CN115001336A - Vibration control method for rotor of full-speed magnetic suspension high-speed motor - Google Patents
Vibration control method for rotor of full-speed magnetic suspension high-speed motor Download PDFInfo
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- CN115001336A CN115001336A CN202210670112.2A CN202210670112A CN115001336A CN 115001336 A CN115001336 A CN 115001336A CN 202210670112 A CN202210670112 A CN 202210670112A CN 115001336 A CN115001336 A CN 115001336A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
Abstract
The invention discloses a vibration control method for a rotor of a full-speed magnetic suspension high-speed motor, which determines the system lag phase at the full speed by a frequency sweeping method so as to obtain a curve of the lag phase changing with the speed at the full speed; secondly, filtering is carried out through an LMS algorithm, phase shift compensation is carried out according to a lag phase curve, and the obtained signal phase is used as the phase of the unbalanced vibration control signal; then, obtaining the amplitudes of the sub-system control signals at different rotating speeds by an influence coefficient method, and fitting to obtain a curve of the amplitude of the full-rotating-speed control signal along with the change of the rotating speed; and then carrying out unbalance compensation in the process of increasing the speed and reducing the speed of the rotor according to the phase curve and the amplitude curve, and actively controlling the vibration of the rotor of the motor. The method can be applied to vibration suppression before the critical rotating speed of the rotor, and the amplitude and the phase fitting curve of the control voltage signal are output to control the vibration of the rotor system in the full rotating speed range.
Description
Technical Field
The invention relates to the field of magnetic suspension active control, in particular to a vibration active control method for a rotor system of a magnetic suspension high-speed motor, which realizes the stable control of the radial vibration of a rotor in the active control of a full-rotating-speed magnetic bearing-rotor system before passing a critical point.
Background
The active magnetic bearing (called magnetic bearing, AMB for short) is a non-contact novel supporting mode, has the advantages of no friction, high rotor rotating speed, active and controllable rotor dynamic characteristics and the like, and is widely applied to precision instruments and equipment such as an inertia momentum wheel, a control moment gyro, a high-power density motor and the like. However, with the development trend of high power and high power density, the rotating speed of the magnetic bearing rotor is continuously increased. Because the rotor can not completely eliminate the unbalanced mass in the mechanical processing, the unbalanced force caused by the unbalanced mass of the rotor is increased sharply, and the problem of rotor vibration is particularly prominent. The strong vibration level not only influences the working of the unit under the rated working condition and influences the working environment, but also can cause major accidents, and brings huge economic loss.
At present, the research on the AMB rotor active vibration control method is mainly divided into the following two points: one is the minimum control method of rotor displacement, and its thinking becomes control current after power amplifier through controller output control voltage signal and acts on electromagnetic bearing and produce the electromagnetic force, and is equal with the unbalanced force size of rotor self, and the direction is reverse, and the unbalanced force that the rotor receives is offset like this to it is rotatory around stator geometric center, and vibration displacement reaches the minimum. The other is a minimum control method of electromagnetic force of the electromagnetic bearing, the idea is to filter out the control current signal with the same frequency as the rotor rotating speed through a filter, at the moment, the rotor only rotates around the mass center under the action of the unbalanced force of the rotor, and the electromagnetic force generated by the electromagnetic bearing is minimum because the control current with the same frequency of the magnetic bearing is filtered out.
An adaptive filter adopting an LMS algorithm is used for extracting the phase of the rotor same-frequency vibration displacement signal in the rotor system unbalance compensation, but lag phases changing along with the rotating speed exist between the rotor same-frequency vibration displacement signal and the actual unbalance force of the rotor and between each control element. Although the design of the phase-variable adaptive LMS trap described in CN202110102615.5 can realize system stability in the full rotation speed range, the same phase offset angle is selected in some rotation speed sections by analyzing the root locus diagram, and the phase offset angle characteristic is not obtained; and no control amplitude related information is available. The frequency of the control voltage and the rotor rotational speed frequency do not coincide, and thus the vibration control effect of the temperature cannot be obtained.
Disclosure of Invention
The invention aims to solve the technical problem of providing a full-rotating-speed high-power-density magnetic suspension high-speed motor rotor vibration control method, and solving the problem of stable control of radial vibration of a full-rotating-speed magnetic bearing rotor system before passing through a critical state.
Furthermore, the invention is used for solving the problems of active vibration control and system stability of the rotor system of the magnetic suspension motor at the full rotation speed.
