CN105202024A - Control method and control device of magnetic suspension bearing system and air conditioner - Google Patents
Control method and control device of magnetic suspension bearing system and air conditioner Download PDFInfo
- Publication number
- CN105202024A CN105202024A CN201410259063.9A CN201410259063A CN105202024A CN 105202024 A CN105202024 A CN 105202024A CN 201410259063 A CN201410259063 A CN 201410259063A CN 105202024 A CN105202024 A CN 105202024A
- Authority
- CN
- China
- Prior art keywords
- weighting factor
- whirling motion
- separated
- rotor
- suspension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 160
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 74
- 238000000926 separation method Methods 0.000 claims abstract description 35
- 238000005339 levitation Methods 0.000 claims description 48
- 238000004378 air conditioning Methods 0.000 claims description 7
- 230000000737 periodic effect Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000002945 steepest descent method Methods 0.000 description 1
- 230000003442 weekly effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a control method of a magnetic suspension bearing system, which comprises the following steps: acquiring a displacement signal of a rotor in a magnetic suspension bearing system; determining a sinusoidal component with the same frequency as the rotating speed in the displacement signal; compensating the displacement signal by using a compensation signal, wherein the compensation signal is the product of a sine component and an optimal vortex motion separation weighting coefficient; and generating a control signal based on the current compensated displacement signal to control a power amplifier to adjust the exciting current flowing through a bearing coil in the magnetic suspension bearing. The control method of the magnetic suspension bearing system disclosed by the invention can reduce the fluctuation component of the control signal and improve the suspension precision and stability of the rotor. The invention also discloses a corresponding control device and an air conditioner.
Description
Technical field
The invention belongs to magnetic suspension bearing technical field, particularly relate to the controlling method of magnetic levitation bearing system, control gear and air-conditioning.
Background technique
Magnetic levitation bearing system is a kind of novel bearing system, in its running, utilizes magnetic force by rotor suspension in the air, makes do not have Mechanical Contact between rotor and stator, have the advantage that wearing and tearing are little, energy consumption is low, noise is little.Current magnetic levitation bearing system is applied to compressor more, namely magnetic suspension compressor.In magnetic levitation bearing system running, the mass eccentricity of its rotor can cause vibration, thus affects the suspension precision and stability of rotor.Wherein, suspension precision characterizes the displacement amount that rotor departs from central position.
How to control the running of magnetic levitation bearing system, to improve its suspension precision and stability, be those skilled in the art institute problems faced.
Summary of the invention
In view of this, the object of the present invention is to provide controlling method and the control gear of magnetic levitation bearing system, to realize the control to magnetic levitation bearing system, improve the suspension precision and stability of rotor.In addition, the present invention also discloses a kind of air-conditioning.
For achieving the above object, the invention provides following technological scheme:
The invention discloses a kind of controlling method of magnetic levitation bearing system, described controlling method comprises:
Obtain the displacement signal of described magnetic levitation bearing system rotor;
Determine the sinusoidal component of the same frequency with rotating speed in institute's displacement signal;
Utilize compensating signal to compensate institute's displacement signal, described compensating signal is that described sinusoidal component is separated the product of Weighting factor with optimum whirling motion;
Control signal is generated, to control the field current that power amplifier adjustment flows through described magnetic suspension bearing middle (center) bearing coil based on current displacement signal after overcompensation.
Preferably, the initial value that whirling motion is separated Weighting factor is 0 or 1, determines that optimum whirling motion is separated the operation of Weighting factor, comprising:
Determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor;
Judge that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
If so, then utilize the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, return to perform and determine to be separated based on current whirling motion the step that Weighting factor compensates the suspension precision of rear described rotor;
If not, then the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
Preferably, described first step-length is between 0.001 to 0.01.
Preferably, whirling motion be separated the initial value of Weighting factor be greater than 0 and be less than 1 the first numerical value, determine that optimum whirling motion is separated the operation of Weighting factor, comprising:
Determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor;
Judge that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
If so, then utilize the second step-length to be separated Weighting factor along first direction adjustment whirling motion, return to perform and determine to be separated based on current whirling motion the step that Weighting factor compensates the suspension precision of rear described rotor;
If not, then the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, described whirling motion is separated Weighting factor and is adjusted to second value, described second value is positioned in the second direction of described first numerical value, judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear described rotor whether lower than be separated based on described first whirling motion Weighting factor compensate after suspension precision, if, then determining that described first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor, otherwise, utilize the 3rd step-length to adjust described whirling motion along described second direction and be separated Weighting factor, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear described rotor lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
Preferably, described second step-length and described 3rd step-length are between 0.001 to 0.01.
The present invention also discloses a kind of control gear of magnetic levitation bearing system, comprising:
Displacement signal acquiring unit, for obtaining the displacement signal of described magnetic levitation bearing system rotor;
Sinusoidal component determining unit, with the sinusoidal component of rotating speed with frequency in the displacement signal that displacement signal acquiring unit gets for determining;
Compensating unit, for utilizing compensating signal to compensate institute's displacement signal, described compensating signal is that described sinusoidal component is separated the product of Weighting factor with optimum whirling motion;
Control unit, for generating control signal based on current displacement signal after overcompensation, to control the field current that power amplifier adjustment flows through described magnetic suspension bearing middle (center) bearing coil;
Weighting factor determining unit, for determining that optimum whirling motion is separated Weighting factor.
