CN104198118A - Active and passive magnetic suspension rotor system static unbalance and magnetic center deviation on-line identification method - Google Patents

Abstract

The invention discloses an active and passive magnetic suspension rotor system static unbalance and magnetic center deviation on-line identification method. The active and passive magnetic suspension rotor system static unbalance and magnetic center deviation on-line identification method includes the steps: firstly, building a rotor static unbalance and magnetic center deviation mathematic model, and building a systematic kinetic model based on the rotor static unbalance and magnetic center deviation mathematic model; then performing zero displacement control on an active and passive magnetic suspension rotor system, educing a relation among magnetic bearing common frequency control currents, rotor static unbalance and magnetic center deviation, and measuring common frequency ingredients of magnetic bearing control currents respectively at two different rotation speeds so as to obtain common frequency currents; finally, figuring out the rotor static unbalance quantity, and the magnitude and the phase position of the magnetic center deviation according to the two obtained common frequency currents. The active and passive magnetic suspension rotor system static unbalance and magnetic center deviation on-line identification method solves problems in respective identification of the initiative and passive magnetic suspension rotor system static unbalance and the magnetic center deviation, lays a foundation for active vibration control and on-line dynamic balance of a rotor, and is simple and easy to implement, and suitable for the active and passive magnetic suspension rotor system.

Description

The moving magnetic suspension rotor system static unbalance of a kind of main quilt and magnetic center skew on-line identification method

Technical field

The present invention relates to the moving magnetic suspension rotor static unbalance of a kind of main quilt and magnetic center skew on-line identification method, to the separating of static unbalance and magnetic center skew, be particularly useful for the high-speed magnetic levitation such as magnetically levitated flywheel, magnetic suspension control torque gyroscope rotor-support-foundation system for the moving magnetic suspension rotor on-line dynamic balancing of main quilt or active vibration control.

Background technology

Magnetic suspension bearing is a kind of novel high-performance bearing, have contactless, the advantage such as do not need to lubricate, be the ideal supporting mode of high precision, long-life, high-speed rotor system.Magnetic suspension bearing can be divided into electromagnetic bearing and Permanent-magnet bearing according to the form that provides of suspending power, and wherein electromagnetic bearing can change by controlling electric current the size of suspending power, is therefore called again active magnetic bearings; Permanent-magnet bearing suspending power cannot ACTIVE CONTROL, is therefore called again passive magnetic bearing.Active magnetic bearings complex structure, and need a set of complete control system being formed by sensor, controller, power amplifier etc., the control performances such as its suspension precision and stability margin are higher than passive magnetic bearing; It is high that passive magnetic bearing suspension precision is not so good as active magnetic bearings, but it is simple in structure, does not need control system, not consumed energy.Main passive magnetic bearing combines both advantages, and the degree of freedom high in accuracy requirement adopts active magnetic bearings control, requires undemanding degree of freedom to adopt passive magnetic bearing control at control performance, realizes total optimization.

Due to mismachining tolerance, the reason such as density of material is inhomogeneous, material deformation, rotor exists remaining uneven.When High Rotation Speed, the centrifugal force that unbalance mass, produces is delivered to pedestal by the supporting role of magnetic bearing.Unbalance vibration can increase on the one hand the power consumption of system, makes power amplifier saturated and reduce the stability margin of magnetic bearing control system; Unbalance vibration produces noise pollution, the safe operation of violent vibration effect equipment on the other hand.For subtracting trochantinian unbalance vibration, conventionally rotor is carried out to transient equilibrium online or off-line, transient equilibrium is carried out rotor separately in off-line transient equilibrium on dynamic balancing machine, and the duty of operating environment and rotor has difference, and therefore balance quality is generally not high; On-line dynamic balancing utilizes the own sensor of magnetic bearing system, by measuring the unbalance response of rotor, resolves size and the phase place of amount of unbalance.The another kind of mode of eliminating rotor unbalance vibration of magnetic bearing rotor-support-foundation system is active vibration control, rotates around the principal axis of inertia by controlling rotor, avoids the outside transmission disequilibrium power of magnetic bearing.For the magnetic suspension rotor system of the moving mixing bearing of main quilt, except the once per revolution vibration that rotor unbalance causes, the once per revolution vibration power that also has the skew of passive magnetic bearing magnetic center to cause.The reasons such as inhomogeneous, the alignment error of magnetizing due to permanent magnetic steel, the magnetic center of permanent magnetic ring does not overlap with its geometric center, in the time that rotor drives permanent magnetic ring rotation, passive magnetic bearing outwards output with rotating speed with magnetic force frequently.For improving the precision of on-line dynamic balancing or active vibration control, be necessary rotor unbalance and magnetic center skew to distinguish and identification.

