CN114235143B - Self-adaptive detection system for non-centering vibration of magnetic suspension multi-span rotor - Google Patents
Self-adaptive detection system for non-centering vibration of magnetic suspension multi-span rotor Download PDFInfo
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- CN114235143B CN114235143B CN202111541681.9A CN202111541681A CN114235143B CN 114235143 B CN114235143 B CN 114235143B CN 202111541681 A CN202111541681 A CN 202111541681A CN 114235143 B CN114235143 B CN 114235143B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The invention relates to the technical field of magnetic bearing rotor detection, in particular to a magnetic suspension multi-span rotor non-centering vibration self-adaptive detection system, which utilizes SOGI-FLL to carry out rotation speed identification on a rotor radial vibration displacement signal, and inputs the rotation speed identification into a self-adaptive wave trap ANF to realize same-frequency notch; and finally, carrying out frequency and amplitude identification on the trapped wave signals by utilizing the SOGI-FLL-WIF to obtain frequency and amplitude information and judging whether the characteristics of misalignment are met. The magnetic levitation multi-span rotor misalignment vibration detection device does not need additional detection hardware equipment, only depends on the sensors and the controllers which are arranged in the magnetic levitation bearing rotor system, and the sensors are used for detection and the controllers are used for detection and calculation of the misalignment vibration, so that the detection cost of the magnetic levitation multi-span rotor misalignment is greatly reduced.
Description
Technical Field
The invention relates to the technical field of magnetic suspension bearing rotor detection, in particular to a self-adaptive detection system for non-centering vibration of a magnetic suspension multi-span rotor.
Background
In a rotary machine, rotor misalignment faults account for more than 60% of rotor faults; the vibration of the rotary machine system caused by the rotor misalignment vibration is large, which is one of the main causes of the vibration failure of the rotor and the casing, and the failure must be paid attention. The rotor misalignment fault should be detected and controlled in time, and the detection of rotor misalignment vibration is a precondition for the control of misalignment vibration, or the detection can give out a shutdown command when the control condition is not provided, thereby avoiding certain economic loss. Therefore, multi-span rotors are not critical to the detection of vibrations. However, the conventional bearing-supported multi-span rotor system is not provided with a sensor and does not have a detection function, so that an additional detection system is required to detect the misalignment vibration, and even a complete control system is required if the misalignment control is required.
The magnetic suspension bearing can replace the traditional bearing to be applied to the field of rotating machinery, and the rotating machinery provided with the magnetic suspension bearing has the advantages of high speed and high efficiency, and also has the advantages of automatic detection and active control. For a magnetic suspension multi-span rotor system, the magnetic suspension bearing not only can provide reliable support for the stable operation of the multi-span rotor, but also can implement automatic detection and active control for the non-centering vibration of the multi-span rotor.
The magnetic levitation multi-span rotor system can be effectively judged whether the rotor vibration is not centered or not through the frequency spectrum analysis of the rotor vibration displacement, however, the large multi-frequency spectrum analysis method is usually used for collecting data offline, so that the frequency spectrum analysis method cannot rapidly realize the detection of the rotor vibration which is not centered in real time. In addition, the frequency components in the vibration displacement signal of the magnetic bearing rotor are very complex, and the following frequency components exist: the rotor rotation speed same-frequency component caused by the existence of rotor unbalance mass, the rotation speed frequency double-frequency harmonic component caused by the processing error of a sensor detection surface, the high-frequency component caused by high-frequency noise disturbance and the rotor rotation speed 2 double-frequency component caused by rotor misalignment. Therefore, how to extract and identify the rotor misalignment vibration signal from the complex signal is difficult.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the rotor rotating speed frequency is obtained by detecting the radial vibration displacement of the active rotor through a normalized SOGI-FLL rotating speed identification module, the rotating speed same-frequency notch of the rotor radial displacement signal is input into an ANF rotating speed same-frequency notch module, and the detection of the magnetic suspension multi-span rotor non-centering vibration is realized through an SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module.
