Double closed-loop control system and method for magnetic suspension flywheel device
阅读说明:本技术 一种磁悬浮飞轮装置双闭环控制系统和方法 (Double closed-loop control system and method for magnetic suspension flywheel device ) 是由 王智洋 张庆源 于 2020-07-24 设计创作,主要内容包括:本发明涉及飞轮技术领域,提供了一种磁悬浮飞轮装置双闭环控制系统和方法。该系统和方法基于在磁悬浮飞轮装置中配置可调节提升组件,以提供大小可调节的辅助承载力,然后采用双闭环控制,第一控制闭环根据转子系统的综合状态信息、电磁控制线圈的电信息和第一给定目标驱动磁轴承提供期望磁控制力,以实现转子系统动态响应外界干扰;第二控制闭环根据磁轴承的磁控制力直流分量信息和第二给定目标驱动提升组件提供期望辅助承载力,以解决磁轴承的磁控制力随着飞轮运动工作点不同出现低频大幅度波动的问题,减小磁轴承的损耗。同时,该第二控制闭环可以降低磁轴承直流承载分量,提升磁轴承动态承载能力,增加整个支撑机构的鲁棒性。(The invention relates to the technical field of flywheels, and provides a double closed-loop control system and a double closed-loop control method for a magnetic suspension flywheel device. The system and the method are based on that an adjustable lifting component is configured in a magnetic suspension flywheel device to provide auxiliary bearing capacity with adjustable size, then double closed-loop control is adopted, a first control closed loop drives a magnetic bearing to provide expected magnetic control force according to comprehensive state information of a rotor system, electric information of an electromagnetic control coil and a first given target, so that the rotor system dynamically responds to external interference; the second control closed loop drives the lifting assembly to provide expected auxiliary bearing capacity according to the magnetic control force direct-current component information of the magnetic bearing and a second given target, so that the problem that the magnetic control force of the magnetic bearing fluctuates greatly at low frequency along with different flywheel movement working points is solved, and the loss of the magnetic bearing is reduced. Meanwhile, the second control closed loop can reduce the direct-current bearing component of the magnetic bearing, improve the dynamic bearing capacity of the magnetic bearing and increase the robustness of the whole supporting mechanism.)
1. A double closed-loop control system of a magnetic suspension flywheel device is characterized in that the magnetic suspension flywheel device comprises a shell, a rotatable flywheel arranged in the shell and a supporting mechanism used for bearing the gravity of the flywheel; the supporting mechanism comprises a magnetic bearing and a lifting assembly, the lifting assembly is used for providing auxiliary bearing force with adjustable size, and the direction of the auxiliary bearing force is opposite to the direction of gravity of the flywheel; the magnetic bearing is used for providing magnetic control force; the magnetically levitated flywheel assembly further comprises a rotor system including the flywheel and a rotor of the magnetic bearing; the dual closed-loop control system comprises:
an acquisition module for acquiring comprehensive state information of the rotor system and electrical information of an electromagnetic control coil of the magnetic bearing;
the magnetic bearing control module is used for calculating and outputting a first driving signal according to the comprehensive state information, the electric information and a first given target;
a first driving module, configured to drive the electromagnetic control coil to generate a desired control magnetic field according to the first driving signal, where the desired control magnetic field interacts with a bias magnetic field of the magnetic bearing itself, so that the magnetic bearing provides a desired magnetic control force;
the low-frequency decoupling module is used for analyzing and decoupling the comprehensive state information and the electric information and acquiring magnetic control force direct-current component information of the magnetic bearing according to the decoupled information;
the lifting component control module is used for calculating and outputting a second driving signal according to the magnetic control force direct-current component information and a second given target;
the second driving module is used for driving the lifting assembly to provide expected auxiliary bearing capacity according to the second driving signal;
the acquisition module, the magnetic bearing control module and the first drive module form a first closed control loop for generating the desired magnetic control force; the acquisition module, the low frequency decoupling module, the lifting assembly control module and the second drive module form a second control closed loop for generating the desired auxiliary bearing capacity.