The invention adopts the following technical scheme for solving the technical problems:
a full-speed magnetic suspension high-speed motor rotor vibration control method is characterized by comprising the following steps:
(1) when the rotor is statically suspended, a controller outputs a full-speed variable-frequency sine control signal to act on the electromagnetic bearing, a rotor co-frequency vibration displacement signal is obtained, and the phase difference between the sine control signal and the rotor co-frequency vibration displacement signal is solved
Required phase compensation angle
Obtaining a curve of the phase compensation angle along with the change of the rotating speed under each rotating speed section according to different frequency values, namely a full rotating speed compensation phase curve;
(2) applying the phase compensation angle obtained in the step (1) to an LMS algorithm, filtering by the LMS algorithm to obtain a rotor common-frequency harmonic signal component, and outputting the rotor common-frequency harmonic signal component after the rotor common-frequency harmonic signal component is subjected to advanced compensation for a theta angle as a control voltage phase signal; the control voltage phase signal is negatively fed back and connected into the rotor system, so that the phase extraction of the full-rotating-speed control signal under different rotating speed frequencies is realized;
(3) multiple constant rotation speed omega in full rotation speed range 1 ～ω n Measuring the amplitude u of the control voltage signal by combining the phase of the full-rotating-speed control signal obtained in the step (2) with an influence coefficient method 1 ～u n Fitting the control voltage signal amplitude with the rotating speed to obtain a full rotating speed control signal amplitude curve;
(4) and (4) carrying out unbalance compensation in the process of increasing the speed and reducing the speed of the rotor according to the full-rotating-speed compensation phase curve and the amplitude curve of the control signals in the steps (1) and (3), and actively controlling the vibration of the rotor of the motor.
In the technical scheme, the phase compensation angle theta in the step (1) is determined by the phase lag of unbalanced forces of the power amplifier, the sensor and the rotor, and the frequency domain phase angles of transfer functions of the power amplifier and the magnetic suspension bearing are respectively
And
phase angle of transfer function frequency domain of controller
The phase angle of the magnetic suspension rotor in the transfer function frequency domain is
Phase angle of transfer function frequency domain of sensor
The phase difference between the electromagnetic force of the magnetic bearing and the unbalanced force of the rotor is 180 DEG to obtain
The phase difference between the sinusoidal control signal and the rotor co-frequency vibration displacement signal
In the above technical solution, the step (1) outputs a variable frequency sinusoidal control signal via the controller
The unbalance force borne by the rotor is simulated, and the vibration displacement of the rotor is measured
Wherein f is a value of the rotational speed frequency which varies linearly,
to control the phase of the signal, A 1 In order to control the amplitude of the signal,
to shift the phase of the signal, A 2 The amplitude of the displacement signal is the voltage compensation phase angle
In the above technical scheme, the compensation phases at multiple rotation speeds are determined in step (2) according to the full rotation speed compensation phase curve in step (1), and the control signal phases at multiple rotation speeds are obtained by combining the LMS algorithm.
In the above technical solution, the LMS algorithm in step (2) is represented as follows:
y(t)＝w 1 (t)sin(ωt)+w 2 (t)cos(ωt)；
e(t)＝d(t)-y(t)；
w 1 (t+1)＝w 1 (t)+ue(t)sin(ωt)；
w 2 (t+1)＝w 2 (t)+ue(t)cos(ωt)；
where y (t) represents the output signal of the notch extraction, d (t) represents the input signal required to implement the notch function, w 1 (t) and w 2 (t) are represented by notch frequencies, respectivelyThe weight coefficient of sine and cosine components, u represents the iteration step length of the algorithm and represents the notch frequency of the multi-frequency signal;
within the full rotation speed range, when the rotor rotation speed omega r When the variation is carried out, the corresponding omega of the LMS algorithm is changed, firstly the same-frequency vibration displacement phase of the rotor is extracted, and then the phase angle theta is compensated on the basis of the same-frequency vibration displacement phase along with the variation of the rotating speed; respectively taking the sine and cosine values of the phase compensation angle theta and the weight coefficient w of the trapped wave frequency 1 (t) and w 2 (t) calculating the weight coefficient after phase compensation as follows: w' 1 (t)＝w 2 (t)sinθ-w 1 (t)cosθ， w' 2 (t)＝w 2 (t)cosθ+w 1 (t) sin θ, and y ' (t) ═ w ' of phase-shifted LMS notching method output signal ' 1 (t)sin(ωt)+w' 2 (t)cos(ωt)。
In the above technical solution, in step (3), according to the output signals y' (t) at the plurality of rotation speeds obtained in step (2), the control signal amplitudes at the plurality of rotation speeds are obtained by an influence coefficient method.