Summary of the invention

The technical problem to be solved in the present invention is: to the magnetic suspension rotor system of the moving mixing bearing of main quilt, have rotor unbalance and magnetic center skew simultaneously, a kind of on-line identification method of rotor static unbalance and magnetic center skew is provided.

The technical scheme that the present invention solves the problems of the technologies described above employing is: the moving magnetic suspension rotor static unbalance of a kind of main quilt and magnetic center skew on-line identification method, is characterized in that comprising the following steps:

Step (1), set up the mathematical model of magnetic suspension rotor static unbalance and magnetic center skew

Static unbalance is the displacement of rotor centroid with respect to geometric center, and magnetic center skew is for permanent-magnetic clamp magnetic center is with respect to the displacement of its geometric center; Static unbalance is expressed as in moving coordinate system O ξ η at rotor:

$\left[\begin{array}{c}{r}_x\\ r_y\end{array}\right]=\left[\begin{array}{c}l\cos \mathrm{\θ}\\ l\sin \mathrm{\θ}\end{array}\right]$

Wherein, l is the distance of rotor geometric center and barycenter, and θ is the angle of l and coordinate axis O ξ, and l, θ are the correlation parameters that characterizes rotor static unbalance, r _xfor l is at the component of O ξ axle, r _yfor l is at the component of O η axle;

Magnetic center skew is expressed as in moving coordinate system O ξ η at rotor:

Wherein, a is the distance of rotor center plane internal rotor permanent-magnetic ring magnetic center and geometric center, the angle of a and coordinate axis O ξ, a, the correlation parameter that characterizes magnetic center skew, p _xfor a is at the component of O ξ axle, p _yfor a is at the component of O η axle;

Under rotating speed Ω, utilize static unbalance model and the magnetic center skew model set up, set up the kinetic model of magnetic bearing rotor-support-foundation system:

$\left\{\begin{array}{c}m{X^{\′\′}=k}_i{i}_x+k_{n}X+k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-{\mathrm{m\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)\\ m{Y}^{\′\′}=k_i{i}_y+k_{h}Y+k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, m is rotor quality, and X, Y are the component of rotor geometric center NX axle and NY axle in fixed coordinate system NXY, k _ifor active magnetic bearings current stiffness, k _hfor the comprehensive displacement rigidity of active magnetic bearings and passive magnetic bearing, k _pfor passive magnetic bearing radial displacement rigidity, i _x, i _yfor the control electric current of magnetic bearing X passage and Y passage, t is the time;

Step (2), system is carried out to null displacement control

By the null displacement control to rotor geometric center, make X, Y identically vanishing, bring system dynamics model into, obtain magnetic bearings control electric current mathematical model:

$\left\{\begin{array}{c}{i}_x=-\frac{k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-m{\mathrm{\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)}{k_i}\\ i_y=-\frac{k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)}{k_i}\end{array}\right.$

The same frequency amount of step (3), the magnetic bearings control of raising speed measurement for the first time electric current

Keep rotor null displacement control, at rotating speed Ω ₁time measure magnetic bearings control electric current and rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x1}=i_{x1c}\cos \left(\mathrm{\Ωt}\right)-i_{x1s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y1}=i_{y1c}\cos \left(\mathrm{\Ωt}\right)-i_{y1s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x1c, i _y1cand i _x1s, i _y1srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x1, i _y1cosine component and sinusoidal component;

The same frequency amount of step (4), the magnetic bearings control of raising speed measurement for the second time electric current;

Change rotor speed, at rotating speed Ω ₂time measure magnetic bearings control electric current and rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x2}=i_{x2c}\cos \left(\mathrm{\Ωt}\right)-i_{x2s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y2}=i_{y2c}\cos \left(\mathrm{\Ωt}\right)-i_{y2s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x2c, i _y2cand i _x2s, i _y2srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x2, i _y2cosine component and sinusoidal component.