2. A magnetically suspended flywheel device dual closed loop control system as claimed in claim 1 wherein the control frequency of the second control loop is lower than the control frequency of the first control loop.
3. The dual closed-loop control system of a magnetically suspended flywheel device as claimed in claim 1, wherein the acquisition module comprises a sensor unit for acquiring status signals of the rotor system and electrical signals of the solenoid control coils of the magnetic bearing; the state signal comprises any one or combination of a plurality of rotation speed signals, position signals, speed signals and acceleration signals; the electrical signal comprises any one of a current signal, a voltage signal or a combination of the two.
4. The system of claim 3, wherein the acquisition module further comprises a conversion unit for converting the status signal and the electrical signal collected by the sensor unit and sending the converted information to the first control closed loop and the second control closed loop correspondingly.
5. The magnetically levitated flywheel device dual closed-loop control system of claim 1, wherein the lifting assembly comprises a first magnetic conductive member and a second magnetic conductive member oppositely arranged at an interval along an axial direction of the flywheel, and an adjusting unit connected with the second magnetic conductive member; a magnetic field action along the axial direction of the flywheel is formed between the second magnetic conduction piece and the first magnetic conduction piece; the first magnetic conduction piece is fixedly arranged on the flywheel, and the adjusting unit is fixedly arranged on the shell; the adjusting unit is used for enabling the second magnetic conduction piece to perform displacement movement in the axial direction of the flywheel so as to adjust a working gap between the second magnetic conduction piece and the first magnetic conduction piece, and the lifting assembly is enabled to provide expected auxiliary bearing capacity.
6. A double closed-loop control method of a magnetic suspension flywheel device is characterized in that the magnetic suspension flywheel device comprises a shell, a rotatable flywheel arranged in the shell and a supporting mechanism used for bearing the gravity of the flywheel; the supporting mechanism comprises a magnetic bearing and a lifting assembly, the lifting assembly is used for providing auxiliary bearing force with adjustable size, and the direction of the auxiliary bearing force is opposite to the direction of gravity of the flywheel; the magnetic bearing is used for providing magnetic control force; the magnetically levitated flywheel assembly further comprises a rotor system including the flywheel and a rotor of the magnetic bearing; the double closed-loop control method comprises the following steps:
acquiring comprehensive state information of the rotor system and electrical information of an electromagnetic control coil of the magnetic bearing;
calculating and outputting a first driving signal by taking the comprehensive state information and the electrical information as input quantity of a first control closed loop and taking a first given target as a control target of the first control closed loop;
driving the magnetic bearing to provide a desired magnetic control force in accordance with the first drive signal;
comprehensively analyzing the comprehensive state information and the electric information, and decoupling;
acquiring magnetic control force direct-current component information of the magnetic bearing according to the decoupled information;
calculating and outputting a second driving signal by taking the magnetic control force direct-current component information as the input quantity of a second control closed loop and taking a second given target as a control target of the second control closed loop;
and driving the lifting assembly to provide the expected auxiliary bearing capacity according to the second driving signal.
7. The dual closed-loop control method for the magnetically levitated flywheel device of claim 6, wherein the lifting assembly comprises a first magnetic conductive member and a second magnetic conductive member which are oppositely arranged along the axial direction of the flywheel at intervals, and an adjusting unit connected with the second magnetic conductive member; the first magnetic conduction piece is fixedly arranged on the flywheel, and the adjusting unit is fixedly arranged on the shell; the second driving signal is a displacement motion to be performed by the second magnetic conduction member in the axial direction of the flywheel;
the driving the lifting assembly to provide a desired auxiliary bearing capacity according to the second driving signal comprises:
sending the second drive signal to the adjustment unit;
the adjusting unit drives the second magnetic conduction piece to perform displacement motion in the axial direction of the flywheel according to the second driving signal, and changes a working gap between the first magnetic conduction piece and the second magnetic conduction piece, so that the lifting assembly provides the expected auxiliary bearing capacity.
