magnetic provided by the embodiment of the present invention
Shaft detection method in suspension system.
The shaft detection method in magnetic suspension system is described in detail below in conjunction with attached drawing, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 5 is the flow chart of the shaft detection method in magnetic suspension system according to a first embodiment of the present invention.Such as Fig. 5 institute
Show, this method comprises the following steps:
Step S501, detection magnetic suspension system axis deviate the displacement of center.Magnetic suspension system axis is detected to deviate
The displacement of center can detect X-direction respectively and deviate the displacement of center and the displacement of Y-direction deviation center,
Then it is calculated in magnetic suspension system by the displacement that the displacement and Y-direction of X-direction deviation center deviate center
The displacement of axis deviation center.
Step S502 judges whether there is the failure of axis crash protection bearing according to testing result.Axis is in X-direction deviation
Heart position, then axis may collide protection bearing in the X direction, if axis, which deviates center in X-direction, reaches scheduled
Threshold value, it may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing；Axis deviates centre bit in the Y direction
It sets, then axis may collide protection bearing in the Y direction, if axis deviates center in the Y direction reaches scheduled threshold value,
It may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing.It judges whether there is according to testing result
The failure of axis crash protection bearing can also include then deviateing displacement and the Y-direction deviation center of center by X-direction
The displacement of position is calculated after the displacement that magnetic suspension system axis deviates center, if magnetic suspension system axis deviates
The displacement of center reaches scheduled threshold value, it may be considered that axis collides protection bearing, there are axis crash protection bearings
Failure.
Step S503 is judging that the motor controlled in magnetic suspension system stops there are when the failure of axis crash protection bearing
Spin-ended turn.In order to avoid damaging magnetic suspension system, judging to control magnetic suspension system there are when the failure of axis crash protection bearing
Motor stalls in system make the axis in magnetic levitation bearing system so that the axis controlled in magnetic levitation bearing system stops operating
No longer crash protection bearing.
By the above method, the failure of axis crash protection bearing can be detected in time, and is detecting axis collision guarantor
When protecting the failure of bearing, the motor controlled in magnetic suspension system stops rotating, and avoids the failure of axis crash protection bearing to magnetic
It is damaged caused by suspension system.
Fig. 6 is the flow chart of the shaft detection method in magnetic suspension system according to a second embodiment of the present invention.Such as Fig. 6 institute
Show, this method comprises the following steps:
Step S601 deviates the displacement of center and inclined in the Y direction in X-direction at interval of the first predetermined time detection axis
Displacement from center.Detection module 101 can be displacement sensor, can be by detecting displacement signal come detection axis in X
Deviate the displacement of center and deviate the displacement of center in the Y direction in direction.First predetermined time can be according to experiment
The time being calculated, such as 50us, 100us, 1ms etc..101 detection axis of detection module deviates the position of center in X-direction
Moving to be Err_X=X-Ref_X, and the displacement that axis deviates center in the Y direction can be Err_Y=Y-Ref_Y.Wherein, X is
Axis is in the actual displacement of X-direction, and Y is the actual displacement of axis in the Y direction, and Ref_X is axis in the center of X-direction, and Ref_Y is
The center of axis in the Y direction, Err_X are the displacements that axis deviates center in X-direction, and Err_Y is during axis deviates in the Y direction
The displacement of heart position.
Step S602 deviates the displacement and the displacement calculating of deviation center in the Y direction of center according to axis in X-direction
The displacement of axis deviation center.Detect that axis deviates the displacement of center in X-direction and in the Y direction deviates in detection module 101
After the displacement of center, computing module 102 can deviate the displacement Err_X of center and inclined in the Y direction in X-direction according to axis
The displacement that axis deviates center is calculated in displacement Err_Y from center
Wherein, Err_XY is the displacement that axis deviates center.