Preferably, the initial value that whirling motion is separated Weighting factor is 0 or 1, and described Weighting factor determining unit comprises:
Suspension precision determination module, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor for determining;
First judge module, for judging that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
First puocessing module, for when the judged result of described first judge module is for being, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, triggering described suspension precision determination module afterwards;
Second puocessing module, for when the judged result of described first judge module is no, is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor by the whirling motion used in the last cycle.
Preferably, whirling motion be separated the initial value of Weighting factor be greater than 0 and be less than 1 the first numerical value, described Weighting factor determining unit comprises:
Suspension precision determination module, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor for determining;
First judge module, for judging that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
3rd puocessing module, for when the judged result of described first judge module is for being, utilizes the second step-length to be separated Weighting factor along first direction adjustment whirling motion, triggering described suspension precision determination module afterwards;
4th puocessing module, for when the judged result of described first judge module is no, the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, whirling motion is separated Weighting factor and is adjusted to second value, described second value is positioned in the second direction of described first numerical value, triggers described suspension precision determination module afterwards;
Second judge module, for judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear described rotor whether lower than be separated based on described first whirling motion Weighting factor compensate after suspension precision;
5th puocessing module, for when the judged result of described second judge module is for being, determining that described first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor;
6th puocessing module, for when the judged result of described second judge module is no, utilize the 3rd step-length to adjust described whirling motion along described second direction and be separated Weighting factor, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear described rotor lower than the suspension precision in the last cycle, the whirling motion used be separated Weighting factor and be defined as optimum whirling motion separation Weighting factor in the last cycle.
The present invention also discloses a kind of air-conditioning, comprise magnetic suspension compressor, described magnetic suspension compressor comprises magnetic levitation bearing system, and described magnetic levitation bearing system comprises: magnetic suspension bearing, rotor, power amplifier, displacement detector and any one control gear above-mentioned.
As can be seen here, beneficial effect of the present invention is: the controlling method of magnetic levitation bearing system disclosed by the invention and control gear, after getting the displacement signal of rotor, determine the sinusoidal component of the same frequency with rotating speed in current displacement signal, this sinusoidal component is separated the product of Weighting factor as compensating signal with optimum whirling motion, current displacement signal is compensated, to reduce the periodic jamming signals of even offsetting in displacement signal, thus reduce the ripple components of control signal, improve the suspension precision and stability of rotor.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of controlling method of magnetic levitation bearing system disclosed by the invention;
Fig. 2 determines in the present invention that optimum whirling motion is separated the flow chart of a kind of method of Weighting factor;
Fig. 3 determines in the present invention that optimum whirling motion is separated the flow chart of the another kind of method of Weighting factor;
Fig. 4 adopts the theory diagram with the same sinusoidal component frequently of rotating speed in variable step-size LMS method determination displacement signal;
Fig. 5 is the theory diagram of the control procedure of magnetic levitation bearing system disclosed by the invention;
Fig. 6 applies to control effect contrast figure that is rear and existing controlling method to magnetic levitation bearing system based on controlling method disclosed by the invention;
Fig. 7 is the structural representation of a kind of control gear of magnetic levitation bearing system disclosed by the invention;
Fig. 8 is a kind of structural representation of Weighting factor determining unit in the present invention;
Fig. 9 is the another kind of structural representation of Weighting factor determining unit in the present invention.
Embodiment
For making the object of the embodiment of the present invention, technological scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technological scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The present invention discloses a kind of controlling method of magnetic levitation bearing system, to realize the control to magnetic levitation bearing system, improves the suspension precision and stability of rotor.
It is the flow chart of a kind of controlling method of magnetic levitation bearing system disclosed by the invention see Fig. 1, Fig. 1.This controlling method comprises:
Step S11: the displacement signal obtaining magnetic levitation bearing system rotor.
Magnetic levitation bearing system mainly comprises magnetic suspension bearing, rotor, control gear, power amplifier and displacement detector.In magnetic levitation bearing system running, displacement detector can deviate from the displacement of central position by detection rotor, and output displacement signal.
Step S12: the sinusoidal component determining the same frequency with rotating speed in displacement signal.
Step S13: utilize compensating signal to compensate current displacement signal, this compensating signal is that this sinusoidal component is separated the product of Weighting factor with optimum whirling motion.
The displacement signal that displacement detector detects both comprised periodic jamming signals, also comprised random vibration signal (useful signal).Periodic jamming signals in displacement signal can cause the ripple components producing same frequency in control signal, finally causes the vibration of rotor.The sinusoidal component of the same frequency with rotating speed in displacement signal is extracted in the present invention, the part in sinusoidal component is utilized to compensate the displacement signal that displacement transducer detects, can reduce even to offset the periodic jamming signals in displacement signal, thus the ripple components in reduction control signal, improve the suspension precision and stability of rotor.
Step S14: generate control signal based on current displacement signal after overcompensation, to control the field current that power amplifier adjustment flows through magnetic suspension bearing middle (center) bearing coil.