In the above technical solution, the influence coefficient method of step (3) is performed as follows: selecting a plurality of correction surfaces and a plurality of measurement planes on a rotor to carry out operation correction for a plurality of times, and taking the vibration of a certain measurement surface caused by a unit correction voltage signal on a certain correction plane at a certain rotating speed as an influence coefficient; these influence coefficients are obtained by measurement or calculation, and the magnitude and direction of the control signal to be applied to each correction plane required for limiting the vibration of each measurement plane below a certain amplitude are determined from the vibration caused by the unbalance amount.
In the above technical solution, step (3) includes step (3.1): influence coefficient method for four-degree-of-freedom rigid rotor:
the front radial magnetic bearing and the rear radial magnetic bearing respectively correspond to two correction planes P on the rotor b1 And P b2 The front radial magnetic bearing sensor and the rear radial magnetic bearing sensor respectively correspond to the measuring surface P of the rotor s1 And P s2 (ii) a Measuring P s1 And P s2 The initial vibration displacement vector of the displacement at the two measuring surfaces is
And
plane P with left and right magnetic bearings b1 And P b2 For correcting unbalance of rotor, plane P of sensor s1 And P s2 An unbalance detection surface;
at any equilibrium speed omega, at the correction plane P b1 Pilot plus control voltage signal
The voltage signal has no lag angle, and the vibration displacement vector at each detection surface is obtained as
And
finding the corrected surface P b1 Pilot plus control voltage
Rear pair of detection planes P s1 And P s2 Influence coefficient of displacement:
removing the trial addition signal
At the correction plane P b2 Applying control voltage signal
Obtaining the vibration displacement vector at each detection surface as
And
finding the correction plane P b2 Pilot plus control voltage
Rear pair of detection planes P s1 ,P s2 Influence coefficient of displacement:
obtaining a correction plane P b1 And P b2 The voltage signals to be applied are respectively:
in the above technical solution, the step (3) further comprises the step (3.2): according to the control voltage amplitude U measured in the step (3.1) for a plurality of rotating speeds omega 1 ,U 2 Performing least square fitting to obtain a curve of the control voltage changing along with the rotating speed; the least square fitting is one of a quadratic polynomial fitting method, exponential function fitting, logarithmic function fitting and power function fitting.
In the above technical scheme, a fourth-order polynomial fitting method is adopted in the step (3.2).
In the technical scheme, the specific process of applying the step (4) to the vibration control of the rotor of the magnetic suspension high-speed motor is as follows: establishing a control model of the electromagnetic bearing-flexible rotor system, introducing the LMS algorithm extracted signal phase compensation into the control model, and introducing a sensor G s The measured displacement signals X(s) are respectively negatively fed back to the PID controllerG c And phase compensated LMS trap G i The output amplitude of the phase compensation LMS trap filter is the control signal amplitude, and then is output to the power amplifier G a And finally, the output current of the power amplifier acts on the electromagnetic bearing to realize active control on the vibration of the rotor.
In conclusion, the system lag phase under the full rotating speed is determined by a frequency sweeping method; obtaining a curve of the lag phase changing with the rotating speed at the full rotating speed; secondly, filtering is carried out through an LMS algorithm, phase shift compensation is carried out according to a lagging phase curve, and the obtained signal phase is used as the phase of the unbalanced vibration control signal; then, obtaining the amplitudes of the sub-system control signals at different rotating speeds through an influence coefficient method, and fitting to obtain a curve of the amplitude of the full-rotating-speed control signal changing along with the rotating speed; and then analyzing the stability and effectiveness of the vibration control method at the full rotating speed, and carrying out unbalance compensation in the process of increasing the speed and reducing the speed of the rotor according to the phase curve and the amplitude curve to actively control the vibration of the rotor of the motor.
Compared with the prior art, the full-rotating-speed vibration control method can be applied to vibration suppression before the critical rotating speed of the rotor, and outputs the amplitude and the phase fitting curve of the control voltage signal to control the full-rotating-speed range vibration of the rotor system.