Step S603 judges whether there is the failure of axis crash protection bearing according to the displacement that axis deviates center.Axis
Deviate center in X-direction, then axis may collide protection bearing in the X direction, if axis deviates centre bit in X-direction
It sets and reaches scheduled threshold value, it may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing；Axis is in the side Y
To center is deviateed, then axis may collide protection bearing in the Y direction, reach if axis deviates center in the Y direction
To scheduled threshold value, it may be considered that axis collides protection bearing, there are the failures of axis crash protection bearing.According to testing result
The failure for judging whether there is axis crash protection bearing can also include then deviateing displacement and the Y of center by X-direction
The displacement that center is deviateed in direction is calculated after the displacement that magnetic suspension system axis deviates center, if magnetic suspension
The displacement that system axis deviates center reaches scheduled threshold value, it may be considered that axis collides protection bearing, there are axis to touch
Hit the failure of protection bearing.
Step S604 is judging that the motor controlled in magnetic suspension system stops there are when the failure of axis crash protection bearing
Spin-ended turn.In order to avoid damaging magnetic suspension system, judge to control there are when the failure of axis crash protection bearing in judging unit 20
Motor stalls in magnetic suspension system processed make magnetic suspension bearing so that the axis controlled in magnetic levitation bearing system stops operating
Axis no longer crash protection bearing in system.
Fig. 7 is the flow chart of the shaft detection method in magnetic suspension system according to a third embodiment of the present invention.Such as Fig. 7 institute
Show, this method comprises the following steps S701 to step S704:
Step S701, detection magnetic suspension system axis deviate the displacement of center.Magnetic suspension system axis is detected to deviate
The displacement of center can detect X-direction respectively and deviate the displacement of center and the displacement of Y-direction deviation center,
Then it is calculated in magnetic suspension system by the displacement that the displacement and Y-direction of X-direction deviation center deviate center
The displacement of axis deviation center.
Step S702, judges whether the displacement of axis deviation center is greater than predetermined threshold.It is detected in detection unit 10
After axis deviates the displacement of center, the displacement Err_XY and predetermined threshold of center are deviateed by comparing axis, judges axis
Whether the displacement for deviateing center is greater than predetermined threshold.Predetermined threshold can be summarized according to experimental data and be obtained, it is preferable that be
Keep the value of predetermined threshold more accurate, the method for determining predetermined threshold includes the following steps S101 to step S102:
Step S101 distinguishes detection axis movable maximum value and minimum value in the x direction and the y direction.Because protecting bearing
Internal diameter be it is limited, axis in magnetic bearing system and protect the gap of bearing generally all in 100-500um or so, therefore pre-
Determining threshold value can be in the range of such as 100-500um, maximum value (such as 450um) that axis can be acted in X-direction, minimum
Maximum value (such as 450um) that value (such as 50um) and axis can act in the Y direction, minimum value (such as 50um).
Step S102, maximum value and minimum value to detection are weighted processing, calculate predetermined threshold.By to detection
Axis maximum value, minimum value and the axis that can be acted in X-direction maximum value, the minimum value that can act in the Y direction be weighted
Processing, can calculate predetermined threshold.The predetermined threshold can be the limiting value that axis collides protection bearing.
Step S703 determines that there are axis collisions to protect when judging that shaft deviates the displacement of center greater than predetermined threshold
Protect the failure of bearing.When judging that shaft deviates the displacement of center greater than predetermined threshold, determining module 202 determines that there are axis
The failure of crash protection bearing has also determined that axis collides protection bearing.
Step S704 is judging that the motor controlled in magnetic suspension system stops there are when the failure of axis crash protection bearing
Spin-ended turn.Step S704 is compatible with the content of step S503 of embodiment illustrated in fig. 5, does not repeat them here secondary.
Fig. 8 is the flow chart of the shaft detection method in magnetic suspension system according to a fourth embodiment of the present invention.It is shown in Fig. 8
Shaft detection method in magnetic suspension system in embodiment can be used as the repacking in the magnetic suspension system in embodiment illustrated in fig. 7
The preferred embodiment of survey method can more accurately judge whether there is the failure of axis crash protection bearing, such as Fig. 8 institute
Show, this method comprises the following steps:
Step S801, detection magnetic suspension system axis deviate the displacement of center.Magnetic suspension system axis is detected to deviate
The displacement of center can detect X-direction respectively and deviate the displacement of center and the displacement of Y-direction deviation center,
Then it is calculated in magnetic suspension system by the displacement that the displacement and Y-direction of X-direction deviation center deviate center
The displacement of axis deviation center.