8. A magnetically suspended flywheel device dual closed-loop control method as claimed in claim 6 wherein the first drive signal is a drive current or a drive voltage, and the driving of the magnetic bearing according to the first drive signal to provide a desired magnetic control force comprises:
driving the solenoid control coils according to the drive current or drive voltage to generate a desired control magnetic field that interacts with a bias magnetic field of the magnetic bearing itself such that the magnetic bearing provides the desired magnetic control force.
9. A method for dual closed-loop control of a magnetically suspended flywheel device according to any of claims 6 to 8, characterized in that the control frequency of the second control closed-loop is lower than the control frequency of the first control closed-loop.
10. A magnetically suspended flywheel device dual closed loop control method according to any of claims 6 to 8,
the first given target is to control the rotor system not to deviate from a reference state; and/or
The second given target is 0.
Technical Field
The invention relates to the technical field of flywheels, in particular to a double closed-loop control system and a double closed-loop control method for a magnetic suspension flywheel device.
Background
Due to the consideration of improving the dynamic response characteristic of the flywheel energy storage system and reducing the pressure of the bearing system, most flywheel energy storage devices in the market are vertically placed, so that the main bearing direction of the bearing force is axial. In order to reduce the operational load of the magnetic bearings to reduce the magnetic bearing losses and at the same time reduce the requirements on the dimensions of the magnetic bearings, the prior art uses a lifting assembly technique in a magnetically levitated flywheel apparatus. The technology is characterized in that a working surface capable of conducting magnetism is arranged on the upper end face of a flywheel, a permanent magnet is arranged on the surface of a machine shell opposite to the working surface, and an axial magnetic field effect is formed on the magnetic conducting working surface by the permanent magnet. The axial magnetic field force generated by the action of the axial magnetic field is opposite to the gravity direction of the flywheel, so that the bearing pressure of the magnetic bearing can be reduced.
The conventional lifting assembly technology is characterized in that a permanent magnet is fixedly installed on a machine shell and cannot be moved and adjusted, so that a working gap between the permanent magnet and a magnetic conductive working surface is difficult to control in a large-scale production process, and the auxiliary bearing capacity difference which can be provided by the lifting assembly in different flywheel energy storage devices is large due to the fact that the axial magnetic field force is in inverse proportion to the square of the working gap, namely, the axial magnetic field force is in nonlinear change, and the bearing capacity which needs to be borne by a magnetic bearing matched with the lifting assembly is also different. In addition, the flywheel generally works in a vacuum environment, heat dissipation is difficult in the running process of the flywheel, when the flywheel is started up, is standby for a long time or is charged and discharged, temperature changes of components such as a flywheel body, a machine shell, a motor and a bearing are large, the size of each component of the system can be changed due to the temperature changes, working air gaps between the permanent magnet and a magnetic conductive working surface are changed continuously due to the size change differences of the components caused by different materials, and the changes have the characteristics of slowness, low frequency and large amplitude, so that the auxiliary bearing capacity provided by the lifting assembly is slowly changed with the larger amplitude along with the difference of working points of the flywheel.
The gravity of the flywheel in the magnetic suspension flywheel device is supported by the auxiliary bearing capacity of the lifting assembly and the magnetic control force of the magnetic bearing, and the characteristic that the auxiliary bearing capacity of the lifting assembly changes along with the change of the working point of the flywheel causes the up-and-down fluctuation of the weight supporting force of the flywheel, so that the bearing capacity required to be provided by the magnetic bearing drifts up and down slowly and greatly, the loss of the magnetic bearing is increased, and the system instability can be caused under extreme conditions.
At the same time, due to the maximum bearing capacity and maximum drive current limitations of the magnetic bearing, these fluctuations reduce the reaction margin of the magnetic bearing in response to system external disturbances, so that the magnetic bearing must be designed with a greater load capacity to maintain system reliability. This not only increases the system volume, but also adversely affects the magnetic bearing control hardware, system cost, and rotor dynamic design.
