CN113339407B - Magnetic suspension bearing unbalance vibration suppression method for actively adjusting suspension position - Google Patents
Magnetic suspension bearing unbalance vibration suppression method for actively adjusting suspension position Download PDFInfo
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- 238000005339 levitation Methods 0.000 claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 11
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- 230000000452 restraining effect Effects 0.000 claims description 4
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- 238000001845 vibrational spectrum Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 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
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
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- 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
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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- 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
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- 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
- F16C32/0474—Active magnetic bearings for rotary movement
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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Abstract
The invention discloses a method for inhibiting unbalanced vibration of a magnetic suspension bearing by actively adjusting a suspension position, which comprises the following steps of: step 1: extracting a phase lag value of the magnetic suspension bearing rotor caused by measurement and control separation; and 2, step: designing a magnetic suspension bearing suspension reference position adjusting controller; a new levitation reference position is calculated to suppress unbalanced vibrations. The method for inhibiting the unbalanced vibration of the magnetic suspension bearing by actively adjusting the suspension position can reduce the unbalanced vibration of a magnetic suspension rotor system, solves the error caused by the fact that a magnetic suspension bearing measuring sensor and a magnetic suspension bearing control point are not located at the same position, and has the advantages of intuition, easiness in implementation and better inhibition of same-frequency vibration.
Description
Technical Field
The invention discloses a method for suppressing unbalanced vibration of a magnetic suspension bearing based on suspension reference position adjustment, and belongs to the technical field of magnetic suspension bearings.
Background
The rotary machine is one of key devices in the national basic industry, and plays a role as a core device in a plurality of key fields such as electric energy, aviation, traffic, petrochemical industry, metallurgy, military industry production, space technology and the like. With the development of science and technology, the requirements of the industry on the performance indexes of the rotating machinery in the aspects of rotating speed, stability, energy consumption, life cycle and the like are continuously improved, and the bearing serving as a part for directly supporting the rotor has an important influence on the performance of the rotating machinery.
The magnetic suspension bearing utilizes a controllable magnetic field to suspend a rotor at a certain specific balance position in the air, has the advantages of no abrasion, no need of lubrication, high rotation speed and the like, and is increasingly applied to high-speed rotating machinery such as blowers, steam turbines, compressors, pumps and the like. Particularly, the rigidity and the damping characteristic can be changed through a control algorithm, different engineering requirements are met, and the operation process is more stable. Along with the forward development of the magnetic suspension bearing rotating machinery in high rotating speed, light structure, large span and flexible direction, the magnetic suspension bearing rotating machinery has higher and higher requirements on the performance indexes of the whole machine.
When the rotor has an unbalanced mass, the rotor generates unbalanced vibration in a rotating state, and the vibration frequency is the same as the rotor rotating frequency. The unbalanced mass of the rotor can be effectively reduced through offline dynamic balance, but absolute balance cannot be realized physically, so that the rotor with high balance precision has unbalanced mass and inevitable unbalanced common-frequency vibration in rotation. Particularly, since the unbalanced vibration force of the rotor is proportional to the square of the rotation speed, the unbalanced vibration of the rotor increases sharply with the increase of the rotation speed, and the destructiveness of the rotor to the system increases doubly at high rotation speeds.
The magnetic suspension bearing can be actively controlled, so that the unbalanced vibration of the rotor can be suppressed by a corresponding control method. In the aspect of magnetic suspension bearing rotor same-frequency vibration suppression, relevant research works are carried out by domestic and foreign scholars, but in the existing suppression schemes, a feedforward controller is connected in parallel with a magnetic suspension main controller, the purpose of vibration suppression is achieved by eliminating the same-frequency components in coil control current, but because the positions of a magnetic suspension bearing control point and a sensor measuring point are inconsistent, phase lag is easily caused, and the system is unstable. The invention provides a method for inhibiting unbalanced vibration of a magnetic suspension bearing rotor system by actively adjusting a suspension reference position. The method solves the problem of errors caused by the fact that the magnetic suspension bearing measurement sensor and the magnetic suspension bearing control point are not located at the same position, and has the advantages of being visual, easy to achieve and good in same-frequency vibration suppression.