Step S802 judges whether the displacement of secondary axes deviation center is greater than predetermined threshold at interval of the second preset time
Value.Second preset time can be greater than the first preset time, and the second preset time may include multiple first preset times.?
In two preset times, the position that multiple axis obtained at interval of the first preset time deviate center in X-direction can detecte
Move and deviate in the Y direction the displacement of center.Judgment module 201 can judge at interval of the second preset time once second
Whether the displacement that multiple axis that detection obtains in preset time deviate center is greater than predetermined threshold.For example, default second
There are 100 the first preset times in time, then there are the positions that 100 axis deviate center in each second preset time
It moves, then judges that 100 axis deviate every in the displacement of center in second preset time at interval of the second preset time
Whether the displacement that a axis deviates center is greater than predetermined threshold.
Step S803, it is secondary greater than default greater than the number of predetermined threshold in the displacement for continuously judging shaft deviation center
When number, determine that there are the failures of axis crash protection bearing.If continuously judged in the displacement that above-mentioned 100 axis deviate center
When the number that the displacement that shaft deviates center is greater than predetermined threshold is more than or equal to preset times, determine that there are axis crash protections
The failure of bearing.If continuously judging that shaft deviates being displaced for center and is less than or equal to default time greater than the number of predetermined threshold
Number, then by before judging result reset, rejudge axis deviate center displacement be greater than predetermined threshold number whether
Greater than preset times.For example, determining that there are axis when judging that shaft deviates the displacement of center and is greater than predetermined threshold for continuous 5 times
The failure of crash protection bearing.If continuously judging that 4 secondary axes deviate the displacement of center and are greater than predetermined threshold, and the 5th
The displacement that axis deviates center is less than predetermined threshold, then counts again when judging for the 6th time, and preceding 5 states are reset.Its
In, the value of preset times can be related with system structure, revolving speed, load and experience, such as in the magnetic suspension of the embodiment of the present invention
It is 7 that the speed of motor, which can take preset times in 200Hz, in system, has reached relatively good detection effect, can be effective
Protection bearing is broken when axis being avoided to collide.
In above-mentioned deterministic process, the displacement that can establish continuous judgement shaft deviation center as shown in Figure 9 is greater than
The corresponding relationship of time and state when predetermined threshold.T1, T2 ... Tn are the first preset times in figure, it is each first it is default when
Between corresponding state be 0 or 1.It can indicate that axis deviates the displacement of center greater than predetermined threshold with 1, can be indicated with 0
The displacement that axis deviates center is less than predetermined threshold.Therefore, Fig. 9, which is shown, continuously judges that shaft deviates the displacement of center
Greater than predetermined threshold, it can be used to indicate continuously to judge that the displacement of shaft deviation center is greater than greater than the number of predetermined threshold
Preset times determine that there are the failures of axis crash protection bearing.
The displacement that the corresponding relationship of time shown in Fig. 10 and state shows the axis deviation center judged is big
It is less than the state of predetermined threshold in the displacement that the state and axis of predetermined threshold deviate center, and continuously judges that shaft deviates
The number that the displacement of center is greater than predetermined threshold is less than or equal to preset times, not can determine that there are axis crash protection bearings
Failure.
Step S804 is judging that the motor controlled in magnetic suspension system stops there are when the failure of axis crash protection bearing
Spin-ended turn.Step S804 in the embodiment is identical as the content of step S704 in embodiment illustrated in fig. 7, does not do herein superfluous
It states.
By continuously judging that the displacement of shaft deviation center is greater than preset times greater than the number of predetermined threshold come really
Surely there is the method for the failure of axis crash protection bearing, can be avoided the inaccuracy of breakdown judge caused by sampling error, to mention
The precision and accuracy of high detection.
Figure 11 is the flow chart that the motor in control magnetic suspension system according to an embodiment of the present invention stops rotating.
As shown, this method passes through DSP(Digital Signal Processor, referred to as digital signal processor)
System realizes that the motor in control magnetic suspension system stops rotating.Firstly, at the beginning of carrying out dsp system initialization and DSP peripheral module
Then beginningization is write and interrupts entry address, open CPU and interrupt and PIE interrupt register, then etc. to be interrupted and judge whether there is
It is disconnected, if it is determined that have interruption, into interruption entrance, and carry out floating axle control algolithm；If it is determined that not interrupting, then continue waiting for
It interrupts.