Control gear in magnetic levitation bearing system generates control signal based on the displacement signal after overcompensation, consistent with the processing procedure that deformation based signal in prior art generates control signal.The control signal that control gear generates transfers to the power amplifier in magnetic levitation bearing system, carry out amplification by power amplifier to control signal to process, adjustment flows through the electric current of magnetic levitation bearing system middle (center) bearing coil, thus change acts on epitrochanterian magnetic force, the levitation position of adjustment rotor.
The controlling method of magnetic levitation bearing system disclosed by the invention, after getting the displacement signal of rotor, determine the sinusoidal component of the same frequency with rotating speed in current displacement signal, this sinusoidal component is separated the product of Weighting factor as compensating signal with optimum whirling motion, current displacement signal is compensated, to reduce the periodic jamming signals of even offsetting in displacement signal, thus reduce the ripple components of control signal, improve the suspension precision and stability of rotor.
Optimum whirling motion in the present invention is separated Weighting factor with the suspension precision of rotor for Optimization goal obtains through automatic optimal.Determine that optimum whirling motion is separated the operation of Weighting factor and can performs when magnetic levitation bearing system runs first, also can periodically perform, such as every day or perform weekly once.Optimum whirling motion is separated Weighting factor and can determines in several ways, is described below in conjunction with Fig. 2 and Fig. 3.
It is the flow chart of a kind of method determining optimum whirling motion separation Weighting factor in the present invention see Fig. 2, Fig. 2.Wherein, the initial value that whirling motion is separated Weighting factor is 0 or 1, and the method comprises:
Step S21: determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear rotor.
The suspension precision of rotor characterizes the displacement amount that rotor departs from central position, when the suspension precision of rotor is higher, represent that the distance between rotor current location and its central position is less, when the suspension precision of rotor is lower, represent that the distance between rotor current location and its central position is larger.
Step S22: judge that the suspension precision of the current rotor got is whether higher than the suspension precision of the rotor got in the last cycle, if so, then performs step S23, otherwise, perform step S24.
Step S23: utilize the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, perform step S21.
If after compensating based on current whirling motion separation Weighting factor, the suspension precision of rotor, higher than the suspension precision of the rotor got in the last cycle, just utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion.Concrete: when the initial value that whirling motion is separated Weighting factor is 0, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion and specifically utilize the first step-length increase whirling motion to be separated Weighting factor; When the initial value that whirling motion is separated Weighting factor is 1, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion and specifically utilize the first step-length to reduce whirling motion separation Weighting factor.
In enforcement, the first step-length can be definite value, also can be variate.Preferably, the first step-length is between 0.001 to 0.01.
Step S24: the whirling motion in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
If after compensating based on current whirling motion separation Weighting factor, the suspension precision of rotor is lower than the suspension precision of the rotor got in the last cycle, then illustrating that the whirling motion carried out before the last adjustment is separated Weighting factor is that optimum whirling motion is separated Weighting factor, and it is that optimum whirling motion is separated Weighting factor that the whirling motion namely used in the last cycle is separated Weighting factor.
In the method shown in Fig. 2 of the present invention, the initial value that whirling motion is separated Weighting factor is 0 or 1, Weighting factor is separated along preset direction adjustment whirling motion with the first step-length, after each adjustment whirling motion is separated Weighting factor, determine the suspension precision of rotor after compensating based on the whirling motion separation Weighting factor after adjustment, and judge that whether this suspension precision is higher than the suspension precision of rotor within the last cycle, until the suspension precision of rotor is lower than the suspension precision in the last cycle, the whirling motion used is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor in the last cycle.
It is the flow chart of the another kind of method determining optimum whirling motion separation Weighting factor in the present invention see Fig. 3, Fig. 3.Wherein, the initial value that whirling motion is separated Weighting factor is be greater than 0 the first numerical value being less than 1, and the method comprises:
Step S31: determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear rotor.
Step S32: judge that the suspension precision of the current rotor got is whether higher than the suspension precision of the rotor got in the last cycle, if so, then performs step S33, otherwise, perform step S34.
Step S33: utilize the second step-length to be separated Weighting factor along first direction adjustment whirling motion, perform step S31.
Wherein, utilize the second step-length to be separated Weighting factor along first direction adjustment whirling motion and be specially: utilize the second step-length to increase whirling motion and be separated Weighting factor, or utilize the second step-length reduction whirling motion to be separated Weighting factor.
After utilizing the second step-length to be separated Weighting factor along first direction adjustment whirling motion, determine that the whirling motion after based on adjustment is separated the suspension precision that Weighting factor compensates rear rotor, if this suspension precision is higher than the suspension precision (being namely separated based on the whirling motion before the last time adjustment the suspension precision that Weighting factor compensates rear rotor) of last cycle internal rotor, then continue to utilize the second step-length to be separated weighting system along first direction adjustment whirling motion.
Step S34: the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, whirling motion is separated Weighting factor and is adjusted to second value.