Disclosure of Invention
The invention aims to provide a double closed-loop control system and a double closed-loop control method for a magnetic suspension flywheel device, and aims to solve the problem that the axial bearing force required to be provided by a magnetic bearing in the existing magnetic suspension flywheel device provided with an immovably-adjustable lifting assembly fluctuates greatly at low frequency along with different working points of a flywheel.
In order to solve the technical problem, the invention provides a double closed-loop control system of a magnetic suspension flywheel device, wherein the magnetic suspension flywheel device comprises a shell, a rotatable flywheel arranged in the shell and a supporting mechanism used for bearing the gravity of the flywheel; the supporting mechanism comprises a magnetic bearing and a lifting assembly, the lifting assembly is used for providing auxiliary bearing force with adjustable size, and the direction of the auxiliary bearing force is opposite to the direction of gravity of the flywheel; the magnetic bearing is used for providing magnetic control force; the magnetically levitated flywheel assembly further comprises a rotor system including the flywheel and a rotor of the magnetic bearing; the dual closed-loop control system comprises:
an acquisition module for acquiring comprehensive state information of the rotor system and electrical information of an electromagnetic control coil of the magnetic bearing;
the magnetic bearing control module is used for calculating and outputting a first driving signal according to the comprehensive state information, the electric information and a first given target;
a first driving module, configured to drive the electromagnetic control coil to generate a desired control magnetic field according to the first driving signal, where the desired control magnetic field interacts with a bias magnetic field of the magnetic bearing itself, so that the magnetic bearing provides a desired magnetic control force;
the low-frequency decoupling module is used for analyzing and decoupling the comprehensive state information and the electric information and acquiring magnetic control force direct-current component information of the magnetic bearing according to the decoupled information;
the lifting component control module is used for calculating and outputting a second driving signal according to the magnetic control force direct-current component information and a second given target;
the second driving module is used for driving the lifting assembly to provide expected auxiliary bearing capacity according to the second driving signal;
the acquisition module, the magnetic bearing control module and the first drive module form a first closed control loop for generating the desired magnetic control force; the acquisition module, the low frequency decoupling module, the lifting assembly control module and the second drive module form a second control closed loop for generating the desired auxiliary bearing capacity.
Preferably, the control frequency of the second control loop is lower than the control frequency of the first control loop.
Preferably, the acquisition module comprises a sensor unit for acquiring a status signal of the rotor system and an electrical signal of an electromagnetic control coil of the magnetic bearing; the state signal comprises any one or combination of a plurality of rotating speed, position signal, speed signal or acceleration signal; the electrical signal comprises any one of a current signal, a voltage signal or a combination of the two.
Preferably, the acquisition module further includes a conversion unit, configured to convert the state signal and the electrical signal acquired by the sensor unit, and correspondingly send the converted information to the first control closed loop and the second control closed loop.
Preferably, the lifting assembly comprises a first magnetic conduction member and a second magnetic conduction member which are oppositely arranged along the axial direction of the flywheel at intervals, and an adjusting unit connected with the second magnetic conduction member; a magnetic field action along the axial direction of the flywheel is formed between the second magnetic conduction piece and the first magnetic conduction piece; the first magnetic conduction piece is fixedly arranged on the flywheel, and the adjusting unit is fixedly arranged on the shell; the adjusting unit is used for enabling the second magnetic conduction piece to perform displacement movement in the axial direction of the flywheel so as to adjust a working gap between the second magnetic conduction piece and the first magnetic conduction piece, and the lifting assembly is enabled to provide expected auxiliary bearing capacity.