The invention outputs corresponding control voltage signals aiming at the real-time rotating speed, so that compared with the rotor unbalance vibration suppression at the traditional fixed rotating speed, the rotor vibration of the magnetic suspension high-speed motor can be controlled to a smaller level on line by fitting a control signal phase curve and a control signal amplitude.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of a system flow of the method of the present invention.
FIG. 2 is a schematic diagram of the control of the electromagnetic bearing-rotor system of the present invention;
FIG. 3 is a schematic diagram of the compensation phase determination by the frequency sweep method;
FIG. 4 is a schematic view of rotor online imbalance compensation;
FIG. 5 is a functional block diagram of an influence coefficient method;
FIG. 6 is a diagram of the compensated phase of the system in an embodiment;
FIG. 7 is a fitting graph of the amplitude of the control signal of the system in the embodiment;
fig. 8 is a waterfall graph of harmonic variation in the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a rotor vibration control method for a full-rotating-speed high-power-density magnetic suspension high-speed motor, which is shown in figure 1, and a control schematic diagram is shown in figure 2. The method comprises the following specific steps:
(1) sweep frequency method As shown in FIG. 3, when the rotor is statically levitated, the controller outputs
The frequency of the sweep frequency signal is linearly increased within the full rotating speed range, and the displacement sensor measures to obtain a rotor vibration displacement signal
In order to ensure that the direction of the control electromagnetic force is opposite to the direction of the unbalanced force applied to the rotor, the compensation phase of the control signal corresponding to each frequency f is
And obtaining a curve of the full rotation speed compensation phase changing along with the rotation speed frequency. The rotor online unbalance compensation schematic is shown in fig. 4.
(2) Applying the phase compensation angle theta obtained in the step (1) to an LMS algorithm, wherein the standard LMS algorithm is expressed as follows:
y(t)＝w 1 (t)sin(ωt)+w 2 (t)cos(ωt),
e(t)＝d(t)-y(t),
w 1 (t+1)＝w 1 (t)+ue(t)sin(ωt),
w 2 (t+1)＝w 2 (t)+ue(t)cos(ωt)。
where y (t) represents the output signal of the notch extraction, d (t) represents the input signal required to implement the notch function, w 1 (t) and w 2 And (t) is respectively expressed as a weight coefficient of sine and cosine components of the notch frequency, and u is expressed as an iteration step of the algorithm and represents the notch frequency of the multi-frequency signal.
Within the full rotation speed range when the rotor rotates at a speed omega r When the variation is carried out, the corresponding omega of the LMS algorithm is changed, firstly the same-frequency vibration displacement phase of the rotor is extracted, and then the phase angle theta is compensated on the basis of the same-frequency vibration displacement phase along with the variation of the rotating speed. The sine and cosine components of the notch frequency are subjected to phase compensation, w' 1 (t)＝w 2 (t)sinθ-w 1 (t)cosθ，w' 2 (t)＝w 2 (t)cosθ+w 1 (t) sin θ phase-shift LMS notch extracted output signal y '(t) ═ w' 1 (t)sin(ωt)+w' 2 (t)cos(ωt)。
And (3.1) according to the output signals y' (t) at the plurality of rotating speeds obtained in the step (2), obtaining control signal amplitudes at the plurality of rotating speeds by an influence coefficient method.
Because the magnetic suspension rotor system belongs to a multi-input multi-output system, the magnitude of the compensating voltage is difficult to determine through a transfer function, but can be determined through an influence coefficient method, namely, a plurality of correction surfaces and a plurality of measurement planes are selected on a rotor to carry out operation correction for many times. The vibration of a certain measuring surface caused by a unit correction voltage signal on a certain correction plane at a certain rotating speed is an influence coefficient. By measuring or calculating these influence coefficients, the magnitude and direction of the control signal to be applied to each calibration plane required to limit the vibration of each measurement plane below a certain amplitude can be determined from the vibration caused by the unbalance.