The technical scheme adopted by the invention is as follows: an adaptive detection system for magnetic levitation multi-span rotor misalignment vibration comprising: the device comprises a normalized SOGI-FLL rotating speed identification module, an ANF rotating speed same-frequency notch module and an SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module, wherein the output end of the normalized SOGI-FLL rotating speed identification module is connected with the input end of the ANF rotating speed same-frequency notch module, and the output end of the ANF rotating speed same-frequency notch module is connected with the input end of the SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module;
the displacement sensor collects a displacement signal of radial vibration of the active rotor, the same-frequency component and the orthogonal component in the frequency of the displacement signal are input into the normalized SOGI-FLL rotating speed identification module, the frequency of the radial vibration displacement signal is adaptively tracked through integral operation and feedback operation, and the rotor rotating speed frequency in the displacement signal is extracted through trigonometric function mathematical operation of the same-frequency component and the orthogonal component;
inputting the rotation speed frequency of the rotor and the frequency of the displacement signal into an ANF rotation speed common-frequency notch module, carrying out rotation speed common-frequency self-adaptive notch by taking the displacement signal as a notch object, and outputting a signal subjected to the common-frequency notch rotor rotation speed through frequency self-adaptive identification and SOGI; obtaining an error signal according to the difference between the rotor displacement signal and the extracted rotating speed common-frequency signal component, wherein the error signal is a signal after the rotating speed common-frequency of the notch rotor;
inputting a signal with the same frequency of the rotating speed of the notch rotor into an SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module, inhibiting direct current offset, harmonic wave and high-frequency noise by the signal with the same frequency of the rotating speed of the notch rotor through a loop filter, normalizing the SOGI-FLL, outputting the frequency and the amplitude of the rotor which does not vibrate in a centering way, and rapidly and accurately identifying the frequency and the amplitude of the rotating speed 2 frequency multiplication signal under the condition of no rotating speed and same frequency interference;
the self-adaptive detection system for the non-centering vibration of the magnetic suspension multi-span rotor is written into a chip of the controller through a C language, and the frequency and the amplitude of a frequency multiplication signal of the rotating speed 2 can be displayed in real time through an external terminal.
The beneficial effects of the invention are as follows:
1. the magnetic levitation multi-span rotor misalignment vibration detection equipment does not need additional detection hardware equipment, only depends on a sensor and a controller which are already arranged in a magnetic levitation bearing rotor system, and is used for detecting and calculating misalignment vibration, so that the detection cost of the magnetic levitation multi-span rotor misalignment is greatly reduced;
2. the invention is applied to a magnetic suspension multi-span rotor system, not only helps operators judge the misalignment condition of the multi-span rotor, but also lays a foundation for the non-alignment vibration of the multi-span rotor.
Drawings
FIG. 1 is a schematic diagram of a detection system based on magnetic levitation multi-span rotor misalignment vibration;
FIG. 2 is a rotational speed identification module based on a normalized SOGI-FLL;
FIG. 3 is an ANF-based rotational speed co-frequency notch module;
FIG. 4 is a diagram of a SOGI-FLL-WIF based speed 2 multiplier detection module;
FIG. 5 is a graph showing the detection result of the magnetic levitation multi-span rotor misalignment vibration;
fig. 6 is an adaptive detection device for magnetic levitation multi-span rotor misalignment vibration.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples, which are simplified schematic illustrations showing only the basic structure of the invention and thus showing only those constructions that are relevant to the invention.
As shown in FIG. 1, the self-adaptive detection system for the magnetic levitation multi-span rotor misalignment vibration comprises a normalized SOGI-FLL rotation speed identification module, an ANF rotation speed same-frequency notch module and an SOGI-FLL-WIF rotation speed 2 frequency multiplication detection module, wherein the output end of the normalized SOGI-FLL rotation speed identification module is connected with the input end of the ANF rotation speed same-frequency notch module, and the output end of the ANF rotation speed same-frequency notch module is connected with the input end of the SOGI-FLL-WIF rotation speed 2 frequency multiplication detection module;
the working principle of the system is as follows:
in the rotating state of the magnetic suspension multi-span rotor, a displacement sensor detects a radial vibration displacement signal of the active rotor, the displacement signal is input into a controller, an adaptive detection system of the non-centering vibration of the magnetic suspension multi-span rotor is written into a chip of the controller through C language, the radial vibration displacement signal is input into a normalized SOGI-FLL rotating speed identification module of the controller as an input signal, and the normalized SOGI-FLL rotating speed identification module can not only generate the same-frequency component and orthogonal component of the displacement signal, but also output the rotating speed frequency of the rotor in real time; inputting an output rotor rotating speed frequency signal and a radial vibration displacement signal of the driving rotor into an ANF rotating speed common-frequency notch module to perform rotor rotating speed common-frequency notch processing, wherein a common-frequency component and an orthogonal component of the displacement signal are frequency values which need to be filtered, and the radial vibration displacement signal is a signal to be detected which needs to filter the rotor rotating speed common-frequency component;
the radial vibration displacement signal can be a single signal or rotor radial displacement signals in different degrees of freedom directions;
inputting the signals with the same frequency of the rotation speed of the notch rotor into an SOGI-FLL-WIF rotation speed 2 frequency multiplication detection module, effectively inhibiting various interference signals in the signals with the same frequency of the rotation speed of the notch rotor, simultaneously outputting the frequency and the amplitude of the rotor misalignment vibration, judging whether the active rotor is centered or not according to the frequency and the amplitude, judging that the active rotor is not centered when the frequency which is 2 times of the rotation speed frequency of the rotor occurs, and enabling the degree of the active rotor misalignment to be larger when the amplitude offset is larger; otherwise, judging that the active rotor is centered.