In order to further solve the technical problem, the invention also provides a double closed-loop control method of the magnetic suspension flywheel device, wherein the magnetic suspension flywheel device comprises a shell, a rotatable flywheel arranged in the shell and a supporting mechanism used for bearing the gravity of the flywheel; the supporting mechanism comprises a magnetic bearing and a lifting assembly, the lifting assembly is used for providing auxiliary bearing force with adjustable size, and the direction of the auxiliary bearing force is opposite to the direction of gravity of the flywheel; the magnetic bearing is used for providing magnetic control force; the magnetically levitated flywheel assembly further comprises a rotor system including the flywheel and a rotor of the magnetic bearing; the double closed-loop control method comprises the following steps:
acquiring comprehensive state information of the rotor system and electrical information of an electromagnetic control coil of the magnetic bearing;
calculating and outputting a first driving signal by taking the comprehensive state information and the electrical information as input quantity of a first control closed loop and taking a first given target as a control target of the first control closed loop;
driving the magnetic bearing to provide a desired magnetic control force in accordance with the first drive signal;
comprehensively analyzing the comprehensive state information and the electric information, and decoupling;
acquiring magnetic control force direct-current component information of the magnetic bearing according to the decoupled information;
calculating and outputting a second driving signal by taking the magnetic control force direct-current component information as the input quantity of a second control closed loop and taking a second given target as a control target of the second control closed loop;
and driving the lifting assembly to provide the expected auxiliary bearing capacity according to the second driving signal.
Preferably, the lifting assembly comprises a first magnetic conduction member and a second magnetic conduction member which are oppositely arranged along the axial direction of the flywheel at intervals, and an adjusting unit connected with the second magnetic conduction member; the first magnetic conduction piece is fixedly arranged on the flywheel, and the adjusting unit is fixedly arranged on the shell; the second driving signal is a displacement motion to be performed by the second magnetic conduction member in the axial direction of the flywheel;
the driving the lifting assembly to provide a desired auxiliary bearing capacity according to the second driving signal comprises:
sending the second drive signal to the adjustment unit;
the adjusting unit drives the second magnetic conduction piece to perform displacement motion in the axial direction of the flywheel according to the second driving signal, and changes a working gap between the first magnetic conduction piece and the second magnetic conduction piece, so that the lifting assembly provides the expected auxiliary bearing capacity.
Preferably, the first driving signal is a driving current or a driving voltage, and the driving the magnetic bearing according to the first driving signal to provide a desired magnetic control force includes:
driving the solenoid control coils according to the drive current or drive voltage to generate a desired control magnetic field that interacts with a bias magnetic field of the magnetic bearing itself such that the magnetic bearing provides the desired magnetic control force.
Preferably, the control frequency of the second control loop is lower than the control frequency of the first control loop.
Preferably, the first given target is to control the rotor system not to deviate from a reference state; and/or
The second given target is 0.
Compared with the prior art, the double closed-loop control system and the method of the magnetic suspension flywheel device are based on the fact that the adjustable lifting assembly is configured in the magnetic suspension flywheel device to provide auxiliary bearing capacity with adjustable size, then double closed-loop control is adopted, the first control closed loop drives the magnetic bearing to provide expected magnetic control force according to comprehensive state information of the rotor system, electric information of the electromagnetic control coil and a first given target, and therefore dynamic response of the rotor system to external interference is achieved, and stability of the rotor system is improved. The second control closed loop drives the lifting assembly to provide expected auxiliary bearing capacity according to the magnetic control force direct-current component information of the magnetic bearing and a second given target, so that the problem that the magnetic control force of the magnetic bearing fluctuates greatly at low frequency along with different flywheel movement working points is solved, and the loss of the magnetic bearing is reduced. Meanwhile, the direct-current bearing component of the magnetic bearing can be reduced by arranging the second control closed loop, and the dynamic bearing capacity of the magnetic bearing is improved, so that the reaction allowance of the magnetic bearing for responding to external dynamic interference is improved, the robustness of the whole supporting mechanism is improved, and the dynamic characteristics of the magnetic suspension flywheel device are more consistent. In addition, the bearing capacity design index of the magnetic bearing can be further reduced by arranging the second control closed loop, the size of the magnetic bearing is reduced, the follow-up further improvement of the rotor dynamic characteristic is facilitated, and the flywheel can reach higher rotating speed. And because the magnetic bearing volume is reduced, the requirements on the magnetic bearing control hardware and drive hardware can also be reduced.