Step (5), the same frequency electric current recording according to step (3), (4), obtain respectively static-unbalance and magnetic center side-play amount.

$\left[\begin{array}{c}{r}_x\\ r_y\\ p_x\\ p_y\end{array}\right]=-k_i{\left[\begin{array}{cccc}m{\mathrm{\Ω}}_1^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_1^2& 0& k_p\\ {\mathrm{m\Ω}}_2^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_2^2& 0& k_p\end{array}\right]}^{-1}\left[\begin{array}{c}{i}_{x1c}\\ i_{x1s}\\ i_{x2c}\\ i_{x2s}\end{array}\right].$

Ultimate principle of the present invention is: the moving magnetic suspension rotor system of main quilt with rotor unbalance and magnetic center skew, output and the magnetic bearing acting force of rotating speed with frequency when rotor high-speed rotation, the magnetic axis load size wherein being caused by rotor unbalance is relevant to rotating speed, and it is irrelevant with rotating speed to be offset by magnetic center the magnetic axis load size causing.Rotor is carried out to null displacement control, and active magnetic bearings magnetic force is the linear function of electric current, and the same frequency composition that therefore extracts electric current can extract with frequency magnetic axis load.And then according to the correlativity of rotor unbalance power and rotating speed, the same frequency composition of extracted twice electric current under different rotor speed, calculates respectively static unbalance and the magnetic center skew of rotor.

The present invention's advantage is compared with prior art: the present invention can be offset difference identification out by rotor static unbalance and magnetic center, and no matter to rotor on-line dynamic balancing or active vibration control, both are distinguished is to carry high-precision important channel; The present invention implements null displacement control to rotor, has eliminated the displacement negative stiffness power in magnetic axis load, and magnetic bearing is operated in equilibrium position, the linear function that magnetic force is electric current, and magnetic bearing force measurement precision is high; The present invention only needs once to open car, has improved work efficiency.

Brief description of the drawings

Fig. 1 is operational flowchart of the present invention;

Fig. 2 is magnetic suspension rotor static unbalance of the present invention and magnetic center skew schematic diagram;

Fig. 3 is magnetic suspension control system block diagram of the present invention;

Fig. 4 is general the design of notch block diagram of the present invention;

Fig. 5 is of the present invention with frequency the design of notch block diagram.

Embodiment

Further illustrate the present invention below in conjunction with accompanying drawing and specific embodiment.

Magnetic suspension rotor control system as shown in Figure 3, by null displacement controller N (s), stability controller G (s), power amplifier G _w(s), magnetic bearing rotor-support-foundation system H (s) and displacement transducer k _scomposition, wherein, displacement transducer k _sthe rotor geometrical axis Displacement Feedback detecting is arrived to magnetic bearing controller; Null displacement controller N (s) and stability controller G (s) series connection, null displacement controller N (s) is infinitely great to the gain of measuring with frequency, realize displacement with the null displacement control of amount frequently, stability controller G (s) realizes the full range stable suspersion of rotor; Power amplifier G _w(s) controlled quentity controlled variable of controller output is converted to control electric current, magnetic bearing rotor-support-foundation system H (s) has comprised static unbalance and magnetic center skew composition;

(1) set up the mathematical model that magnetic suspension rotor static unbalance and magnetic center are offset

Rotor static unbalance and magnetic center are offset as shown in Figure 2, in rotor center plane, taking magnetic bearing stator center N as initial point, set up fixed coordinate system NXY; Set up rotating coordinate system O ζ η taking rotor geometric center O as initial point, the skew of rotor centroid C and geometric center O is l, and the angle of OC and O ζ is θ; The skew of passive magnetic bearing stator permanent magnet ring magnetic center M and stator geometric center N is b, and NM and NX angle are passive magnetic bearing rotor permanent magnet ring magnetic center M ₁with the distance of rotor geometric center O be a, OM ₁with the angle of O ζ be γ.