FIG. 2 shows a normalized SOGI-FLL rotational speed recognition module, which comprises two parts, namely SOGI and FLL; setting the input as a radial vibration displacement signal v, and obtaining an estimated value v' of the radial vibration displacement signal by adopting a normalized SOGI-FLL; e, e v For the error of the estimated value v 'of the input signal v and the displacement signal, qv' is the quadrature quantity of v ', and ω' is the estimated value of the frequency of the input signal; the SOGI-FLL normalized by the amplitude and the frequency can lead omega' not to be influenced by the frequency and the amplitude of the displacement signal v of the input radial vibration; according to the structural block diagram of the SOGI-FLL, the transfer function expression is obtained as follows:
where D(s) is a bandpass filter with ω 'as a center frequency, Q(s) is a low-pass filter with ω' as a center frequency, s is a laplace operator, and k is a trap bandwidth adjustment coefficient, in this embodiment k=1.414.
FIG. 3 shows an ANF-based rotational speed common-frequency notch module, which adopts an SOGI form, uses an error signal as an output signal, and outputs a displacement signal with the rotor rotational speed common-frequency filtered, wherein as can be seen from FIG. 3, the rotor rotational speed frequency is input into the ANF in real time for self-adaptive notch; when the rotor rotating speed frequency changes, the estimated value omega' of the input signal frequency of the SOGI changes along with the rotor rotating speed frequency in real time, namely the notch frequency changes along with the change of the rotor rotating speed frequency in real time, so that the self-adaptive rotor rotating speed same-frequency notch is realized;
the transfer function expression of ANF is:
wherein ω' is an estimated value of the input signal frequency; as can be seen from the formula (2), when the ANF module inputs the rotor radial displacement signal v, ω' varies in real time with the variation of the rotor radial displacement signal v, so that the rotor rotational speed frequency can be adaptively notched; therefore, the displacement signal for filtering the rotor common-frequency component is obtained through the ANF rotation speed common-frequency notch module, so that the influence of the rotor rotation speed frequency on the magnetic levitation multi-span rotor non-centering vibration detection is effectively filtered.
FIG. 4 shows an SOGI-FLL-WIF rotational speed 2 frequency multiplication detection module, wherein in a rotor radial displacement signal, a rotor rotational speed common frequency occupies a main component, so that rotational speed common frequency interference is avoided after the rotational speed common frequency notch module of the ANF is utilized to filter the rotor rotational speed common frequency; inputting the signals with the same frequency of the rotation speed of the notch rotor into an SOGI-FLL-WIF rotation speed 2 frequency multiplication detection module, and inhibiting the effects of disturbance such as DC offset, harmonic waves, high-frequency noise and the like in the signals with the same frequency of the rotation speed of the notch rotor through a loop filter; therefore, the filtering or the inhibition of the interference lays a foundation for the detection of the non-centering vibration of the magnetic suspension multi-span rotor; the normalized SOGI-FLL part in the SOGI-FLL-WIF rotation speed 2 frequency multiplication detection module can rapidly and accurately detect the frequency and the amplitude of rotor misalignment vibration.
FIG. 5 is a graph showing the detection result of the magnetic levitation multi-span rotor misalignment vibration; fig. 5 (a) is a radial vibration displacement signal of the active rotor, where the signal includes disturbances such as rotor rotation speed same frequency, rotation speed 2 frequency multiplication component, high frequency noise signal, etc.;
FIG. 5 (b) shows the result of the function of the ANF-based rotational speed co-frequency notch module, in which the fluctuation of the rotor vibration displacement signal is reduced after the rotational speed co-frequency is filtered;
FIG. 5 (c) is a graph showing that the rotor speed identification result is substantially consistent with the set speed according to the speed identification result based on the normalized SOGI-FLL speed identification module;
FIGS. 5 (d) and 5 (e) are the results of detection using the SOGI-FLL-WIF based speed 2 multiplier detection module, frequency and amplitude results, respectively; when a 2-frequency signal of the rotor rotating speed frequency appears in the detection result, the multi-span rotor can be considered to have a misalignment fault, and the larger the amplitude signal is, the larger the multi-span rotor misalignment amount is.