Drawings
FIG. 1 is a schematic structural diagram of a double closed-loop control system of a magnetic levitation flywheel device according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a magnetic levitation flywheel apparatus equipped with an adjustable lifting assembly;
FIG. 3 is a schematic view of the assembly of the adjusting unit and the second magnetic conductive member in the magnetically levitated flywheel apparatus shown in FIG. 2;
fig. 4 is a schematic flow chart of a double closed-loop control method of a magnetic levitation flywheel device according to a second embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a double closed loop control system and a double closed loop control method of a magnetic suspension flywheel device, aiming at solving the problem that the bearing capacity of a magnetic bearing in the existing magnetic suspension flywheel device provided with a lifting component which can not be movably adjusted fluctuates with low frequency and large amplitude along with different working points of a flywheel.
In many embodiments, the magnetic levitation flywheel apparatus is vertically disposed. Referring to fig. 2, a magnetic levitation flywheel apparatus with an adjustable lifting assembly is shown, the magnetic
Referring to fig. 1, fig. 1 is a schematic structural diagram of a dual closed-loop control system of a magnetic levitation flywheel apparatus according to a first embodiment of the present invention, wherein the dual closed-loop control system 100 is integrated into the magnetic
The obtaining module 11, the magnetic bearing control module 12 and the first driving module 13 form a first control closed loop. The acquisition module 11, the low-frequency decoupling module 14, the lifting assembly control module 15 and the second drive module 16 form a second control closed loop.
Specifically, the obtaining module 11 is used for obtaining comprehensive state information of the rotor system and electric information of the electromagnetic control coil. The magnetic bearing control module 12 is coupled to the acquisition module 11 for calculating and outputting a first drive signal based on the integrated status information, the electrical information and a first given target. The first drive module 13 is coupled to the magnetic bearing control module 12 for driving the solenoid control coils in accordance with the first drive signal to generate a desired control magnetic field which interacts with the bias magnetic field of the
The integrated state information is mainly state change information of the rotor system after various force actions, such as axial position state change, radial position state change, and the like. The electrical information m1 of the solenoid control coil is the current or voltage driving the solenoid control coil to generate the control magnetic field. By acquiring the comprehensive state information of the rotor system, the relationship among the auxiliary bearing capacity provided by the lifting assembly 23, the gravity of the
Preferably, the first given target is to control the rotor system not to be offset from a reference state. Specifically, each component of the rotor system (such as a flywheel, a rotor of a magnetic bearing, or even a rotor of a motor) is preset with an object, each object has a corresponding reference state, and the first given target is to control each object of the rotor system not to deviate from the respective reference state. More specifically, if the integrated state information of the rotor system is the actual position deviation information of each object, including the specific deviation amount or the deviation direction, the first given target is set to 0, that is, the deviation amount of each object is controlled to be 0.
The first control closed loop drives the
As mentioned in the background, the auxiliary load bearing provided by the lift assembly 23 fluctuates slowly, but at a large amplitude, with changes in the operating point of the
Specifically, the other output end of the obtaining module 11 is coupled to the low-frequency decoupling module 14, and the low-frequency decoupling module 14 is configured to analyze and decouple the comprehensive state information of the rotor system and the electrical information of the electromagnetic control coil, and obtain the magnetic control force direct-current component information of the
It should be noted that the magnetic control force direct current component information is direct current information or direct voltage information in the electromagnetic control coil, and is mainly used for driving the electromagnetic control coil to generate a control magnetic field in the axial direction, and after the control magnetic field in the axial direction and the bias magnetic field act, an axial magnetic bearing force with a corresponding magnitude and direction is generated.