The influence coefficient method is shown in fig. 5. The front radial magnetic bearing and the rear radial magnetic bearing of the four-freedom-degree rigid rotor system respectively correspond to two correction planes P on the rotor b1 And P b2 The front radial magnetic bearing sensor and the rear radial magnetic bearing sensor respectively correspond to the measuring surface P of the rotor s1 And P s2 . Measuring P s1 And P s2 The initial vibration displacement vector of the displacement at the two measuring surfaces is
And
plane P with left and right magnetic bearings b1 And P b2 For rotor unbalance correction, plane P in which the sensors lie s1 And P s2 The unbalance detection surface. At any equilibrium speed omega, at the correction plane P b1 Pilot plus control voltage signal
The voltage signal of which has no lagging angle. Obtaining a vibration displacement vector at each detection surface as
And
finding the correction plane P b1 Pilot plus control voltage
Rear pair of detection planes P s1 And P s2 Influence coefficient of displacement:
removing the trial addition signal
At the correction plane P b2 Pilot plus control voltage signal
Obtaining the vibration displacement vector at each detection surface as
And
finding the correction plane P b2 Pilot plus control voltage
Rear pair of detection planes P s1 ,P s2 Influence coefficient of displacement:
the correction surface P can be obtained b1 And P b2 The voltage signals to be applied are respectively
(3.2) controlling the voltage amplitude U according to the measured control voltage amplitudes U of the plurality of rotation speeds omega in (3.1) 1 ,U 2 And performing minimum two-multiplication fitting to obtain a curve of the control voltage changing along with the rotating speed. Exponential function fitting, logarithmic function fitting and power function fitting can be obtained, the four-time function fitting residual error is small, and the calculated amount meets the conditions.
(4) And (3) according to the curves of the control voltage phase and the control voltage amplitude in the steps (3.1) and (3.2), carrying out unbalance compensation on the rotor rotating speed variation process, and actively controlling the motor rotor vibration.
According to the steps (1) - (4), an active control method is designed for the rotor system of the magnetic suspension motor, and the parameters of the rotor system of the magnetic bearing are shown in the table 1:
TABLE 1
| Serial number | Parameter(s) | Numerical value |
| 1 | Distance (m) of two ends radial magnetic suspension bearing center | 0.697 |
| 2 | Distance (m) between the radial magnetic suspension bearing at the end a and the mass center | 0.340 |
| 3 | Distance (m) between the radial magnetic suspension bearing and the mass center of the b end | 0.357 |
| 4 | Rotor mass (kg) | 18.14 |
| 5 | Moment of inertia (kg. m) of rotor section 2 ) | 0.527 |
| 6 | Moment of polar inertia (kg. m) of rotor 2 ) | 0.016 |
| 7 | Magnetic suspension bearing displacement rigidity coefficient (N/m) | -1.11×10 6 |
| 8 | Current rigidity coefficient of magnetic suspension bearing (N/A) | 213.5 |
| 9 | Proportional coefficient of |
2 |
| 10 | Integral coefficient of PID controller | 36 |
| 11 | Differential coefficient of PID controller | 0.003 |
| 12 | Sensor gain (v/m) | 5×10 3 |
By the active control method, a system compensation phase curve can be obtained as shown in fig. 6, and a control signal amplitude fitting curve is obtained as shown in fig. 7. The harmonic variation waterfall plot of fig. 8 may clearly present the difference between pre-control and post-control. Three coordinate axes respectively represent the rotor rotation speed frequency, the vibration harmonic frequency and the vibration displacement amplitude, and it can be seen that the displacement amplitudes of first frequency doubling and second frequency doubling of the vibration harmonic are obvious along with the increase of the rotor rotation speed, for the vibration displacement amplitude of the first frequency doubling, the maximum common-frequency vibration displacement of the rotor before compensation is 27.63 μm, and the maximum axle center track displacement of the rotor after compensation is 8.9 μm, which is reduced by 67.78% compared with the maximum axle center track displacement of the rotor after compensation. The minimum same-frequency vibration displacement of the rotor before compensation is 5.92 mu m, the minimum axle center track displacement of the rotor after compensation is 1.9 mu m, the minimum axle center track displacement is reduced by 67.91 percent compared with the minimum axle center track displacement, and the same-frequency vibration suppression effect is good.
It will be understood that modifications and variations may be resorted to by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the invention as defined by the appended claims.