Etc. the signal to be interrupted that can be and motor is waited to stop rotating, when detecting axis crash protection bearing, electricity is issued
Machine halt-transfer signal, and the motor halt-transfer signal is sent to interruption and is returned, and is transmitted back in waiting by interruption
It is disconnected, it executes and waits interrupt step, and stopped rotating using floating axle control algolithm control motor.Detecting the non-crash protection axis of axis
When holding, which is sent to interruption and is returned, interrupted to return sending a signal to etc. to be interrupted, to be interrupted, the program such as determine
It continues to determine whether to exist and interrupt.
Motor can be controlled using digital information processing system by method and steps as shown in figure 11 to stop rotating.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of shaft detection method in magnetic suspension system characterized by comprising
Detect the displacement that magnetic suspension system axis deviates center；
The failure of axis crash protection bearing is judged whether there is according to testing result；And
Judging that the motor controlled in the magnetic suspension system stops rotating there are when the failure of axis crash protection bearing；
Detection magnetic suspension system axis deviate center displacement include:
The axis is detected at interval of the first predetermined time to deviate the displacement of center in X-direction and in the Y direction deviate centre bit
The displacement set, first predetermined time are the time obtained according to experimental calculation；And
The axis is calculated with the displacement for deviateing center in the Y direction in the displacement that X-direction deviates center according to the axis
Deviate the displacement of center, wherein pass through formulaAxis is calculated and deviates center
The displacement of position, Err_XY are the displacement that axis deviates center, and Err_X is the displacement that axis deviates center in X-direction,
Err_Y is the displacement for deviateing center in the Y direction；
The failure for judging whether there is axis crash protection bearing according to testing result includes:
Judge whether the displacement of axis deviation center is greater than predetermined threshold；And
When judging that the axis deviates the displacement of center greater than the predetermined threshold, determine that there are axis crash protection bearings
Failure；
Judging whether the displacement of axis deviation center is greater than predetermined threshold includes: to judge one at interval of the second preset time
Whether the displacement that the secondary axis deviates center is greater than the predetermined threshold,
When judging that the axis deviates the displacement of center greater than the predetermined threshold, determine that there are axis crash protection bearings
Failure include: continuously judge the axis deviate center displacement be greater than the predetermined threshold number be greater than it is default
When number, determine that there are the failures of axis crash protection bearing, wherein if continuously judging that the displacement of shaft deviation center is big
It is less than or equal to preset times in the number of predetermined threshold, then resets judging result before, rejudges axis and deviate centre bit
Whether the number that the displacement set is greater than predetermined threshold is greater than preset times, wherein first predetermined time is 50us or 100us
Or 1ms, the gap of axis and protection bearing in magnetic bearing system is 100-500um, range of the predetermined threshold in 100-500um
It is interior, axis the maximum value that X-direction can act be 450um, minimum value 50um, the maximum value that axis can act in the Y direction is
450um, minimum value 50um.
2. the shaft detection method in magnetic suspension system according to claim 1, which is characterized in that determine in the following manner
The predetermined threshold:
The axis movable maximum value and minimum value in the x direction and the y direction are detected respectively；And
Processing is weighted to the maximum value and the minimum value of detection, calculates the predetermined threshold.