Static unbalance is expressed as in rotor center face is connected coordinate system O ξ η:

$\left[\begin{array}{c}{r}_x\\ r_y\end{array}\right]=\left[\begin{array}{c}l\cos \mathrm{\θ}\\ l\sin \mathrm{\θ}\end{array}\right]$

Wherein, r _xfor l is at the component of O ξ axle, r _yfor l is at the component of O η axle.

Magnetic center skew is expressed as in moving coordinate system O ξ η at rotor:

Wherein, p _xfor a is at the component of O ξ axle, p _yfor a is at the component of O η axle.

Under rotating speed Ω, utilize static unbalance model and the magnetic center skew model set up, set up the kinetic model of magnetic bearing rotor-support-foundation system:

$\left\{\begin{array}{c}m{X^{\′\′}=k}_i{i}_x+k_{n}X+k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-{\mathrm{m\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)\\ m{Y}^{\′\′}=k_i{i}_y+k_{h}Y+k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, m is rotor quality, and X, Y are the component of rotor geometric center NX axle and NY axle in fixed coordinate system NXY, k _ifor active magnetic bearings current stiffness, k _hfor the comprehensive displacement rigidity of active magnetic bearings and passive magnetic bearing, k _pfor passive magnetic bearing radial displacement rigidity, i _x, i _yfor the control electric current of magnetic bearing X passage and Y passage, t is the time.

(2) system is carried out to null displacement control

Connect before with frequency null displacement controller N (s) at stability controller G (s), N (s) is by filter with same frequency N _f(s) and unit forward path compose in parallel, taking w (t) as input, c (t) for output, N _f(s) time-domain expression is:

$c\left(t\right)=\left[\begin{array}{cc}\sin \left(\mathrm{\Ωt}\right)& \cos \left(\mathrm{\Ωt}\right)\end{array}\right]\left[\begin{array}{cc}{T}_R& -T_J\\ T_J& T_R\end{array}\right]\∫\left[\begin{array}{c}\sin \left(\mathrm{\Ωt}\right)w\left(t\right)\\ \cos \left(\mathrm{\Ωt}\right)w\left(t\right)\end{array}\right]\mathrm{dt}$

Wherein, real parameters T _r, T _jbe used for ensureing system stability, define plural variable T=T _r+ jT _j, be transformed into frequency domain and be:

$N_f=\frac{1}{s^2+{\mathrm{\Ω}}^2}(s{T}_R-\mathrm{\Ω}{T}_J)$

N (s)=1-ε N _f(s), infinitely great with gain frequently, can realize with displacement is frequently zero.

Control block diagram is converted to the form shown in Fig. 4, S (s) is given as input with error, actual error is the system sensitivity function of output, the full range that ensures system due to stability controller G (s) is stable, so S (s) is also stable, its characteristic root all has negative real part.The system features equation that Fig. 4 is corresponding can be expressed as:

$s^2+{\mathrm{\Ω}}^2+\mathrm{j\ϵ\Ω}(\frac{s}{\mathrm{j\Ω}}{T}_R+{\mathrm{jT}}_J)S\left(s\right)=0$

Wherein, ε is wave filter converging factor, in the time of ε=0, and s=± j Ω; To above formula, at s=j Ω, ε=0 place asks local derviation to obtain:

$\frac{\∂s}{\∂\mathrm{\ϵ}}{|}_{\mathrm{\ϵ}=0}=-\frac{1}{2}\mathrm{TS}\left(\mathrm{j\Ω}\right)$

Therefore, get T=S ^-1, from the continuity of root locus, there is ε >0 in (j Ω), makes system features root all have negative real part.