The design principle of the second control closed loop is as follows: when the auxiliary bearing force provided by the lifting assembly 23 fluctuates with the change of the operating point of the
Therefore, the second control closed loop takes the magnetic control force direct current component information as an input quantity, takes a second given target as a control target, and obtains a second driving signal for driving the lifting assembly 23 to provide expected auxiliary bearing force through logical operation, so that the problem that the magnetic control force of the
Preferably, the second given target is 0, that is, the direct current drop in the solenoid control coil is 0 as the control target of the second control closed loop. That is, the desired auxiliary bearing force is provided by driving the lift assembly 23 such that the
Because the expected auxiliary bearing capacity can greatly reduce the axial bearing pressure of the
Preferably, in this first embodiment, the control frequency of the second control closed loop is lower than the control frequency of the first control closed loop. Wherein, the control frequency is the transformation and response speed of each control closed loop. In particular, the control frequency of the first control closed loop needs to be set high, which can be referred to the control frequency set in existing magnetic bearing control systems. The control frequency of the second control loop can also be set high in theory, but in a specific application, a slow control should prevail. Because the auxiliary bearing capacity provided by the lifting assembly 23 also has a slowly varying characteristic, such as on the order of seconds, minutes, or even hours, depending on the operating point of the
Optionally, in another embodiment, the acquisition module 11 comprises a sensor unit for acquiring status signals of the rotor system and for acquiring electrical drive signals of the
Optionally, in some embodiments, the sensor unit may itself have a function of converting the state signals into information capable of reflecting the state change of the rotor system, and a function of converting the electric signals into corresponding electric information, and therefore, in these embodiments, the sensor unit correspondingly transmits the collected and converted information to the first control closed loop and the second control closed loop. In other embodiments, the obtaining module 11 further includes a converting unit coupled to the sensor unit, and the converting unit converts the state signals into information capable of reflecting the state change of the rotor system, converts the electric signals into corresponding electric information, and correspondingly sends the converted information to the first control closed loop and the second control closed loop, so as to be used as the input quantity of each control closed loop respectively.
Alternatively, in another specific embodiment, the lifting assembly 23 includes a first magnetic conductive member 231 and a second magnetic
Specifically, the aforementioned second driving signal is a displacement motion of the second magnetic
In this embodiment, by providing the adjusting
Specifically, the first magnetic conductive member 231 is fixedly disposed on the
Preferably, in this embodiment, the second magnetic
As shown in fig. 3, the adjusting
In this embodiment, the second magnetic
Further, the
Preferably, the axial thickness of the
Specifically, the adjusting
More specifically, in this particular embodiment, the
Further, the
In this embodiment, due to the speed reduction ratio between the
Further, the
Referring to fig. 4, fig. 4 is a diagram illustrating a dual closed-loop control method of a magnetic levitation flywheel apparatus according to a second embodiment of the present invention, where the dual closed-loop control method is applied to the dual closed-loop control system of the magnetic levitation flywheel apparatus according to the first embodiment and the magnetic levitation flywheel apparatus configured with the adjustable lifting assembly. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 4 if the results are substantially the same. As shown in fig. 4, the method includes the steps of:
step S201: comprehensive state information of the rotor system and electrical information of the electromagnetic control coils of the magnetic bearings are acquired.
The integrated state information is mainly state change information of the rotor system after various force actions, such as axial position state change, radial position state change, and the like. The electrical information of the electromagnetic control coil is the current or voltage driving the electromagnetic control coil to generate the control magnetic field.
Optionally, in step S201, a state signal of the rotor system and a driving electrical signal of the magnetic bearing are collected, the state signals are converted into information capable of reflecting a state change of the rotor system, the electrical signals are converted into corresponding electrical information, and the converted information is correspondingly sent to the first control closed loop and the second control closed loop to be used as input quantities of the control closed loops, respectively.
Optionally, the status signal includes, but is not limited to, any one or combination of a rotational speed signal, a position signal, a velocity signal, or an acceleration signal. The driving electrical signal includes, but is not limited to, any one of a current signal, a voltage signal, or a combination of both.
Step S202: and calculating and outputting a first driving signal by taking the comprehensive state information and the electrical information as input quantities of a first control closed loop and taking a first given target as a control target of the first control closed loop.