Background art references: magnetic suspension bearing, theory, design and rotating machinery application/(Switzerland) Gerhard Schweitzer, (American) Eric H.Maslen et al, Xun 26104, King in Teng, Zhao Reyian, Beijing, mechanical industry Press, pages 2012.04.167-169.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a method for restraining unbalanced vibration of a rotor system of a magnetic suspension bearing by actively adjusting a suspension reference position, aiming at the problem that the position of a magnetic suspension bearing control point is inconsistent with the position of a sensor measuring point in the traditional method for restraining the unbalanced vibration of the magnetic suspension bearing, so that the system is easy to be unstable due to phase lag. The method solves the problem of errors caused by the fact that the magnetic suspension bearing measurement sensor and the magnetic suspension bearing control point are not located at the same position, and has the advantages of being visual, easy to achieve and good in same-frequency vibration suppression.
The technical scheme is as follows: a method for restraining unbalanced vibration of a magnetic suspension bearing by actively adjusting a suspension position comprises the following steps:
step 1: extracting a phase lag value of the magnetic suspension bearing rotor caused by measurement and control separation;
step 2: designing a magnetic suspension bearing suspension reference position adjusting controller; a new levitation reference position is calculated to suppress unbalanced vibrations.
Further, step 1 specifically comprises:
step 1.1: inputting sine excitation signal from the reference suspension position
The amplitude value of the sine reference excitation signal is unchanged, but the frequency is gradually increased from low to high; note that these frequencies from low to high are f 1 、f 2 …f x …f N Wherein x is more than or equal to 1 and less than or equal to N, and N is a natural number more than 1;
step 1.2: synchronous acquisition of sinusoidal excitation signal input at a reference levitation location
And a rotor vibration displacement signal x collected by the sensor;
step 1.3: f to be collected 1 The sine excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter so as to eliminate interference signals, and the central filtering frequency of the filter is f 1 (ii) a F to be collected 2 The excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter, wherein the filter is arranged inThe heart filter frequency being f 2 (ii) a Processing the rest collected data by analogy in turn;
step 1.4: carrying out Fourier transform on the filtered data, and then carrying out vibration displacement signal x of the rotor under the corresponding frequency with an input signal
The phase difference is made to obtain the phase lag value f of the magnetic suspension bearing rotor caused by measurement and control separation 1 、f 2 …f x …f N The lagging phase values at frequency are recorded in turn
Further, step 2 specifically comprises:
step 2.1: the initial suspension position is r, and the vibration displacement position q of the rotor obtained by the sensor at the current rotating speed is obtained s Calculating the distance from r; then along q s A suspension reference position r is arranged at the position opposite to the r 1 And r is 1 Distance from r and q s The distance from r is consistent; finally, according to the current rotating speed frequency, selecting the phase value after the corresponding frequency falls from the step 1.4
Will r is 1 Rotating in advance in the direction of phase lag
Angular arrival
I.e. the new levitation reference position;
step 2.2: q is to be s The vibration displacement of the rotor formed by r is decomposed into orthogonal decoupling x and y directions which are respectively controlled simultaneously;
step 2.3: the component of the rotor vibration signal collected by the sensor in the x direction firstly enters a suspension reference position calculator; while the floating reference position calculator reads the rotor rotationSpeed signal n x Calculating the frequency corresponding to the rotating speed at the moment;
step 2.4: selecting a compensation phase value corresponding to the rotating speed frequency from the step 1 by the suspension reference position calculator according to the frequency corresponding to the rotating speed at the moment;
step 2.5, the vibration displacement of the rotor in the x direction in the step 2.2 is differentiated to obtain the speed of the rotor vibration signal in the x direction
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t x As shown in formula (1), a in the formula is the vibration amplitude of the rotor;
step 2.6: after the initial phase value is obtained, the real position r of the rotor in the x direction at the position of the magnetic bearing at the moment is calculated according to the step (2) rx Eliminating the error caused by the sensor and the magnetic suspension bearing control point not being at the same position;
step 2.7: calculating a new x-direction levitation reference position r nx R in the formula (3) ox An initial levitation reference position in the x-direction;
r nx ＝r ox -r rx (3)
step 2.8: the component of the rotor vibration signal collected by the sensor in the y direction firstly enters a suspension reference position calculator; at the same time, the floating reference position calculator reads the rotating speed signal n of the rotor y Calculating the frequency corresponding to the rotating speed at the moment;
step 2.9: selecting a compensation phase value corresponding to the rotating speed frequency from the step 1 by the suspension reference position calculator according to the frequency corresponding to the rotating speed at the moment;