By the null displacement control to rotor geometric center, make X, Y identically vanishing, the kinetic model of bringing magnetic bearing rotor into obtains magnetic bearings control electric current and is:

$\left\{\begin{array}{c}{i}_x=-\frac{k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-m{\mathrm{\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)}{k_i}\\ i_y=-\frac{k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)}{k_i}\end{array}\right.$

(3) the same frequency amount of the magnetic bearings control of raising speed measurement for the first time electric current

Keep rotor null displacement control, at rotating speed Ω ₁in time, measures in magnetic bearings control electric current with rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x1}=i_{x1c}\cos \left(\mathrm{\Ωt}\right)-i_{x1s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y1}=i_{y1c}\cos \left(\mathrm{\Ωt}\right)-i_{y1s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x1c, i _y1cand i _x1s, i _y1srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x1, i _y1cosine component and sinusoidal component.

Electric current adopts the same method of trapper frequently with obtaining of frequency amount, and as shown in Figure 5, by the closed loop trap computing to current sampling data, trapper is exported c and had identical same frequency composition with input i:

c(t)＝i _ccos(Ωt)+i _ssin(Ωt)

Wherein, notch coefficient i _c, i _sbe respectively cosine component and sinusoidal component with frequency electric current.

(4) the same frequency amount of the magnetic bearings control of raising speed measurement for the second time electric current

Change rotor speed, at rotating speed Ω ₂in time, measures in magnetic bearings control electric current with rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x2}=i_{x2c}\cos \left(\mathrm{\Ωt}\right)-i_{x2s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y2}=i_{y2c}\cos \left(\mathrm{\Ωt}\right)-i_{y2s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x2c, i _y2cand i _x2s, i _y2srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x2, i _y2cosine component and sinusoidal component.

(5) the same frequency electric current recording according to step (3), (4), obtain respectively static-unbalance and magnetic center side-play amount:

$\left[\begin{array}{c}{r}_x\\ r_y\\ p_x\\ p_y\end{array}\right]=-k_i{\left[\begin{array}{cccc}m{\mathrm{\Ω}}_1^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_1^2& 0& k_p\\ {\mathrm{m\Ω}}_2^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_2^2& 0& k_p\end{array}\right]}^{-1}\left[\begin{array}{c}{i}_{x1c}\\ i_{x1s}\\ i_{x2c}\\ i_{x2s}\end{array}\right].$

Claims (4)

1. the moving magnetic suspension rotor system static unbalance of main quilt and a magnetic center skew on-line identification method, is characterized in that comprising the following steps:

The mathematical model of step (1), the static unbalance of setting up magnetic suspension rotor and magnetic center skew;

Static unbalance is the displacement of rotor centroid with respect to geometric center, and magnetic center skew is for permanent-magnetic clamp magnetic center is with respect to the displacement of geometric center; Static unbalance is expressed as in moving coordinate system O ξ η at rotor:

$\left[\begin{array}{c}{r}_x\\ r_y\end{array}\right]=\left[\begin{array}{c}l\cos \mathrm{\θ}\\ l\sin \mathrm{\θ}\end{array}\right]$

Wherein, l is the distance of rotor geometric center and barycenter, and θ is the angle of l and coordinate axis O ξ, and l, θ are the correlation parameters that characterizes rotor static unbalance, r _xfor l is at the component of O ξ axle, r _yfor l is at the component of O η axle;

Magnetic center skew is expressed as in moving coordinate system O ξ η at rotor:

Wherein, a is the distance of rotor center plane internal rotor permanent-magnetic ring magnetic center and geometric center, the angle of a and coordinate axis O ξ, a, the correlation parameter that characterizes magnetic center skew, p _xfor a is at the component of O ξ axle, p _yfor a is at the component of O η axle;

Under rotating speed Ω, utilize static unbalance model and the magnetic center skew model set up, set up the kinetic model of magnetic bearing rotor-support-foundation system:

$\left\{\begin{array}{c}m{X^{\′\′}=k}_i{i}_x+k_{n}X+k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-{\mathrm{m\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)\\ m{Y}^{\′\′}=k_i{i}_y+k_{h}Y+k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, m is rotor quality, and X, Y are the component of rotor geometric center NX axle and NY axle in fixed coordinate system NXY, k _ifor active magnetic bearings current stiffness, k _hfor the comprehensive displacement rigidity of active magnetic bearings and passive magnetic bearing, k _pfor passive magnetic bearing radial displacement rigidity, i _x, i _yfor the control electric current of magnetic bearing X passage and Y passage, t is the time;

Step (2), system is carried out to null displacement control;

By the null displacement control to rotor geometric center, make X, Y identically vanishing, bring system dynamics model into, obtain the mathematical model of magnetic bearings control electric current:

$\left\{\begin{array}{c}{i}_x=-\frac{k_p{p}_x\cos \left(\mathrm{\Ωt}\right)-k_p{p}_y\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\cos \left(\mathrm{\Ωt}\right)-m{\mathrm{\Ω}}^2{r}_y\sin \left(\mathrm{\Ωt}\right)}{k_i}\\ i_y=-\frac{k_p{p}_x\sin \left(\mathrm{\Ωt}\right)+k_p{p}_y\cos \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_x\sin \left(\mathrm{\Ωt}\right)+m{\mathrm{\Ω}}^2{r}_y\cos \left(\mathrm{\Ωt}\right)}{k_i}\end{array}\right.$

The same frequency amount of step (3), the magnetic bearings control of raising speed measurement for the first time electric current;

Keep rotor null displacement control, at rotating speed Ω ₁time measure magnetic bearings control electric current and rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x1}=i_{x1c}\cos \left(\mathrm{\Ωt}\right)-i_{x1s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y1}=i_{y1c}\cos \left(\mathrm{\Ωt}\right)-i_{y1s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x1c, i _y1cand i _x1s, i _y1srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x1, i _y1cosine component and sinusoidal component;

The same frequency amount of step (4), the magnetic bearings control of raising speed measurement for the second time electric current;

Change rotor speed, at rotating speed Ω ₂time measure magnetic bearings control electric current and rotating speed with composition frequently:

$\left\{\begin{array}{c}{i}_{x2}=i_{x2c}\cos \left(\mathrm{\Ωt}\right)-i_{x2s}\sin \left(\mathrm{\Ωt}\right)\\ i_{y2}=i_{y2c}\cos \left(\mathrm{\Ωt}\right)-i_{y2s}\sin \left(\mathrm{\Ωt}\right)\end{array}\right.$

Wherein, i _x2c, i _y2cand i _x2s, i _y2srepresent that respectively X passage and Y passage magnetic bearing are with frequently controlling current i _x2, i _y2cosine component and sinusoidal component;

Step (5), the same frequency electric current recording according to step (3), (4), obtain respectively static-unbalance and magnetic center side-play amount.

2. the moving magnetic suspension rotor static unbalance of a kind of main quilt according to claim 1 and magnetic center skew on-line identification method, it is characterized in that: described step (2) adopts the method for general trapper to carry out null displacement control to system, and trap parameter matrix is elected T=S as ^-1(j Ω).

3. the moving magnetic suspension rotor static unbalance of a kind of main quilt according to claim 1 and magnetic center skew on-line identification method, is characterized in that: described step (3), (4) are obtained by same trapper frequently online with frequency electric current.

4. the moving magnetic suspension rotor static unbalance of a kind of main quilt according to claim 1 and magnetic center skew on-line identification method, is characterized in that: the algorithm that resolves of described step (5) static unbalance and magnetic center skew is:

$\left[\begin{array}{c}{r}_x\\ r_y\\ p_x\\ p_y\end{array}\right]=-k_i{\left[\begin{array}{cccc}m{\mathrm{\Ω}}_1^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_1^2& 0& k_p\\ {\mathrm{m\Ω}}_2^2& 0& k_p& 0\\ 0& {\mathrm{m\Ω}}_2^2& 0& k_p\end{array}\right]}^{-1}\left[\begin{array}{c}{i}_{x1c}\\ i_{x1s}\\ i_{x2c}\\ i_{x2s}\end{array}\right].$