Wherein, second value is positioned in the second direction of the first numerical value.Second direction is contrary with first direction, and when first direction is separated Weighting factor for increasing whirling motion, second direction is separated Weighting factor for reducing whirling motion, and when first direction is separated Weighting factor for reducing whirling motion, second direction is separated Weighting factor for increasing whirling motion.
When suspension precision lower than last cycle internal rotor of the suspension precision of rotor, showing that the whirling motion used in the last cycle is separated Weighting factor is that whirling motion is separated Weighting factor from initial value along the optimum whirling motion separation Weighting factor first direction adjustment process, whirling motion to be separated Weighting factor afterwards and be adjusted to second value, to judge that whirling motion is separated Weighting factor and whether there is more excellent numerical value from initial value along second direction adjustment process.
Step S35: judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear rotor whether lower than be separated based on the first whirling motion Weighting factor compensate after suspension precision, if so, then perform step S36, otherwise, perform step S37.
Step S36: determining that the first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor.
Step S37: utilize the 3rd step-length to be separated Weighting factor along second direction adjustment whirling motion.
Step S38: judge that the whirling motion after based on adjustment is separated Weighting factor and whether compensates the suspension precision of rear rotor lower than the suspension precision in the last cycle, if so, perform step S39, otherwise, perform step S37.
Step S39: the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
Whirling motion being separated after Weighting factor is adjusted to second value, determine to be separated based on the whirling motion of this second value the suspension precision that Weighting factor compensates rear rotor.This suspension precision lower than be separated based on the first whirling motion Weighting factor compensate after the suspension precision of rotor time, determining that the first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor.This suspension precision higher than be separated based on the first whirling motion Weighting factor compensate after the suspension precision of rotor time, the 3rd step-length is utilized to be separated Weighting factor along second direction adjustment whirling motion, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear rotor lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor, the whirling motion before namely being adjusted the last time is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
In enforcement, the second step-length and the 3rd step-length can be definite value, also can be variate.Preferably, the second step-length and the 3rd step-length are between 0.001 to 0.01.
In the method shown in Fig. 3 of the present invention, whirling motion is separated the initial value of Weighting factor between 0 to 1, first Weighting factor is separated with the second step-length along first direction adjustment whirling motion, to determine that the first whirling motion is separated Weighting factor, it is be separated Weighting factor from initial value along the optimum whirling motion first direction adjustment process that this first whirling motion is separated Weighting factor, afterwards whirling motion is separated Weighting factor and is adjusted to the second value be positioned in the second direction of initial value, suspension precision after rotor compensates based on this second value lower than based on first whirling motion be separated Weighting factor compensate after suspension precision time, determining that the first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor, suspension precision after rotor compensates based on this second value higher than based on first whirling motion be separated Weighting factor compensate after suspension precision time, Weighting factor is separated along second direction adjustment whirling motion with the 3rd step-length, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear rotor lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
In enforcement, can adopt the sinusoidal component of the same frequency with rotating speed in the displacement signal of variable step-size LMS (lowest mean square) method determination rotor, its principle as shown in Figure 4.
Both comprise periodic jamming signals in the displacement signal of rotor, also comprise random vibration signal (useful signal).The displacement signal that e (k) is rotor.Reference input x
1(k) and x
2k () is synperiodic standard sine signal with undesired signal, two signal phases differ 90 °.The object of LMS algorithm obtains weight vector w
1(k) and w
2k the value of (), the output signal y (k) after combining is offseted with the periodic interference signals in raw bits shifting signal e (k), thus it is minimum to reach mean square of error value.Output signal y (k) is the sinusoidal component of the same frequency with rotating speed in displacement signal e (k), y (k)=x
1(k) * w
1(k)+x
2(k) * w
2(k).LMS algorithm changes gain parameter, than being easier on algorithm realization in each sampling time.
Weight vector w
1(k) and w
2k weight vector that () iteration adopts steepest descent method search optimum, make mean square error reach minimum, iterative formula is:
Wherein, μ is the fixed compensation factor.The key of this algorithm is choosing of μ, μ more Iarge-scale system convergence faster, but the bandwidth of sef-adapting filter will become large, can have an impact to not needing the signal compensated, even be filtered, can have an impact to the stability of whole system like this, finally cause dispersing of LMS algorithm.On the other hand μ has got hour, and system convergence speed can be slack-off, but performance can improve, and μ regulates by following formula:
Wherein, f is the rotational frequency of rotor, and α is Weighting factor, and object increases error signal to the impact of variable step size.
The control procedure of magnetic levitation bearing system disclosed by the invention as shown in Figure 5.Claimant is according to controlling method disclosed by the invention to after magnetic levitation bearing system applying control, and compared with existing control mode, in bearing coil, the fluctuation of field current reduces about 55%, and the suspension precision of rotor improves about 30%, and effect as shown in Figure 6.
The controlling method of the above disclosed magnetic levitation bearing system of the present invention, accordingly, the present invention also discloses the control gear of magnetic levitation bearing system, to realize this controlling method.
It is the structural representation of a kind of control gear of magnetic levitation bearing system disclosed by the invention see Fig. 7, Fig. 7.This control gear comprises displacement signal acquiring unit 1, sinusoidal component determining unit 2, compensating unit 3, control unit 4 and Weighting factor determining unit 5.