step 2.10: obtaining the speed of the rotor vibration signal in the y direction by differentiating the vibration displacement of the rotor in the y direction in the step 2.2
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t y As shown in formula (4), a in the formula is the vibration amplitude of the rotor;
step 2.11: after the initial phase value is obtained, the real position r of the rotor in the y direction at the magnetic bearing position at the moment is calculated according to the step (5) ry Eliminating the error caused by the sensor and the magnetic suspension bearing control point not being at the same position;
step 2.12: calculating a new y-direction levitation reference position r ny R in the formula (6) oy Is the original fixed y-direction levitation reference position;
r ny ＝r oy -r ry (6)
has the advantages that:
the method for inhibiting the unbalanced vibration of the magnetic suspension bearing by actively adjusting the suspension position can reduce the unbalanced vibration of a magnetic suspension rotor system, solves the problem of errors caused by the fact that a magnetic suspension bearing measurement sensor and a magnetic suspension bearing control point are not located at the same position, and has the advantages of intuition, easiness in implementation and better inhibition of same-frequency vibration.
Drawings
FIG. 1: a magnetic suspension bearing rotor control structure block diagram;
FIG. 2: a schematic diagram of a general design method for adjusting the suspension reference position controller;
FIG. 3: a magnetic suspension bearing rotor structure block diagram for adjusting the suspension reference position in the x direction;
FIG. 4: a magnetic suspension bearing rotor structure block diagram for adjusting the y-direction suspension reference position;
FIG. 5: a comparison graph of the axial locus of the rotor before and after compensation;
FIG. 6: compensating an x-direction vibration frequency spectrogram of the front rotor;
FIG. 7: and (5) compensating the x-direction vibration frequency spectrum diagram of the rotor.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in FIG. 1, the technical scheme is generally divided into measurement and control separation phase lag extraction and magnetic suspension bearing suspension reference position adjustment controller design to inhibit unbalanced vibration.
1. Measuring and controlling separation phase lag extraction
1.1: because the measuring position of the magnetic suspension bearing sensor is not coincident with the control action point of the magnetic suspension bearing, measurement and control separation is short), the vibration phase of the rotor at the measuring position of the sensor lags behind the vibration phase of the rotor at the action position of the magnetic suspension bearing, and errors are brought to the system. It is therefore first necessary to obtain this phase error information. In the levitation state, a sinusoidal excitation signal is input from a reference position, as shown in fig. 1. In the drawings
Representing an input reference excitation signal, wherein x is a rotor vibration displacement signal acquired by a sensor; the sinusoidal reference excitation signal input from the reference levitation position has this feature: the amplitude value of the sine reference excitation signal is unchanged, but the frequency is gradually increased from low to high; note that these frequencies from low to high are f 1 、f 2 …f x …f N Wherein x is more than or equal to 1 and less than or equal to N, and N is a natural number more than 1;
1.2: synchronous acquisition of sinusoidal excitation signal input at a reference levitation location
And rotor vibration displacement signals x collected by corresponding sensors;
1.3: f to be collected 1 The sine excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter so as to eliminate interference signals, and the central filtering frequency of the filter is f 1 (ii) a F to be collected 2 The excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter, and the central filtering frequency of the filter is f 2 (ii) a Processing the rest collected data by analogy in turn;
1.4: carrying out Fourier transform on the filtered data, and then carrying out vibration displacement signal x of the rotor under the corresponding frequency with an input signal
The phase difference is made to obtain the phase lag value f of the magnetic suspension bearing rotor caused by measurement and control separation 1 、f 2 …f x …f N The lagging phase values at frequency are recorded in turn
2. Designing a suspension reference position adjusting controller of the magnetic suspension bearing, and implementing the suspension reference position adjusting controller in the rotating operation process of a rotor system of the magnetic suspension bearing
2.1 general design method of controller as shown in FIG. 2, the initial suspension position is r, and the vibration displacement position q of rotor obtained by sensor at current rotation speed is obtained s Calculating the distance from r; then the levitation reference position is along q s Set as r in the reverse direction of r 1 And r is 1 Distance from r and q s The distance from r is consistent; finally, according to the current rotating speed frequency, the phase value after the corresponding frequency falls is selected from the step 1.4
Will r is 1 Lagging along the phaseDirection advance rotation
Angular arrival
I.e. the new levitation reference position;
2.2 mixing q s And the vibration displacement of the rotor formed by r is decomposed into orthogonal decoupled x and y directions to be simultaneously controlled respectively.