3. the shaft detection device in a kind of magnetic suspension system characterized by comprising
Detection unit deviates the displacement of center for detecting magnetic suspension system axis；
Judging unit, for judging whether there is the failure of axis crash protection bearing according to testing result；And
Control unit, for judging to control the electricity in the magnetic suspension system there are when the failure of axis crash protection bearing
Machine stops rotating；
The detection unit includes:
Detection module, for detecting the axis in the displacement of X-direction deviation center and in the side Y at interval of the first predetermined time
To the displacement for deviateing center, time that when first predetermined time obtains according to experimental calculation；And
Computing module, for deviateing the displacement of center and the position for deviateing center in the Y direction in X-direction according to the axis
It moves and calculates the displacement that the axis deviates center, wherein pass through formulaIt calculates
Deviate the displacement of center to axis, Err_XY is the displacement that axis deviates center, and Err_X is axis at X-direction deviation center
The displacement of position, Err_Y are the displacement for deviateing center in the Y direction；
The judging unit includes:
Judgment module, for judging whether the displacement of axis deviation center is greater than predetermined threshold；And
Determining module, for determining and existing when judging that the axis deviates the displacement of center greater than the predetermined threshold
The failure of axis crash protection bearing；
Whether the displacement that the judgment module is used to deviate center at interval of the primary axis of the second preset time judgement is big
In the predetermined threshold,
The determining module is used to continuously judge that it is secondary greater than the predetermined threshold that the axis deviates being displaced for center
When number is greater than preset times, determine that there are the failures of axis crash protection bearing, wherein if continuously judging that shaft deviates centre bit
The number that the displacement set is greater than predetermined threshold is less than or equal to preset times, then resets judging result before, rejudge axis
The displacement for deviateing center is greater than the number of predetermined threshold and whether is greater than preset times, wherein first predetermined time is
The gap of 50us or 100us or 1ms, axis and protection bearing in magnetic bearing system are 100-500um, and predetermined threshold is in 100-
In the range of 500um, axis the maximum value that X-direction can act be 450um, minimum value 50um, axis can act in the Y direction
Maximum value be 450um, minimum value 50um.
4. the shaft detection device in magnetic suspension system according to claim 3, which is characterized in that the judgment module is used for
The predetermined threshold is determined in the following manner:
The axis movable maximum value and minimum value in the x direction and the y direction are detected respectively；And
Processing is weighted to the maximum value and the minimum value of detection, calculates the predetermined threshold.
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| CN201310416439.8A CN104457649B (en) | 2013-09-12 | 2013-09-12 | Method and device for detecting shaft in magnetic suspension system |
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| CN201310416439.8A CN104457649B (en) | 2013-09-12 | 2013-09-12 | Method and device for detecting shaft in magnetic suspension system |
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| CN104457649B true CN104457649B (en) | 2018-12-04 |
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| CN105258634B (en) * | 2015-11-27 | 2019-01-15 | 珠海格力节能环保制冷技术研究中心有限公司 | The bend detection method and system of magnetic suspension bearing shaft |
| KR102613952B1 (en) * | 2016-07-25 | 2023-12-15 | 엘지전자 주식회사 | Center error value of bearings measuring method |
| CN106441894B (en) * | 2016-09-28 | 2018-10-19 | 清华大学 | Magnetic suspension bearing shafting based on Hilbert transform falls track response recognition methods and device |
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| CN108919713A (en) * | 2018-07-12 | 2018-11-30 | 珠海格力电器股份有限公司 | Magnetic suspension bearing monitoring method and device, magnetic suspension bearing monitoring host and computer readable storage medium |
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| CN110542555A (en) * | 2019-07-18 | 2019-12-06 | 庆安集团有限公司 | Method for judging working abnormity of magnetic suspension bearing |
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| CN110649841B (en) * | 2019-08-23 | 2021-05-11 | 沈阳微控新能源技术有限公司 | Integrated control device, system and method based on system of magnetic bearing and motor |
| CN112504677B (en) * | 2021-02-05 | 2021-04-30 | 天津飞旋科技有限公司 | Method and device for detecting wear data of protective bearing |
| CN113733927B (en) * | 2021-09-01 | 2023-04-07 | 中车株洲电力机车有限公司 | Magnetic-levitation train, levitation control system and protection method for dropping and rail smashing of magnetic-levitation train |
| CN114136614B (en) * | 2021-11-19 | 2023-04-07 | 珠海格力电器股份有限公司 | Magnetic bearing system, rotor position evaluation method and device thereof, and storage medium |
| CN114136616B (en) * | 2021-11-26 | 2024-06-14 | 广东美的暖通设备有限公司 | Magnetic suspension compressor and bearing detection method and device thereof |
| CN114755036B (en) * | 2022-06-16 | 2022-09-06 | 中国人民解放军国防科技大学 | Fault detection method, device, equipment and medium for maglev train suspension system |
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