Wherein:
Displacement signal acquiring unit 1, for obtaining the displacement signal of magnetic levitation bearing system rotor.In magnetic levitation bearing system running, displacement detector can deviate from the displacement of central position by detection rotor, and output displacement signal, and what displacement signal acquiring unit 1 obtained rotor from displacement detector is positioned at signal.
Sinusoidal component determining unit 2, for determining the sinusoidal component of the same frequency with rotating speed in the displacement signal that displacement signal acquiring unit 1 gets.
Compensating unit 3, for utilizing compensating signal to compensate displacement signal, wherein, compensating signal is sinusoidal component that sinusoidal component determining unit 2 is determined is separated Weighting factor product with optimum whirling motion.
Control unit 4, for generating control signal based on current displacement signal after overcompensation, to control the field current that power amplifier adjustment flows through magnetic suspension bearing middle (center) bearing coil.
Weighting factor determining unit 5, for determining that optimum whirling motion is separated Weighting factor.
The control gear of magnetic levitation bearing system disclosed by the invention, after getting the displacement signal of rotor, determine the sinusoidal component of the same frequency with rotating speed in current displacement signal, this sinusoidal component is separated the product of Weighting factor as compensating signal with optimum whirling motion, current displacement signal is compensated, to reduce the periodic jamming signals of even offsetting in displacement signal, thus reduce the ripple components of control signal, improve the suspension precision and stability of rotor.
Optimum whirling motion is separated Weighting factor and can determines in several ways, and accordingly, Weighting factor determining unit 5 has different structure.Be described respectively below.
See a kind of structural representation that Fig. 8, Fig. 8 are Weighting factor determining unit in the present invention.The initial value that whirling motion is separated Weighting factor is 0 or 1, and this Weighting factor determining unit comprises suspension precision determination module 501, first judge module 502, first puocessing module 503 and the second puocessing module 504.
Wherein:
Suspension precision determination module 501, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear rotor for determining.
First judge module 502, for judging that the suspension precision of the current rotor got is whether higher than the suspension precision of the rotor got in the last cycle.
First puocessing module 503, for when the judged result of the first judge module 502 is for being, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, triggering suspension precision determination module 501 afterwards.
When the initial value that whirling motion is separated Weighting factor is 0, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion and specifically utilize the first step-length to increase whirling motion separation Weighting factor; When the initial value that whirling motion is separated Weighting factor is 1, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion and specifically utilize the first step-length to reduce whirling motion separation Weighting factor.In enforcement, the first step-length can be definite value, also can be variate.Preferably, the first step-length is between 0.001 to 0.01.
Second puocessing module 504, for when the judged result of the first judge module 502 is no, is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor by the whirling motion used in the last cycle.
Weighting factor determining unit shown in Fig. 8 of the present invention, the initial value that whirling motion is separated Weighting factor is 0 or 1, Weighting factor is separated along preset direction adjustment whirling motion with the first step-length, after each adjustment whirling motion is separated Weighting factor, determine the suspension precision of rotor after compensating based on the whirling motion separation Weighting factor after adjustment, and judge that whether this suspension precision is higher than the suspension precision of rotor within the last cycle, until the suspension precision of rotor is lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
See a kind of structural representation that Fig. 9, Fig. 9 are Weighting factor determining unit in the present invention.Whirling motion be separated the initial value of Weighting factor be greater than 0 and be less than 1 the first numerical value, this Weighting factor determining unit comprises suspension precision determination module 511, first judge module 512, the 3rd puocessing module 513, the 4th puocessing module 514, second judge module 515, the 5th puocessing module 516 and the 6th puocessing module 517.
Wherein:
Suspension precision determination module 511, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear rotor for determining.
First judge module 512, for judging that the suspension precision of the current rotor got is whether higher than the suspension precision of the rotor got in the last cycle.
3rd puocessing module 513, for when the judged result of the first judge module 512 is for being, utilizes the second step-length to be separated Weighting factor along first direction adjustment whirling motion, triggering suspension precision determination module 511 afterwards.
4th puocessing module 514, for when the judged result of the first judge module 512 is no, the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, whirling motion is separated Weighting factor and is adjusted to second value, second value is positioned in the second direction of the first numerical value, triggers suspension precision determination module 511 afterwards.Second direction is contrary with first direction.
Second judge module 515, for judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear rotor whether lower than be separated based on the first whirling motion Weighting factor compensate after suspension precision.
5th puocessing module 516, for when the judged result of the second judge module 515 is for being, determining that the first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor.
6th puocessing module 517, for when the judged result of the second judge module 515 is no, the 3rd step-length is utilized to be separated Weighting factor along second direction adjustment whirling motion, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear rotor lower than the suspension precision in the last cycle, the whirling motion used be separated Weighting factor and be defined as optimum whirling motion separation Weighting factor in the last cycle.