Claims (10)
1. A full-speed magnetic suspension high-speed motor rotor vibration control method is characterized by comprising the following steps:
(1) when the rotor is statically suspended, the controller outputs a sinusoidal control signal with full rotation speed and variable frequency to act on the electromagnetic bearing, so that a rotor co-frequency vibration displacement signal is obtained, and the phase difference between the sinusoidal control signal and the rotor co-frequency vibration displacement signal is solved
Required phase compensation angle
Obtaining a curve of the phase compensation angle under each rotating speed section along with the change of the rotating speed according to different frequency values, namely a full rotating speed compensation phase curve;
(2) applying the phase compensation angle obtained in the step (1) to an LMS algorithm, filtering through the LMS algorithm to obtain a rotor common-frequency harmonic signal component, and outputting the rotor common-frequency harmonic signal component after the rotor common-frequency harmonic signal component is subjected to advanced compensation for a theta angle as a control voltage phase signal; the control voltage phase signal is negatively fed back and connected into the rotor system, so that the phase extraction of the full-rotating-speed control signal under different rotating speed frequencies is realized;
(3) multiple constant rotation speed omega in full rotation speed range 1 ～ω n Measuring the amplitude u of the control voltage signal by combining the phase of the full-rotating-speed control signal obtained in the step (2) with an influence coefficient method 1 ～u n Controlling the amplitude and the rotation speed of the voltage signalPerforming line fitting to obtain a full rotating speed control signal amplitude curve;
(4) and (4) carrying out unbalance compensation in the process of increasing the speed and reducing the speed of the rotor according to the full-rotating-speed compensation phase curve and the amplitude curve of the control signals in the steps (1) and (3), and actively controlling the vibration of the rotor of the motor.
2. The method for controlling the rotor vibration of the full-speed magnetic suspension high-speed motor as claimed in claim 1, wherein the phase compensation angle θ in the step (1) is determined by a power amplifier, a sensor and the phase lag of the unbalanced force of the rotor, and the frequency domain phase angles of the transfer functions of the power amplifier and the magnetic suspension bearing are respectively
And
phase angle of transfer function frequency domain of controller
The phase angle of the transfer function frequency domain of the magnetic suspension rotor is
The phase angle of the transfer function frequency domain of the sensor is
The phase difference between the electromagnetic force of the magnetic bearing and the unbalanced force of the rotor is 180 DEG to obtain
The phase difference between the sinusoidal control signal and the rotor co-frequency vibration displacement signal
3. The rotor vibration control of a full speed magnetic suspension high speed motor as claimed in claim 1The method is characterized in that the step (1) outputs a variable-frequency sinusoidal control signal through a controller
The unbalance force borne by the rotor is simulated, and the vibration displacement of the rotor is measured
Wherein f is a value of a linearly varying rotational speed frequency,
to control the phase of the signal, A 1 In order to control the amplitude of the signal,
to shift the phase of the signal, A 2 The amplitude of the displacement signal is the voltage compensation phase angle
4. The rotor vibration control method of the full-speed magnetic suspension high-speed motor as claimed in claim 1, wherein the step (2) determines the compensation phases at a plurality of speeds according to the full-speed compensation phase curve of the step (1), and combines with an LMS algorithm to obtain the control signal phases at a plurality of speeds.
5. The method for controlling the vibration of the rotor of the full-speed magnetic suspension high-speed motor according to claim 1, wherein the LMS algorithm in the step (2) is expressed as follows:
y(t)＝w 1 (t)sin(ωt)+w 2 (t)cos(ωt)；
e(t)＝d(t)-y(t)；
w 1 (t+1)＝w 1 (t)+ue(t)sin(ωt)；
w 2 (t+1)＝w 2 (t)+ue(t)cos(ωt)；
wherein y (t) represents the output of the notch extractionAn output signal, d (t) representing the input signal required to implement the notch function, w 1 (t) and w 2 (t) represents the weight coefficient of sine and cosine components of the notch frequency respectively, and u represents the iteration step length of the algorithm and represents the notch frequency of the multi-frequency signal;
within the full rotation speed range, when the rotor rotation speed omega r When the variation is carried out, the corresponding omega of the LMS algorithm is changed, firstly the same-frequency vibration displacement phase of the rotor is extracted, and then the phase angle theta is compensated on the basis of the same-frequency vibration displacement phase along with the variation of the rotating speed; respectively taking the sine and cosine values of the phase compensation angle theta and the weight coefficient w of the trapped wave frequency 1 (t) and w 2 (t) calculating the weight coefficient after phase compensation as follows: w' 1 (t)＝w 2 (t)sinθ-w 1 (t)cosθ，w' 2 (t)＝w 2 (t)cosθ+w 1 (t) sin θ, and the phase-shifted LMS notching method output signal is y '(t) ═ w' 1 (t)sin(ωt)+w' 2 (t)cos(ωt)。
6. The method for controlling rotor vibration of a full-speed magnetic levitation high-speed motor as claimed in claim 5, wherein the step (3) is performed by determining the control signal amplitudes at a plurality of rotation speeds by an influence coefficient method according to the output signals y' (t) at a plurality of rotation speeds obtained in the step (2).