2.3 Structure block diagram of the rotor control method of magnetic suspension bearing for actively adjusting the suspension reference position in the x direction is shown in FIG. 3. The vibration signal of the rotor collected by the sensor firstly enters the suspension reference position calculator, and at the same time, the suspension reference position calculator reads the rotating speed signal n of the rotor x Calculating the frequency corresponding to the rotating speed at the moment;
step 2.4: selecting a compensation phase value corresponding to the rotating speed frequency from the step 1 by the suspension reference position calculator according to the frequency corresponding to the rotating speed at the moment;
step 2.5, the vibration displacement of the rotor in the x direction in the step 2.2 is differentiated to obtain the speed of the rotor vibration signal in the x direction
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t x As shown in formula (1), a in the formula is the vibration amplitude of the rotor;
step 2.6: after the initial phase value is obtained, the real position r of the rotor in the x direction at the position of the magnetic bearing at the moment is calculated according to the step (2) rx Eliminating the error caused by the different positions of the sensor and the magnetic suspension bearing control point;
step 2.7: calculating a new x-direction levitation reference position r nx R in the formula (3) ox An initial levitation reference position in the x-direction;
r nx ＝r ox -r rx (3)
step 2.8: the block diagram of the rotor control structure of the magnetic suspension bearing capable of adjusting the suspension reference position in the y direction is shown in FIG. 4. Firstly, a rotor vibration signal acquired by a sensor enters a suspension reference position calculator; at the same time, the floating reference position calculator reads the rotating speed signal n of the rotor y Calculating the frequency corresponding to the rotating speed at the moment;
step 2.9: the suspension reference position calculator selects a compensation phase value which is the same as the rotating speed frequency from the step 1.4 according to the frequency corresponding to the rotating speed at the moment;
step 2.10: obtaining the speed of the rotor vibration signal in the y direction by differentiating the vibration displacement of the rotor in the y direction in the step 2.2
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t y As shown in formula (4), a in the formula is the vibration amplitude of the rotor;
step 2.11: after the initial phase value is obtained, the real position r of the rotor in the y direction at the position of the magnetic bearing at the moment is calculated according to the step (5) ry Eliminating the error caused by the sensor and the magnetic suspension bearing control point not being at the same position;
step 2.12: calculating a new y-direction levitation reference position r ny R in the formula (6) oy Is the original fixed y-direction levitation reference position;
r ny ＝r oy -r ry (6)
fig. 5 is a diagram of the axial locus of the rotor before and after the method of the present invention is adopted, and it can be seen from the diagram that the axial locus vibration amplitude of the rotor is larger before the method of the present invention is adopted, and after the unbalanced vibration method of the present invention is adopted at 0.5s, the axial locus vibration amplitude of the rotor is reduced by more than 60%, which indicates that the unbalanced vibration of the rotor is well restrained. FIG. 6 is a graph of the vibration spectrum in the x direction during the acceleration process when the rotor is 3000-10000rpm before the method is adopted, and it can be seen from the graph that the amplitude of the vibration frequency of the rotor is large; FIG. 7 is a graph of the x-direction vibration spectrum of the rotor after the method is adopted, and it can be seen from the graph that the vibration amplitude of the rotor is obviously reduced in the rotating speed range.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (1)
1. A method for restraining unbalanced vibration of a magnetic suspension bearing by actively adjusting a suspension position is characterized by comprising the following steps:
step 1: extracting a phase lag value of the magnetic suspension bearing rotor caused by measurement and control separation;
step 2: designing a magnetic suspension bearing suspension reference position adjusting controller; calculating a new levitation reference position to suppress unbalanced vibration;
the step 1 specifically comprises the following steps:
step 1.1: inputting sine excitation signal from the reference suspension position
This is justThe amplitude value of the string reference excitation signal is unchanged, but the frequency is gradually increased from low to high; note that these frequencies from low to high are f 1 、f 2 …f x …f N Wherein x is more than or equal to 1 and less than or equal to N, and N is a natural number more than 1;