Alternatively, in step S202, the first given target is that the control rotor system is not offset from the reference state. Specifically, each component of the rotor system (such as a flywheel, a rotor of a magnetic bearing, or even a rotor of a motor) is preset with an object, each object has a corresponding reference state, and the first given target is to control each object of the rotor system not to deviate from the respective reference state. More specifically, if the integrated state information of the rotor system is the actual position deviation information of each object, including the specific deviation amount or the deviation direction, the first given target is set to 0, that is, the deviation amount of each object is controlled to be 0.
Step S203: the magnetic bearing is driven to provide a desired magnetic control force in accordance with the first drive signal.
Optionally, in step S203, the first driving signal is a driving current or a driving voltage, and the electromagnetic control coil of the magnetic bearing is driven by the driving current or the driving voltage to generate a desired control magnetic field, which interacts with the bias magnetic field of the magnetic bearing itself, so that the magnetic bearing provides a desired magnetic control force.
Step S204: comprehensively analyzing the comprehensive state information of the rotor system and the electric information of the electromagnetic control coil, decoupling, and acquiring the direct-current component information of the magnetic control force of the magnetic bearing according to the decoupled information.
In step S204, the magnetic control force dc component information is dc current information or dc voltage information in the electromagnetic control coil, and is mainly used for driving the electromagnetic control coil to generate a control magnetic field in the axial direction, and after the control magnetic field in the axial direction and the bias magnetic field act, an axial magnetic bearing force with a corresponding magnitude and direction is generated.
Step S205: and calculating and outputting a second driving signal by taking the magnetic control force direct-current component information as the input quantity of a second control closed loop and taking a second given target as the control target of the second control closed loop.
Alternatively, in step S205, the second given target is 0, that is, the direct current in the solenoid-operated coil is reduced to 0 as the control target of the second control closed loop. That is, the desired auxiliary bearing force is provided by driving the lift assembly 23 such that the
Preferably, the control frequency of the second control loop is lower than the control frequency of the first control loop.
Step S206: the lifting assembly is driven to provide a desired auxiliary bearing capacity according to the second driving signal.
Optionally, in step S206, the second driving signal is a displacement motion to be performed by the second magnetic conducting member in the axial direction of the flywheel; by sending a second drive signal to the adjustment unit of the lifting assembly; the adjusting unit drives the second magnetic conduction piece to perform displacement motion in the axial direction of the flywheel according to the second driving signal, and the size of a working gap between the second magnetic conduction piece and the first magnetic conduction piece is changed, so that the lifting assembly provides the expected auxiliary bearing capacity.
The magnetic suspension flywheel device double closed-loop control method of the second embodiment of the invention is based on that an adjustable lifting assembly is configured in the magnetic suspension flywheel device to provide auxiliary bearing capacity with adjustable size, then double closed-loop control is adopted, and a first control closed loop drives a magnetic bearing to provide expected magnetic control force according to comprehensive state information of a rotor system, electric information of an electromagnetic control coil and a first given target, so that the rotor system dynamically responds to external interference, and the stability of the rotor system is improved. The second control closed loop drives the lifting assembly to provide expected auxiliary bearing capacity according to the magnetic control force direct-current component information of the magnetic bearing and a second given target, so that the problem that the magnetic control force of the magnetic bearing fluctuates greatly at low frequency along with different flywheel movement working points is solved, and the loss of the magnetic bearing is reduced. Meanwhile, the direct-current bearing component of the magnetic bearing can be reduced through the second control closed loop, and the dynamic bearing capacity of the magnetic bearing is improved, so that the reaction allowance of the magnetic bearing for responding to external dynamic interference is improved, the robustness of the whole supporting mechanism is improved, and the dynamic characteristics of the magnetic suspension flywheel device are more consistent. In addition, the bearing capacity design index of the magnetic bearing can be further reduced through the second control closed loop, the size of the magnetic bearing is reduced, the follow-up further improvement of the rotor dynamic characteristic is facilitated, and the flywheel can reach higher rotating speed. And because the magnetic bearing volume is reduced, the requirements on the magnetic bearing control hardware and drive hardware can also be reduced.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.