Utilize the second step-length to be separated Weighting factor along first direction adjustment whirling motion to be specially: utilize the second step-length to increase whirling motion and be separated Weighting factor, or utilize the second step-length reduction whirling motion to be separated Weighting factor.Second direction is contrary with first direction, and when first direction is separated Weighting factor for increasing whirling motion, second direction is separated Weighting factor for reducing whirling motion, and when first direction is separated Weighting factor for reducing whirling motion, second direction is separated Weighting factor for increasing whirling motion.In enforcement, the second step-length and the 3rd step-length can be definite value, also can be variate.Preferably, the second step-length and the 3rd step-length are between 0.001 to 0.01.
Weighting factor determining unit shown in Fig. 9 of the present invention, whirling motion is separated the initial value of Weighting factor between 0 to 1, first Weighting factor is separated with the second step-length along first direction adjustment whirling motion, to determine that the first whirling motion is separated Weighting factor, it is be separated Weighting factor from initial value along the optimum whirling motion first direction adjustment process that this first whirling motion is separated Weighting factor, afterwards whirling motion is separated Weighting factor and is adjusted to the second value be positioned in the second direction of initial value, suspension precision after rotor compensates based on this second value lower than based on first whirling motion be separated Weighting factor compensate after suspension precision time, determining that the first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor, suspension precision after rotor compensates based on this second value higher than based on first whirling motion be separated Weighting factor compensate after suspension precision time, Weighting factor is separated along second direction adjustment whirling motion with the 3rd step-length, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear rotor lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
The present invention also discloses a kind of air-conditioning, comprise magnetic suspension compressor, this magnetic suspension compressor comprises magnetic levitation bearing system, and wherein magnetic levitation bearing system comprises the above-mentioned disclosed control gear of magnetic suspension bearing, rotor, power amplifier, displacement detector and the present invention.Air-conditioning disclosed by the invention, the suspension precision and stability of the rotor in its magnetic levitation bearing system is higher.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or control panel, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a controlling method for magnetic levitation bearing system, is characterized in that, described controlling method comprises:
Obtain the displacement signal of described magnetic levitation bearing system rotor;
Determine the sinusoidal component of the same frequency with rotating speed in institute's displacement signal;
Utilize compensating signal to compensate institute's displacement signal, described compensating signal is that described sinusoidal component is separated the product of Weighting factor with optimum whirling motion;
Control signal is generated, to control the field current that power amplifier adjustment flows through described magnetic suspension bearing middle (center) bearing coil based on current displacement signal after overcompensation.
2. controlling method according to claim 1, is characterized in that, the initial value that whirling motion is separated Weighting factor is 0 or 1, determines that optimum whirling motion is separated the operation of Weighting factor, comprising:
Determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor;
Judge that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
If so, then utilize the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, return to perform and determine to be separated based on current whirling motion the step that Weighting factor compensates the suspension precision of rear described rotor;
If not, then the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
3. controlling method according to claim 2, is characterized in that, described first step-length is between 0.001 to 0.01.
4. controlling method according to claim 1, is characterized in that, whirling motion be separated the initial value of Weighting factor be greater than 0 and be less than 1 the first numerical value, determine that optimum whirling motion is separated the operation of Weighting factor, comprising:
Determine to be separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor;
Judge that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
If so, then utilize the second step-length to be separated Weighting factor along first direction adjustment whirling motion, return to perform and determine to be separated based on current whirling motion the step that Weighting factor compensates the suspension precision of rear described rotor;
If not, then the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, described whirling motion is separated Weighting factor and is adjusted to second value, described second value is positioned in the second direction of described first numerical value, judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear described rotor whether lower than be separated based on described first whirling motion Weighting factor compensate after suspension precision, if, then determining that described first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor, otherwise, utilize the 3rd step-length to adjust described whirling motion along described second direction and be separated Weighting factor, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear described rotor lower than the suspension precision in the last cycle, the whirling motion used in the last cycle is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor.
5. controlling method according to claim 4, is characterized in that, described second step-length and described 3rd step-length are between 0.001 to 0.01.
6. a control gear for magnetic levitation bearing system, is characterized in that, comprising:
Displacement signal acquiring unit, for obtaining the displacement signal of described magnetic levitation bearing system rotor;
Sinusoidal component determining unit, with the sinusoidal component of rotating speed with frequency in the displacement signal that displacement signal acquiring unit gets for determining;
Compensating unit, for utilizing compensating signal to compensate institute's displacement signal, described compensating signal is that described sinusoidal component is separated the product of Weighting factor with optimum whirling motion;
Control unit, for generating control signal based on current displacement signal after overcompensation, to control the field current that power amplifier adjustment flows through described magnetic suspension bearing middle (center) bearing coil;
Weighting factor determining unit, for determining that optimum whirling motion is separated Weighting factor.
7. control gear according to claim 6, is characterized in that, the initial value that whirling motion is separated Weighting factor is 0 or 1, and described Weighting factor determining unit comprises:
Suspension precision determination module, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor for determining;
First judge module, for judging that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
First puocessing module, for when the judged result of described first judge module is for being, utilizes the first step-length to be separated Weighting factor along preset direction adjustment whirling motion, triggering described suspension precision determination module afterwards;
Second puocessing module, for when the judged result of described first judge module is no, is separated Weighting factor and is defined as optimum whirling motion separation Weighting factor by the whirling motion used in the last cycle.