7. The method for controlling the rotor vibration of the full-speed magnetic suspension high-speed motor according to claim 1, wherein the influence coefficient method in the step (3) is carried out according to the following steps: selecting a plurality of correction surfaces and a plurality of measurement planes on a rotor to carry out multiple operation correction, and taking the vibration of a certain measurement surface caused by a unit correction voltage signal on a certain correction plane at a certain rotating speed as an influence coefficient; these influence coefficients are obtained by measurement or calculation, and the magnitude and direction of the control signal to be applied to each correction plane required for limiting the vibration of each measurement plane below a certain amplitude are determined from the vibration caused by the unbalance amount.
8. The method for controlling the vibration of the rotor of the full-speed magnetic suspension high-speed motor according to claim 6, wherein the step (3) comprises the steps of (3.1): influence coefficient method for four-degree-of-freedom rigid rotor:
the front radial magnetic bearing and the rear radial magnetic bearing respectively correspond to two correction planes P on the rotor b1 And P b2 The front radial magnetic bearing sensor and the rear radial magnetic bearing sensor respectively correspond to the measuring surface P of the rotor s1 And P s2 (ii) a Measured P s1 And P s2 The initial vibration displacement vector of the displacement at the two measuring surfaces is
And
plane P with left and right magnetic bearings b1 And P b2 For correcting unbalance of rotor, plane P of sensor s1 And P s2 An unbalance detection surface;
at any equilibrium speed omega, at the correction plane P b1 Pilot plus control voltage signal
The voltage signal has no lag angle, and the vibration displacement vector at each detection surface is obtained as
And
finding the correction plane P b1 Pilot plus control voltage
Rear pair of detection planes P s1 And P s2 Influence coefficient of displacement:
removing the trial addition signal
At the correction plane P b2 Applying control voltage signal
Obtaining the vibration displacement vector at each detection surface as
And
finding the position of the correction plane P b2 Pilot plus control voltage
Rear pair of detection planes P s1 ,P s2 Influence coefficient of displacement:
obtaining a correction plane P b1 And P b2 The voltage signals to be applied are respectively:
9. according to claim 8The vibration control method of the rotor of the full-speed magnetic suspension high-speed motor is characterized in that the step (3) further comprises the step (3.2): according to the control voltage amplitude U measured in the step (3.1) for a plurality of rotating speeds omega 1 ,U 2 Performing least square fitting to obtain a curve of the control voltage changing along with the rotating speed; the least square fitting method is one of a quadratic polynomial fitting method, exponential function fitting, logarithmic function fitting and power function fitting.
10. The method for controlling the vibration of the rotor of the full-speed magnetic suspension high-speed motor according to claim 1, wherein the step (4) is applied to the vibration control of the rotor of the magnetic suspension high-speed motor in the following specific process: establishing a control model of the electromagnetic bearing-flexible rotor system, introducing the LMS algorithm into the control model after extracting signal phase compensation, and introducing a sensor G s The measured displacement signals X(s) are respectively negatively fed back to the PID controller G c And phase compensated LMS trap G i The output amplitude of the phase compensation LMS trap is the control signal amplitude, and then is output to the power amplifier G a And finally, the output current of the power amplifier acts on the electromagnetic bearing to realize active control on the vibration of the rotor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115501794A (en) * | 2022-09-27 | 2022-12-23 | 浙江博业机械科技有限公司 | Magnetic stirrer using magnetic suspension technology |
| CN116221276A (en) * | 2023-05-04 | 2023-06-06 | 山东华东风机有限公司 | Special control system and control method for magnetic suspension motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115501794A (en) * | 2022-09-27 | 2022-12-23 | 浙江博业机械科技有限公司 | Magnetic stirrer using magnetic suspension technology |
| CN116221276A (en) * | 2023-05-04 | 2023-06-06 | 山东华东风机有限公司 | Special control system and control method for magnetic suspension motor |
| CN116221276B (en) * | 2023-05-04 | 2023-08-15 | 山东华东风机有限公司 | Special control system and control method for magnetic suspension motor |
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