step 1.2: synchronous acquisition of sinusoidal excitation signal input at a reference levitation location
And a rotor vibration displacement signal x collected by the sensor;
step 1.3: f to be collected 1 The sine excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter so as to eliminate interference signals, and the central filtering frequency of the filter is f 1 (ii) a F to be collected 2 The excitation signal and the corresponding rotor vibration displacement signal under the frequency are filtered by adopting a zero-phase filter, and the central filtering frequency of the filter is f 2 (ii) a Processing the rest collected data by analogy in turn;
step 1.4: carrying out Fourier transform on the filtered data, and then carrying out vibration displacement signal x of the rotor under the corresponding frequency with an input signal
The phase difference is made to obtain the phase lag value f of the magnetic suspension bearing rotor caused by measurement and control separation 1 、f 2 …f x …f N The lagging phase values at frequency are recorded in turn
The step 2 specifically comprises the following steps:
step 2.1: the initial suspension position is r, and the rotor vibration displacement position q acquired by the sensor at the current rotating speed is acquired s Calculating the distance from r; then along q s A suspension reference position r is arranged at the position opposite to the r 1 And r is 1 Distance from r and q s The distance from r is consistent; and finally, according to the current rotating speed frequency, performing step 1.4 selecting the phase value after the corresponding frequency drop
Will r is 1 Rotating in advance in the direction of phase lag
Angular arrival
I.e. the new levitation reference position;
step 2.2: q is to be s The vibration displacement of the rotor formed by r is decomposed into orthogonal decoupling x and y directions which are respectively controlled simultaneously;
step 2.3: the component of a rotor vibration signal acquired by a sensor in the x direction firstly enters a suspension reference position calculator; at the same time, the floating reference position calculator reads the rotating speed signal n of the rotor x Calculating the frequency corresponding to the rotating speed at the moment;
step 2.4: selecting a compensation phase value corresponding to the rotating speed frequency from the step 1 by the suspension reference position calculator according to the frequency corresponding to the rotating speed at the moment;
step 2.5, the vibration displacement of the rotor in the x direction in the step 2.2 is differentiated to obtain the speed of the rotor vibration signal in the x direction
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t x As shown in formula (1), a in the formula is the vibration amplitude of the rotor;
step 2.6: after obtaining the initial phase value, calculating the moment according to (2)True position r of rotor in x direction at magnetic bearing position rx Eliminating the error caused by the sensor and the magnetic suspension bearing control point not being at the same position;
step 2.7: calculating a new x-direction levitation reference position r nx R in the formula (3) ox An initial levitation reference position in the x-direction;
r nx ＝r ox -r rx (3)
step 2.8: the component of the rotor vibration signal collected by the sensor in the y direction firstly enters a suspension reference position calculator; at the same time, the floating reference position calculator reads the rotating speed signal n of the rotor y Calculating the frequency corresponding to the rotating speed at the moment;
step 2.9: selecting a compensation phase value corresponding to the rotating speed frequency from the step 1 by the suspension reference position calculator according to the frequency corresponding to the rotating speed at the moment;
step 2.10: obtaining the speed of the rotor vibration signal in the y direction by differentiating the vibration displacement of the rotor in the y direction in the step 2.2
According to rotor vibration signal speed
Positive and negative, calculating the required initial phase value ω t y As shown in formula (4), a in the formula is the vibration amplitude of the rotor;
step 2.11: after the initial phase value is obtained, the real position r of the rotor in the y direction at the position of the magnetic bearing at the moment is calculated according to the step (5) ry Eliminating the control point of the sensor and the magnetic suspension bearingErrors caused by non-co-location;
step 2.12: calculating a new y-direction levitation reference position r ny R in the formula (6) oy Is the original fixed y-direction levitation reference position;
r ny ＝r oy -r ry (6)。
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