8. control gear according to claim 6, is characterized in that, whirling motion be separated the initial value of Weighting factor be greater than 0 and be less than 1 the first numerical value, described Weighting factor determining unit comprises:
Suspension precision determination module, is separated based on current whirling motion the suspension precision that Weighting factor compensates rear described rotor for determining;
First judge module, for judging that the suspension precision of the current described rotor got is whether higher than the suspension precision of the described rotor got in the last cycle;
3rd puocessing module, for when the judged result of described first judge module is for being, utilizes the second step-length to be separated Weighting factor along first direction adjustment whirling motion, triggering described suspension precision determination module afterwards;
4th puocessing module, for when the judged result of described first judge module is no, the whirling motion used in the last cycle is separated Weighting factor and is defined as the first whirling motion separation Weighting factor, whirling motion is separated Weighting factor and is adjusted to second value, described second value is positioned in the second direction of described first numerical value, triggers described suspension precision determination module afterwards;
Second judge module, for judge based on the whirling motion of second value be separated suspension precision that Weighting factor compensates rear described rotor whether lower than be separated based on described first whirling motion Weighting factor compensate after suspension precision;
5th puocessing module, for when the judged result of described second judge module is for being, determining that described first whirling motion is separated Weighting factor is that optimum whirling motion is separated Weighting factor;
6th puocessing module, for when the judged result of described second judge module is no, utilize the 3rd step-length to adjust described whirling motion along described second direction and be separated Weighting factor, until be separated Weighting factor based on the whirling motion after adjustment to compensate the suspension precision of rear described rotor lower than the suspension precision in the last cycle, the whirling motion used be separated Weighting factor and be defined as optimum whirling motion separation Weighting factor in the last cycle.
9. an air-conditioning, comprise magnetic suspension compressor, described magnetic suspension compressor comprises magnetic levitation bearing system, it is characterized in that, described magnetic levitation bearing system comprises: magnetic suspension bearing, rotor, power amplifier, displacement detector and the control gear as described in claim 6,7 or 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410259063.9A CN105202024B (en) | 2014-06-11 | 2014-06-11 | Control method and control device of magnetic suspension bearing system and air conditioner |
| PCT/CN2015/078539 WO2015188669A1 (en) | 2014-06-11 | 2015-05-08 | Magnetic bearing system control method, control device and air conditioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410259063.9A CN105202024B (en) | 2014-06-11 | 2014-06-11 | Control method and control device of magnetic suspension bearing system and air conditioner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105202024A true CN105202024A (en) | 2015-12-30 |
| CN105202024B CN105202024B (en) | 2017-09-22 |
Family
ID=54832874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410259063.9A Active CN105202024B (en) | 2014-06-11 | 2014-06-11 | Control method and control device of magnetic suspension bearing system and air conditioner |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105202024B (en) |
| WO (1) | WO2015188669A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857029A (en) * | 2019-02-20 | 2019-06-07 | 珠海格力电器股份有限公司 | Working method of dual-processor control system, magnetic suspension bearing monitoring system and working method thereof, compressor and air conditioner |
| CN110345158A (en) * | 2019-07-22 | 2019-10-18 | 珠海格力电器股份有限公司 | Bearing control method and device, storage medium and processor |
| CN111473049A (en) * | 2020-04-17 | 2020-07-31 | 河海大学 | Control method for solid stator magnetic suspension exciting current |
| CN112162574A (en) * | 2020-10-22 | 2021-01-01 | 中车株洲电机有限公司 | Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium |
| CN116292622A (en) * | 2023-05-11 | 2023-06-23 | 长江三峡集团实业发展(北京)有限公司 | Magnetic suspension flexible rotor full-rotation-speed vibration control method and device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10501733B2 (en) | 2015-02-27 | 2019-12-10 | University Of Washington | Polypeptide assemblies and methods for the production thereof |
| CN107612427B (en) * | 2017-09-18 | 2019-02-19 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension system and its current response rate detection method and device |
| CN112196897B (en) * | 2020-10-10 | 2021-07-20 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system, method, device, equipment and storage medium |
| CN114233751B (en) * | 2021-12-21 | 2022-09-09 | 珠海格力电器股份有限公司 | Control method and device of magnetic suspension bearing, magnetic suspension system and storage medium |
| CN114738385B (en) * | 2022-04-28 | 2023-03-21 | 珠海格力电器股份有限公司 | Magnetic suspension bearing system, control method and device thereof and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5400256A (en) * | 1992-01-21 | 1995-03-21 | The Charles Stark Draper Laboratory, Inc. | Frequency tracking adaptive synchronous vibration suppression apparatus |