FIG. 6 is a diagram showing the connection of an adaptive detection device for non-centered vibration of a magnetically levitated multi-span rotor, comprising: the device comprises a controller, a power amplifier, a magnetic suspension bearing, a driving rotor, a driven rotor, a motor and a sensor, wherein the driving rotor is supported by the magnetic suspension bearing, the displacement sensor collects displacement signals of the driving rotor and sends the displacement signals to the controller, the controller generates control voltage, the control voltage is amplified by the power amplifier to obtain control current, and the control current is input into a coil of the magnetic suspension bearing to obtain control force for stabilizing the suspension rotor; the motor drives the driving rotor to rotate, and the driven rotor synchronously rotates through the connection of the coupler;
the self-adaptive detection system for the non-centering vibration of the magnetic suspension multi-span rotor is written into a chip of the controller through a C language, and the frequency and the amplitude of a frequency multiplication signal of the rotating speed 2 can be displayed in real time through an external terminal. The rotor misalignment vibration detection method provided by the invention needs to utilize rotor vibration displacement information detected by a displacement sensor, identify the rotor rotation frequency in real time according to the displacement information, perform self-adaptive filtering processing, and finally detect rotor misalignment vibration according to the filtered signal.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (3)
1. A self-adaptive detection system for non-centering vibration of a magnetic suspension multi-span rotor is characterized in that: the SOGI-FLL rotating speed detection device comprises a normalized SOGI-FLL rotating speed identification module, an ANF rotating speed common-frequency notch module and an SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module, wherein the output end of the normalized SOGI-FLL rotating speed identification module is connected with the input end of the ANF rotating speed common-frequency notch module, and the output end of the ANF rotating speed common-frequency notch module is connected with the input end of the SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module;
inputting a radial vibration displacement signal into the normalized SOGI-FLL rotating speed identification module, adaptively tracking the frequency of the radial vibration displacement signal through integral operation and feedback operation, and outputting the rotating speed frequency of the rotor through trigonometric function mathematical operation on the same-frequency component and orthogonal component in the frequency of the radial vibration displacement signal;
inputting the rotation speed frequency of the rotor and the frequency of a radial vibration displacement signal into the ANF rotation speed same-frequency notch module, carrying out rotation speed same-frequency self-adaptive notch, and outputting a signal with the same frequency as the notch rotor rotation speed through frequency self-adaptive identification;
and inputting the signal with the same frequency of the rotating speed of the notch rotor into the SOGI-FLL-WIF rotating speed 2 frequency multiplication detection module, inhibiting direct current offset, harmonic wave and high-frequency noise by the signal with the same frequency of the rotating speed of the notch rotor through a loop filter, normalizing the SOGI-FLL, and outputting the frequency and the amplitude of the rotor misalignment vibration.
2. A magnetically levitated multi-span rotor misalignment vibration adaptive detection system as claimed in claim 1 wherein: the transfer function expression of the normalized SOGI-FLL rotation speed identification module is as follows:
where ω ' is an estimated value of the frequency of the input signal, D(s) is a band-pass filter with ω ' as the center frequency, Q(s) is a low-pass filter with ω ' as the center frequency, s is a laplace operator, and k is a trap bandwidth adjustment coefficient.
3. A magnetically levitated multi-span rotor misalignment vibration adaptive detection system as claimed in claim 1 wherein: the transfer function expression of the ANF rotation speed common-frequency notch module is as follows:
wherein ω' is an estimated value of the frequency of the input signal, and E(s) is a transfer function of the ANF rotation speed same-frequency notch module.
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| JPH10281155A (en) * | 1997-04-07 | 1998-10-20 | Shinko Electric Co Ltd | Magnetic bearing |
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| AU2021100247A4 (en) * | 2020-09-29 | 2021-04-15 | Hebei University Of Science And Technology | Frequency-locked loop (fll) device and method for active noise control (anc) based on simplified comb filter |
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| CN105116935A (en) * | 2015-08-14 | 2015-12-02 | 北京航空航天大学 | A magnetically levitated rotator harmonic wave vibration suppression method based on a frequency domain variable parameter LMS algorithm and a wave trap. |
| CN110762120A (en) * | 2019-11-18 | 2020-02-07 | 南京航空航天大学 | High-rotation-precision control method based on magnetic suspension bearing rotor system |
| AU2021100247A4 (en) * | 2020-09-29 | 2021-04-15 | Hebei University Of Science And Technology | Frequency-locked loop (fll) device and method for active noise control (anc) based on simplified comb filter |
| CN113741181A (en) * | 2021-01-18 | 2021-12-03 | 南京航空航天大学 | Rotating speed self-adaptive magnetic suspension rotor system odd harmonic current suppression method |
| CN113114230A (en) * | 2021-03-17 | 2021-07-13 | 华南理工大学 | Resonant frequency online identification and suppression method for servo system |
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