| CN1928489A (en) * | 2006-09-26 | 2007-03-14 | 武汉理工大学 | Integrated magnetic suspension rotor dynamic displacement measuring device |
| JP4232573B2 (en) * | 2003-08-19 | 2009-03-04 | 株式会社島津製作所 | Magnetic bearing control device and magnetic levitation device |
| CN101488031A (en) * | 2009-02-16 | 2009-07-22 | 北京航空航天大学 | High-precision magnetic bearing axial control method based on interference observer |
| CN102664566A (en) * | 2012-05-12 | 2012-09-12 | 济南大学 | Force-control-based magnetic levitation system and control method |
| US20130251502A1 (en) * | 2012-03-20 | 2013-09-26 | World Heart Corporation | Method and Apparatus for Sensing of Levitated Rotor Position |
| CN103671223A (en) * | 2012-09-22 | 2014-03-26 | 南京九舜磁悬浮科技有限公司 | Vertical shaft magnetic levitation bearing compressor |
-
2014
- 2014-06-11 CN CN201410259063.9A patent/CN105202024B/en active Active
-
2015
- 2015-05-08 WO PCT/CN2015/078539 patent/WO2015188669A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5400256A (en) * | 1992-01-21 | 1995-03-21 | The Charles Stark Draper Laboratory, Inc. | Frequency tracking adaptive synchronous vibration suppression apparatus |
| JP4232573B2 (en) * | 2003-08-19 | 2009-03-04 | 株式会社島津製作所 | Magnetic bearing control device and magnetic levitation device |
| CN1928489A (en) * | 2006-09-26 | 2007-03-14 | 武汉理工大学 | Integrated magnetic suspension rotor dynamic displacement measuring device |
| CN101488031A (en) * | 2009-02-16 | 2009-07-22 | 北京航空航天大学 | High-precision magnetic bearing axial control method based on interference observer |
| US20130251502A1 (en) * | 2012-03-20 | 2013-09-26 | World Heart Corporation | Method and Apparatus for Sensing of Levitated Rotor Position |
| CN102664566A (en) * | 2012-05-12 | 2012-09-12 | 济南大学 | Force-control-based magnetic levitation system and control method |
| CN103671223A (en) * | 2012-09-22 | 2014-03-26 | 南京九舜磁悬浮科技有限公司 | Vertical shaft magnetic levitation bearing compressor |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857029A (en) * | 2019-02-20 | 2019-06-07 | 珠海格力电器股份有限公司 | Working method of dual-processor control system, magnetic suspension bearing monitoring system and working method thereof, compressor and air conditioner |
| CN110345158A (en) * | 2019-07-22 | 2019-10-18 | 珠海格力电器股份有限公司 | Bearing control method and device, storage medium and processor |
| CN111473049A (en) * | 2020-04-17 | 2020-07-31 | 河海大学 | Control method for solid stator magnetic suspension exciting current |
| CN112162574A (en) * | 2020-10-22 | 2021-01-01 | 中车株洲电机有限公司 | Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium |
| CN112162574B (en) * | 2020-10-22 | 2021-10-22 | 中车株洲电机有限公司 | Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium |
| CN116292622A (en) * | 2023-05-11 | 2023-06-23 | 长江三峡集团实业发展(北京)有限公司 | Magnetic suspension flexible rotor full-rotation-speed vibration control method and device |
| CN116292622B (en) * | 2023-05-11 | 2023-08-18 | 长江三峡集团实业发展(北京)有限公司 | Magnetic suspension flexible rotor full-rotation-speed vibration control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105202024B (en) | 2017-09-22 |
| WO2015188669A1 (en) | 2015-12-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105202024A (en) | Control method and control device of magnetic suspension bearing system and air conditioner | |
| JP5571365B2 (en) | Torsional mode damping device | |
| CN106515348B (en) | Intelligent acceleration damping semi-active control method for vehicle suspension system | |
| KR100951754B1 (en) | Machine position control device | |
| Shi et al. | Design and experiment study of a semi-active energy-regenerative suspension system | |
| US9423782B2 (en) | Motor drive device | |
| CN108223682B (en) | Dynamic damper control device | |
| CN104503238A (en) | Current harmonic suppression method for magnetic suspension rotor system based on self-adaptive repetitive controller | |
| Hosek et al. | A tunable torsional vibration absorber: the centrifugal delayed resonator | |
| CN105827133A (en) | Distributed inverter resonance suppression method and system based on capacitor voltage prediction | |
| CN105045141A (en) | Analog control circuit for improving control bandwidth of fast reflector | |
| CN108087423A (en) | A kind of control device of magnetic suspension bearing, magnetic suspension bearing and its control method | |
| CN106208807A (en) | Supersonic motor servo-control system hysteresis compensating control method based on observer | |
| CN106406093B (en) | Supersonic motor servo-control system asymmetry hysteresis compensates control device | |
| JP6481792B2 (en) | Power system test equipment | |
| Huyanan et al. | Vibration control strategies for proof-mass actuators | |
| CN101997471A (en) | PID prediction function-based excitation control method | |
| CN106505909A (en) | Supersonic motor nonlinear dead-zone compensation control system and method based on generalized regression nerve networks | |
| Filipović et al. | Bandpass vibration absorber | |
| CN106787940B (en) | A kind of improved supersonic motor contragradience adaptive servo control method | |
| CN106842957B (en) | Ultrasonic motor servo control method based on output feedback controller | |
| KR20140139387A (en) | Asymmetric trapezoidal velocity profile to minimize the residual vibration under varying the system characteristics | |
| JP2009257486A (en) | Response control system | |
| JP2014142317A (en) | Testing device for power system | |
| KR102019372B1 (en) | Energy harvesting damper with variable damping coefficient and vibration control system having the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |