CN115425817A - High-precision dynamic balance correction device and method for magnetic suspension rotor - Google Patents
High-precision dynamic balance correction device and method for magnetic suspension rotor Download PDFInfo
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- CN115425817A CN115425817A CN202210827661.6A CN202210827661A CN115425817A CN 115425817 A CN115425817 A CN 115425817A CN 202210827661 A CN202210827661 A CN 202210827661A CN 115425817 A CN115425817 A CN 115425817A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/16—Centering rotors within the stator; Balancing rotors
- H02K15/165—Balancing the rotor
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Abstract
The invention discloses a high-precision dynamic balance correction device and method for a magnetic suspension rotor, relates to the technical field of high-speed magnetic suspension motors, and comprises a hardware-in-loop simulation system. The hardware-in-loop simulation system comprises a hardware system which is formed by a high-speed magnetic suspension motor and a magnetic suspension motor controller thereof and physically exists in the hardware-in-loop simulation system, and also comprises a magnetic suspension motor dynamic mathematical model, a magnetic suspension control system and a dynamic balance unbalance parameter computer optimization algorithm which form a simulation system which exists in a computer digital space in the hardware-in-loop system; the method has the advantages that the mechanical, electromagnetic and control system structure of the high-speed magnetic suspension motor is utilized, the equivalent dynamic balance unbalance parameters of the rotor assembly of the magnetic suspension motor are determined through a signal acquisition method, a system simulation method and a computer artificial intelligent parameter optimization method, so that the dynamic balance correction of the rotor assembly is realized, the efficiency of the turbine compressor is improved, and meanwhile, the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of high-speed magnetic suspension motors, in particular to a high-precision dynamic balance correction device and method for a magnetic suspension rotor.
Background
The rotor of the high-speed magnetic suspension motor rotates in a suspension state under the action of the electromagnetic force of the magnetic suspension bearing, so that the high-speed magnetic suspension motor has the advantages of no mechanical wear, no lubricating oil pollution, low energy consumption, low noise, long service life and the like, and the high-speed magnetic suspension motor replaces the traditional mechanical bearing motor more and more in application scenes with special requirements on high speed, high efficiency, vacuum, ultra-cleanliness and the like. One of the main application fields of the high-speed magnetic suspension motor is various high-speed turbomachines, such as a centrifugal air compressor, a centrifugal refrigerant compressor, and the like. The high-speed centrifugal compressor equipment adopting the high-speed magnetic suspension motor driving technology is mainly characterized by high efficiency, and compared with the traditional compressors in other forms, the high-speed centrifugal compressor equipment has the advantage that the electric energy is saved by 20-40% generally. One of the key factors for realizing the large-scale energy saving of the high-speed centrifugal compressor is the high-precision position control of a magnetic suspension rotor assembly (a rotating body comprising a turbine wheel, a motor rotor, a magnetic suspension bearing rotor magnetic circuit and other components) in a suspension state, and one of the key conditions for realizing the high-precision position control is that the manufacturing process of the rotor assembly can realize high-level dynamic balance precision. A certain dynamic balance imbalance of the rotor assembly is inevitable during the manufacturing process. In a high-speed motor adopting a traditional mechanical bearing, a rotor rotates around a geometric midline of the bearing under the constraint of the mechanical bearing, the dynamic balance unbalance of the rotor generates periodic radial centrifugal force when the rotor rotates, and the synchronous oscillation of a motor table and the acceleration of bearing abrasion can be caused under the condition that the dynamic balance unbalance exceeds the standard. In the case of a magnetic suspension bearing adopted by a high-speed motor, a certain displacement space exists in a bearing electromagnet for a rotor, so that the rotating shaft of the rotor can be coincided with an inertia shaft through an electromagnetic bearing control system under the condition that the rotor has dynamic balance unbalance, so that the oscillation caused by radial centrifugal force is reduced or even eliminated, but the cost is that the actual rotating shaft of the rotor deviates from the designed rotating shaft.
In order to avoid the friction between the turbine wheel and the volute due to the deviation of the rotating shaft, the clearance between the turbine wheel and the volute needs to be increased in design, but the increase of the clearance causes the efficiency of the compressor to be reduced. Therefore, high precision rotor dynamic balance is critical to improving the efficiency of the turbo compressor.
The conventional method for obtaining a high-precision dynamic balance rotor assembly is to use a high-speed high-precision dynamic balancer to perform dynamic balance correction on the rotor assembly in the manufacturing process of the rotor assembly, and the high-speed high-precision dynamic balancer is generally expensive and not easy to obtain. Therefore, the method for realizing the high-precision dynamic balance correction of the high-speed magnetic suspension motor rotor assembly in a low-cost and easily-obtained mode has great significance for the research and development of products, the production and the improvement of product performance of related industries.
Disclosure of Invention
The invention aims to provide a high-precision dynamic balance correction device and method for a magnetic suspension rotor, which have the advantages that the dynamic balance correction of a rotor assembly of the magnetic suspension motor is realized by determining equivalent dynamic balance unbalance parameters of the rotor assembly of the magnetic suspension motor through a mechanical, electromagnetic and control system structure of a high-speed magnetic suspension motor and a method of signal acquisition, system simulation and computer artificial intelligent parameter optimization, the efficiency of a turbine compressor is improved, the production cost is reduced, and the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme: a high-precision dynamic balance correction device for a magnetic suspension rotor comprises a hardware-in-loop simulation system, wherein the hardware-in-loop simulation system comprises a hardware system which is formed by a high-speed magnetic suspension motor and a magnetic suspension motor controller thereof and physically exists in the hardware-in-loop simulation system, and further comprises a magnetic suspension motor dynamic mathematical model, a magnetic suspension control system and a dynamic balance unbalance parameter computer optimization algorithm which form a simulation system which is formed by the hardware and exists in a computer digital space in the hardware-in-loop system;
the high-speed magnetic suspension motor comprises a magnetic suspension rotor assembly, a radial electromagnetic bearing, a rotor assembly radial displacement sensor for detecting the position of the magnetic suspension rotor assembly in an electromagnetic bearing air gap, a three-phase motor stator, an axial electromagnetic bearing and a magnetic suspension rotor assembly angular displacement sensor; the magnetic suspension motor controller comprises a rotor assembly radial displacement sensor signal processing circuit, an electromagnetic bearing PWM power amplifier, a magnetic suspension rotor assembly angular displacement signal processing circuit, a magnetic suspension position closed-loop controller and a motor PWM driving and controlling device.
Optionally, the magnetic suspension rotor assembly is a rigid body rotator assembled by a turbine impeller, a radial magnetic suspension bearing rotor magnetic circuit, a motor rotor, a rotor assembly radial displacement sensor electromagnetic target ring, a dynamic balance weight reduction area, an axial magnetic suspension bearing rotor and other components.
Optionally, the radial electromagnetic bearing, the axial electromagnetic bearing, the rotor assembly radial displacement sensor, the magnetic suspension position closed-loop controller, and a sensor signal processing circuit and a power amplifying circuit attached thereto jointly form a magnetic suspension control system of the rotor assembly.
Optionally, the three-phase motor stator, the rotor, the motor PWM drive, and the controller form an axial rotation control system of the magnetic suspension rotor assembly, and an axial position component in the axial electromagnetic bearing, the axial magnetic suspension bearing rotor, and the magnetic suspension position closed-loop controller controls an axial position control system of the rotor assembly.
Optionally, two ends of the magnetic suspension rotor assembly are designed and reserved with annular belts for dynamic balance correction machining.
Optionally, the radial position closed-loop control algorithm of the magnetic suspension motor controller is a reverse dynamics control algorithm.
Optionally, an inertia product element of a rotor inertia matrix of the magnetic suspension motor dynamic mathematical model is a function of a rotor assembly dynamic balance unbalance parameter, the dynamic balance unbalance parameter is a 3-dimensional vector and is formed by a mass representing static unbalance, a mass representing dynamic unbalance and an angle representing mass distribution, and the magnetic suspension motor dynamic mathematical model includes a functional module for simulating a dynamic characteristic of a magnetic suspension bearing current control ring and a dynamic characteristic of a rotor assembly radial position sensor.
Optionally, the dynamic balance imbalance parameter computer optimization algorithm is to extract synchronous components in the current of the magnetic bearing electromagnet in the actual physical system and the actual computer simulation system, which have the same frequency as the rotation of the rotor assembly, respectively, and form a target function of the computer optimization algorithm by using a vector difference between the two components.
Optionally, the synchronous component is obtained by the magnetic bearing electromagnet current vector after rotation transformation from a static coordinate system to a rotor rotating coordinate system and low-pass filtering.
A use method of a high-precision dynamic balance correction device of a magnetic suspension rotor comprises the following steps:
s1: supporting the magnetic suspension rotor assembly between the electromagnets of the magnetic suspension bearing without contact, and enabling the geometric center line of the magnetic suspension rotor assembly to be superposed with the geometric center line of the electromagnets;
s2: the magnetic suspension rotor assembly rotates in a suspension state under the control of a motor PWM drive and controller;
s3: the equivalent dynamic balance unbalance parameters of the magnetic suspension rotor assembly are determined by signal acquisition, system simulation and computer artificial intelligent parameter optimization, so that the dynamic balance correction of the magnetic suspension rotor assembly is realized.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention determines the equivalent dynamic balance unbalance parameters of the rotor assembly of the magnetic suspension motor by using the self mechanical, electromagnetic and control system structure of the high-speed magnetic suspension motor and by using the methods of signal acquisition, system simulation and computer artificial intelligent parameter optimization to realize the dynamic balance correction of the rotor assembly, improve the efficiency of the turbo compressor and reduce the production cost.
2. The invention sets the dynamic characteristic of the simulation system to be closer to the actual system by setting the function module and adopting but not limited to an inertial filter structure, and the filtering time constant of the inertial filter structure is respectively set according to the bandwidth and the transmission delay of the magnetic suspension bearing current control ring and the rotor assembly radial position sensor in the actual system.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the high-speed magnetic suspension motor of the invention;
FIG. 3 is a schematic view of the structure of the magnetic levitation rotor assembly of the present invention;
FIG. 4a is a schematic view of a coordinate system involved in radial motion control of the rotor assembly of the present invention in an electromagnetic bearing;
b is a schematic diagram of the rotor assembly having 6 freedom of motion or motion state variables relative to an inertial coordinate system in a suspension state;
c is the coordinate vector representation of the intersection point of the geometric central shaft of the rotor assembly and the sensor coordinate system plane and the vector representation of the bearing electromagnetic force in the bearing coordinate system plane;
FIG. 5a is a schematic diagram of the relative position of the geometric central shaft of the rotor assembly and the geometric center line of the electromagnet of the magnetic suspension bearing in ideal dynamic balance;
b is a schematic diagram of the relative position relationship between the geometric central shaft of the rotor assembly and the geometric central line of the electromagnet of the magnetic suspension bearing when the dynamic balance is unbalanced;
FIG. 6 is a block diagram of the radial control part of the magnetic levitation control system in the ring hardware system;
FIG. 7 is a block diagram of a dynamic simulation model of a rotor assembly in a hardware-in-the-loop simulation system;
FIG. 8a is a schematic representation of the dynamic balance imbalance of a mass equivalent rotor assembly on an annulus corrected for dynamic balance in accordance with the present invention;
b is a position parameter schematic diagram of equivalent mass on the rotor assembly dynamic balance correction ring belt;
c is a schematic diagram of the dynamic balance unbalance of the equivalent rotor assembly by using the static unbalance mass, the dynamic unbalance mass and the angle representing the mass distribution;
fig. 9 is a general implementation block diagram of the magnetic suspension motor rotor hardware-in-the-loop simulation dynamic balance correction device of the present invention.
In the figure: 1. a high-speed magnetic suspension motor; 2. a magnetic suspension motor controller; 3. a magnetic suspension motor dynamic mathematical model; 4.a magnetic suspension control system; 5.a dynamic balance unbalance parameter computer optimization algorithm; the high-speed magnetic suspension motor (1) comprises: 1, magnetic suspension rotor assembly; 1 \ u 2, radial electromagnetic bearing; 1_3, a rotor assembly radial displacement sensor; 1, a three-phase motor stator; 1 \ u 5, axial electromagnetic bearing; 1_6, magnetic suspension rotor assembly angular displacement sensor, as shown in fig. 2; the high-speed magnetic suspension motor controller 2 comprises: 2, a signal processing circuit of a radial displacement sensor of the rotor assembly; 2, an electromagnetic bearing current PWM power amplifier; 2, an angular displacement signal processing circuit of the magnetic suspension rotor assembly; 2_4, a magnetic suspension position closed-loop controller; 2_5, motor PWM drive and controller, as shown in fig. 2; the magnetic suspension rotor assembly 1_1 comprises: 1_1, turbine impeller; 1_1_2, radial magnetic suspension bearing rotor magnetic circuit; 1_1_3, motor rotor; 1_1_4, and a rotor assembly radial displacement sensor electromagnetic target ring; 1_1_5, dynamic balance weight loss zone; 1_1_6, axial magnetic suspension bearing rotor is shown in fig. 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 9, the present embodiment provides a high-precision dynamic balance correction device for a magnetic levitation rotor, which includes a hardware-in-loop simulation system, where the hardware-in-loop simulation system includes a hardware system formed by a high-speed magnetic levitation motor 1 and a magnetic levitation motor controller 2 thereof, and also includes a magnetic levitation motor dynamic mathematical model 3, a magnetic levitation control system 4, and a dynamic balance imbalance parameter computer optimization algorithm 5, which form a simulation system formed by a hardware in the loop system and existing in a computer digital space.
The high-speed magnetic suspension motor 1 comprises a magnetic suspension rotor assembly 1_1, a radial electromagnetic bearing 1_2, a rotor assembly radial displacement sensor 1 _3for detecting the position of the rotor assembly in an electromagnetic bearing air gap, a three-phase motor stator 1_4, an axial electromagnetic bearing 1 _5and a magnetic suspension rotor assembly angular displacement sensor 1_6; the magnetic suspension motor controller 2 comprises a rotor assembly radial displacement sensor signal processing circuit 2_1, an electromagnetic bearing PWM power amplifier 2_, a magnetic suspension rotor assembly angular displacement signal processing circuit 2_3, a magnetic suspension position closed-loop controller 2 _4and a motor PWM driving and controller 2_5.
More specifically, in this embodiment, the operation process of the device is to determine the equivalent dynamic balance unbalance parameters of the rotor assembly of the magnetic suspension motor by using the mechanical, electromagnetic and control system structure of the high-speed magnetic suspension motor 1 itself through signal acquisition, system simulation and computer artificial intelligent parameter optimization, so as to realize the dynamic balance correction of the rotor assembly.
When the magnetic suspension rotor assembly 1 \/u 1 has dynamic balance imbalance, a radial centrifugal force is generated under a rotating state to force the geometric center line of the rotor assembly to deviate from the geometric center line of an electromagnet of a magnetic suspension bearing, and the magnetic suspension position closed loop controller 2 \/u 4 outputs a force opposite to the centrifugal force to try to keep the rotor assembly to rotate in a set state. The output of the magnetic levitation position closed loop controller 2_4 therefore carries information about the dynamic balance imbalance of the rotor assembly.
In the invention, the method for extracting the dynamic balance unbalance information is to establish a magnetic suspension control system mathematical model of the measured magnetic suspension rotor assembly 1_1, obtain controller output under the same operation condition with the actual magnetic suspension rotor assembly 1_1 through system simulation, when an error exists between the control output obtained through simulation and the control output acquired from the actual magnetic suspension control system, the simulation system corrects an inertia product element of an inertia matrix of the rotor assembly 1_1 mathematical model through a computer iterative optimization algorithm to make the error between the control output obtained through simulation and the control output of the actual magnetic suspension control system converge to a minimum value, and an inertia matrix inertia product element correction value corresponding to the minimum value of the error is the dynamic balance unbalance parameter of the actual rotor assembly.
Further, in the present embodiment: the magnetic suspension rotor assembly 1_1 is a rigid body rotator assembled by components of a turbine impeller 1_1, a radial magnetic suspension bearing rotor magnetic circuit 1_1_2, a motor rotor 1_1_3, a rotor assembly radial displacement sensor electromagnetic target ring 1_1_4, a dynamic balance weight reduction area 1_1_5, an axial magnetic suspension bearing rotor 1_1_6, and the like.
More specifically, in the present embodiment, after the dynamic balance unbalance parameters are obtained, the dynamic balance correction of the rotor assembly 1_1 is completed by performing the corresponding deduplication processing in the dynamic balance weight loss region 1_1 \5by means of the machining.
Further, in the present embodiment: the radial electromagnetic bearing 1_2, the rotor assembly radial displacement sensor 1_3, the magnetic suspension position closed-loop controller 2 _4and the auxiliary sensor signal processing circuit and the power amplifying circuit are combined to form a magnetic suspension radial position control system of the magnetic suspension rotor assembly 1 _1.
Further, in the present embodiment: an axial rotation control system of a rotor assembly 1_1 is formed by a three-phase motor rotating stator 1_4, a rotor 1_1_3 and a motor PWM driving and controller 2_5, an axial position control system of a magnetic suspension rotor assembly 1_1 is formed by controlling axial position components in an axial electromagnetic bearing 1_5, an axial magnetic suspension bearing rotor 1_1 _6and a magnetic suspension position closed-loop controller 2_4, and the axial rotation control system and the axial position control system are all indispensable parts of a high-speed magnetic suspension motor system.
Further, in the present embodiment: two ends of the magnetic suspension rotor assembly 1_1 are designed to reserve annular belts for dynamic balance correction machining, and a radial position closed-loop control algorithm of the magnetic suspension motor controller 2 is a reverse dynamics control algorithm.
More specifically, in this embodiment, the radial position closed-loop control algorithm is a control structure that adopts proportional differential control, rotor gyroscopic effect compensation, and magnetic suspension bearing negative stiffness characteristic compensation according to a rigid mathematical model of radial motion of the rotor assembly, and the radial position closed-loop control algorithm is to implement dynamic balance imbalance detection of the rotor assembly, and the control task of the position closed-loop is to make the geometric center axis of the rotor assembly coincide with the geometric center line of the magnetic suspension bearing electromagnet and rotate at a constant speed that does not exceed the position closed-loop control bandwidth.
Further, in the present embodiment: the inertia product element of a rotor inertia matrix of a magnetic suspension motor dynamic mathematical model 3 is a function of a rotor assembly dynamic balance unbalance parameter, the dynamic balance unbalance parameter is a 3-dimensional vector and is composed of a mass representing static unbalance, a mass representing dynamic unbalance and an angle representing mass distribution, and the magnetic suspension motor dynamic mathematical model 3 comprises a functional module for simulating the dynamic characteristic of a magnetic suspension bearing current control ring and the dynamic characteristic of a rotor assembly radial position sensor.
More specifically, in this embodiment, the functional module for simulating the dynamic characteristic of the magnetic bearing current control ring and the dynamic characteristic of the rotor assembly radial position sensor adopts, but is not limited to, an inertial filter structure, and the filtering time constant of the inertial filter structure is set according to the bandwidth and the transmission delay of the magnetic bearing current control ring and the rotor assembly radial position sensor in the actual system, so that the dynamic characteristic of the simulation system is closer to the actual system.
Further, in the present embodiment: the dynamic balance unbalance parameter computer optimizing algorithm 5 is to extract the synchronous components in the current of the magnetic suspension bearing electromagnet in the actual physical system and the computer simulation system and the synchronous components have the same frequency with the rotation of the rotor assembly, and the vector difference between the two components is used to form the objective function of the computer optimizing algorithm.
More specifically, in the present embodiment, the dynamic balance imbalance parameter computer optimization algorithm 5 adopts, but is not limited to, the hooky-weiss algorithm as a search engine for computer optimization, and the synchronous component is obtained by the magnetic bearing electromagnet current vector after the rotation transformation from the stationary coordinate system to the rotor rotating coordinate system and the low-pass filtering.
Referring to fig. 1 to 9, the present invention provides a method for using a high-precision dynamic balance calibration device for a magnetic suspension rotor, comprising the following steps:
s1: supporting the magnetic suspension rotor assembly 1_1 between the electromagnets of the magnetic suspension bearing without contact, and enabling the geometric center line of the magnetic suspension rotor assembly 1_1 to coincide with the geometric center line of the electromagnets;
s2: the magnetic suspension rotor assembly 1_1 rotates at a constant speed in a suspension state under the control of a motor PWM driving and controller 2_5;
s3: the equivalent dynamic balance unbalance parameter of the magnetic suspension rotor assembly 1_1 is determined by a method of signal acquisition, system simulation and computer artificial intelligent parameter optimization, so that the dynamic balance correction of the magnetic suspension rotor assembly 1_1 is realized.
Detailed description and operation principle:
(1) The radial motion control of the magnetic levitation rotor assembly (1_1) in the electromagnetic bearing involves 4 coordinate systems as shown in fig. 4.a. Wherein o is i _x i y i z i The coordinate system is an inertial coordinate system fixed with the magnetic suspension bearing electromagnet or a static coordinate system; o r _x r y r z r Moving coordinate system, o, fixed to the rotor assembly r Ideally coinciding with the rotor assembly centre of gravity COG, o r _x r y r z r Also known as COG coordinate system; o a _y a z a And o b _y b z b Jointly form a bearing coordinate system of a plane where the electromagnetic force vector of the magnetic suspension bearing is located; o. o as _y as z as And o bs _y bs z bs Jointly form a sensor coordinate system of the plane in which the rotor position sensor is located. The rotor assembly has 6 degrees of freedom of movement, or state of motion variables, relative to the inertial frame in the levitated state, as shown in fig. 4. B. Wherein [ x ] r y r z r ]And
respectively, relative inertial frame o of rotor assembly i _x i y i z i Translational and rotational motion state variables. Of the 6 motion state variables mentioned above, the motion state variable x representing axial translation and rotation r (t) and
the axial rotation control and the displacement control can be independently controlled under normal conditions and are influenced by the radial movement of the rotor to be negligible, so that the realization of the axial rotation control and the displacement control is not deeply analyzed in the following text of the invention. The remaining 4 motion state variables y of the rotor assembly r ，z r Phi, theta constitute the radial motion state variable q = [ y ] in the COG coordinate system r z r ψ θ] T 。
The radial electromagnetic force vector of the magnetic suspension bearing can be converted from a bearing coordinate system to a rotor COG coordinate system through the following linear transformation
F coc ＝BU f
Wherein
U f ＝[f ay f by f az f bz ] T As a bearing coordinate system o a _y a z a And o b _y b z b Radial electromagnetic force vector of medium magnetic suspension bearing
P COG ＝[f ry f rz τ ψ τ θ ] T Mapping the radial electromagnetic force vector of the magnetic suspension bearing to the generalized force vector in the COG coordinate system
Radial motion state variable of COG coordinate system
q＝[y r z r ψ θ] T
Can be equivalently formed by the geometric central axis of the rotor assembly and the sensor coordinate system plane o as _y as z as And o bs _y bs z bs Point of intersection o ras And o rbs Coordinate vector of (2)
q s ＝[y as z as y bs z bs ] T
As shown in fig. 4.c). Equivalent motion state variable q s In the sensor coordinate system o as _y as z as And o bs _y bs z bs In the implementation, the measured state variable q s Mapping to the rotor COG coordinate system can be done by the following linear transformation
q＝C -1 q s
Wherein
In the ideal case, the rotor assembly is controlled by the magnetic levitation control system to surround the geometric central axis x thereof r o r Meanwhile, the inertia spindle rotates, and the geometric central shaft of the rotor and the geometric central line x of the magnetic suspension bearing electromagnet i o i Overlap as shown in fig. 5.a. When the rotor has dynamic balance unbalance, the gravity center position of the rotor deviates from the geometric axis of the rotor, and the geometric central axis x of the rotor r o r No longer coinciding with its principal axes of inertia, as shown in fig. 5.b. According to the inertia translation theory, the gravity center of the rotor can be shifted by using the coordinate system o of the magnetic suspension bearing at the two ends of the rotor a _y a z a And o b -y b z b Mass Δ m in the plane of the plane a And Δ m b And (4) equivalence. When the rotor assembly rotates around the geometric axis thereof under the control of the magnetic levitation control system, the rotor assembly is subjected to a radial centrifugal force perpendicular to the rotation axis, which is caused by the shift of the center of gravity, in a direction that is in synchronism with the rotation of the rotor assembly and that attempts to cause the geometric center axis of the rotor to deviate from the geometric center axis of the electromagnet in a gyrating motion around the geometric center axis of the electromagnet. In order to keep the geometric central axis of the rotor coincident with the geometric central axis of the electromagnet, the magnetic levitation control system must output a force with the same magnitude and opposite direction as the radial centrifugal force according to the offset between the geometric central axis of the rotor and the geometric central axis of the electromagnet measured by the rotor assembly radial displacement sensor in an attempt to keep the rotor assembly in the ideal motion attitude, such as F in fig. 5.b a ，F b As shown. Therefore, the synchronous rotation component in the output of the magnetic suspension control system carries the information of the gravity center offset of the rotor assembly, and the information is processed by a proper methodAnd processing and analyzing the data to obtain specific parameters of dynamic balance unbalance of the rotor assembly. The invention obtains the specific parameters of the dynamic balance unbalance of the rotor assembly by hardware-in-loop simulation and computer artificial intelligent parameter optimization.
(2) Hardware in a ring "hardware" system, a structural block diagram of a radial control part of a magnetic levitation control system is shown in fig. 6. The controlled object is a magnetic suspension system consisting of a radial magnetic suspension bearing and a rotor assembly. The system only considers the linearized dynamic mathematical model of the radial motion as follows:
q s ＝Cq
wherein q, q s ，U f And B and C are as defined above.
U f ＝-K g q s +K i I MB Is a mathematical model of the radial force of the magnetic suspension bearing,
wherein
I MB ＝[i ay i by i az i bz ] T the magnetic suspension bearing current vector is also the control output of the magnetic suspension control system.
(3) In the invention, in order to realize that the rotor assembly is controlled by the magnetic suspension control system to surround the geometric central axis x of the rotor assembly r o r Rotating and the geometric central shaft of the rotor and the geometric central line x of the electromagnet of the magnetic suspension bearing i o i The magnetic suspension bearing controller adopts a reverse dynamics algorithm, namely a structure of adopting a COG coordinate system PD control + rotor gyro effect compensation + magnetic suspension bearing position negative stiffness characteristic compensation, and the magnetic suspension controller corresponding to the algorithm outputs I MB Can be expressed by the following formula
K p ＝(BK i ) -1 MP COG C -1 Proportional control gain for PD control, wherein
C S ＝(BK i ) -1 K gCOG C -1 is the position negative rigidity of the magnetic suspension bearingA coefficient of sexual compensation, wherein
K gCOG ＝BK g B T In order to transform the magnetic bearing position negative stiffness matrix under the COG coordinate system,
C G ＝(BK i ) -1 GC -1 and the compensation coefficient is the rotor gyro effect.
(4) The structural block diagram of the rotor assembly dynamic simulation algorithm in the ring simulation system is shown in fig. 7. In the invention, the magnetic suspension controller in the dynamic simulation system of the rotor assembly and the controller in the actual system adopt the same structure and control parameters. The dynamic mathematical model of the rotor assembly must be capable of reproducing the response of the magnetic levitation controller to dynamic balance unbalance through system simulation, so that the radial motion linearization dynamic mathematical model with the aim of assisting the design of the magnetic levitation controller
9 s ＝Cg
Are no longer suitable for the purposes of dynamic balance imbalance simulation.
In order to reproduce the response of the magnetic suspension controller to dynamic balance unbalance through system simulation, the invention adopts a rotor coordinate system o r _x r y r z r The following dynamic mathematical model of the rotor assembly:
Wherein
X-vector product operator
v-rotor assembly center of gravity translation speed, v = [) x v y v z ] T
Angular velocity of omega-rotor assembly, omega =[ω x ω y ω z ] T
f-translational motion force, f = [ f x f y f z ] T
G m -the weight force acting on the centre of gravity of the rotor assembly in the rotor coordinate system,
τ -moment of action of the rotary motion, τ = [ τ = x τ y τ z ] T
mass of m-rotor assembly
I-a matrix of inertia of the rotor assembly,
function block G in fig. 7 C And G S The dynamic characteristics of the magnetic suspension bearing current control ring and the rotor assembly radial position sensor are simulated respectively. G C And G S In the invention, the structure of an inertial filter is adopted, and the filtering time constant of the inertial filter needs to be set according to the bandwidth and the transmission delay of a magnetic bearing current control ring and a rotor assembly radial position sensor in an actual system respectively so as to enable the dynamic characteristic of a simulation system to be closer to the actual system.
(5) Under the condition of ideal dynamic balance, the inertia product element in the inertia matrix is zero
When there is a dynamic balance imbalance in the rotor, the value of the product of inertia element is determined by the size and distribution of the mass causing the dynamic balance imbalance. According to the inertia translation theory, the actual dynamic balance unbalance of the rotor assembly can be positioned in a bearing coordinate system o by using two ends of the rotor a _y a z a And o b _y b z b Mass of (2) am a And Δ m b And (4) equivalence. When the rotor assembly rotates around the geometric axis under the closed-loop control of the magnetic suspension control systemTime of rotation,. DELTA.m a And Δ m b The generated centrifugal force will be suppressed by the electromagnetic force of the electromagnetic bearing in the coordinate system. Also according to the inertia translation theory, the actual dynamic balance imbalance of the rotor assembly can be corrected by the mass of the rotor assembly with both ends on the dynamic balance correction ring belt 1 \1 \5
And
equivalent as shown in fig. 8.a).
And
the position parameters on the dynamic balance correction zone are shown in fig. 8.b. When adopting
And
when the equivalent rotor assembly is unbalanced in dynamic balance, the inertia matrix of the rotor assembly can be expressed as:
It should be noted that when the rotor assembly has dynamic balance unbalance, the rotational inertia elements on the main diagonal of the inertia matrix are changed compared with the ideal dynamic balance state, but in the case of the magnetic suspension motor to which the present invention is directed, the processing and manufacturing precision of the rotor assembly can be ensured
And
much smaller than the rotor assembly mass m, so the change in the moment of inertia element on the main diagonal can be neglected.
Delta is a four-dimensional vector suitable for machining parameters required for balance correction on the dynamic balance correction loop. Through further analysis, the dynamic balance unbalance parameter more suitable for computer optimization is found to be a three-dimensional vector
Wherein
And γ are defined as shown in fig. 8.c.
The centrifugal force applied to the dynamic balance correction ring belts at the two ends of the rotor assembly can only make the rotor assembly move horizontally, and
the centrifugal forces applied at the two ends of the rotor assembly form a couple that generates only a moment that causes the rotor assembly to rotate about its center of gravity. Thus, it is possible to provide
Representing static and dynamic balance imbalances, respectively. By delta 3D The expression of the inertia matrix representing the moment of dynamic balance unbalance is
By delta 3D An advantage of representing dynamic balance imbalance is that the computer optimization process of the imbalance parameters can be done more quickly and can be avoidedWhen the four-dimensional parameter vector delta is used for optimizing, the optimizing process possibly generated due to dimension redundancy can not be converged to the global optimization problem.
In using delta 3D After the optimization process of the computer is completed as the parameter vector, the obtained dynamic balance unbalance parameter
Can be converted into
So as to realize the balance correction on the dynamic balance correction ring belt through machining. From fig. 8.b and 8.c, the following can be derived for the conversion between the two:
(6) Fig. 9 is a general implementation block diagram of the magnetic suspension motor rotor hardware-in-the-loop simulation dynamic balance correction device of the present invention, and the specific implementation process of dynamic balance detection and correction is as follows:
in a 'hardware' system formed by a high-speed magnetic suspension motor (1) and a control system (2) thereof, wherein hardware physically exists in a ring simulation system, a rotor assembly is controlled by a magnetic suspension motor controller to surround a geometric central shaft x of the rotor assembly r o r Rotates at a constant rotation speed omega, and the geometric central axis of the rotor and the geometric central line x of the electromagnet i o i And (6) overlapping.In this state, if there is a dynamic balance imbalance in the rotor assembly, the centrifugal force caused by the dynamic balance imbalance will be cancelled by the control force generated by the closed-loop control system for the rotor assembly position. The control acting force is formed by a magnetic suspension bearing electromagnet current vector [ i ay i by i az i bz ] T And (4) generating. Since the rotor assembly rotates at a constant rotational speed Ω, [ i ] ay i by i az i bz ] T Component of middle corresponding dynamic balance unbalance centrifugal force
And
is a sine function with the same frequency as the rotation frequency omega in the bearing coordinate system, and
and
respectively form a bearing coordinate system o a _y a z a And o b _y b z b A rotation vector synchronized with the rotation of the rotor assembly.
To extract [ i ay i by i az i bz ] T And simplifies the computer optimization process, introduces the following rotational transformation of the bearing coordinate system to the rotating coordinate system:
wherein alpha is r = Ω t as axis o r _y r And o i _y i The angle of rotation between the two is measured by an angular displacement sensor (1_6) of the magnetic suspension rotor assembly.
To the current vector I of the electromagnet of the magnetic suspension bearing MB ＝[i ay i by i za i bz ] T Performing a rotational transformation
And applying low-pass filtering to the result of conversion can obtain:
wherein the LPF is a low pass filter
ω LPF The bandwidth frequency of the low-pass filter should typically be chosen to be much lower than Ω.
It is pointed out thatThe centrifugal force generated by the dynamic balance unbalance of the rotor assembly is in direct proportion to the square of omega, and the vector
And
is also proportional to the square of Ω, i.e., increasing Ω improves the sensitivity of dynamic balance imbalance detection. In practical hardware systems, however, rotor assembly dynamic balance imbalance can cause synchronous rotational components in control forces
And
can also result in a rotor assembly position response vector y as y bs z as z bs ] T In which a gyroscopic rotational component caused by the gyroscopic effect occurs, the presence of which will be via a position closed-loop feedback controller (2_4) pair
The extraction of (b) creates interference that in turn affects the accuracy of the rotor assembly dynamic balance correction. The amplitude of the revolution rotation component is closely related to the algorithm and the response bandwidth of the magnetic bearing controller. The reverse dynamic algorithm of the magnetic suspension bearing controller provided by the invention can effectively inhibit the rotation component through the rotor gyro effect compensation, so that the rotation speed omega of the rotor assembly can be operated at a bandwidth frequency closer to that of a magnetic suspension closed loop feedback controller (2_4).
It is further noted that in practical magnetic levitation motor systems, a radial runout component is often present in the rotor position signal detected by the magnetic levitation rotor assembly radial displacement sensor (1_3). The factors that cause radial run-out are mainly: the manufacturing error causes the geometric rotation of the circumference of the surface of the electromagnetic target ring of the radial displacement sensor of the magnetic suspension bearing rotor assembly and the rotor assemblyNon-concentricity of the axis, surface deformation of the target ring, non-uniformity of the electromagnetic properties of the material from which the target ring is made, etc. The radial runout component will introduce harmonic components of frequency omega and/or multiples of omega into the output of the sensor (1_3), which harmonic components will also be passed through the position closed loop feedback controller (2 _u4) pair
The extraction of (b) creates interference that in turn affects the accuracy of the rotor assembly dynamic balance correction.
Therefore, when implementing hardware in the detection and correction of the dynamic balance of the ring magnetic suspension rotor, the sensor needs to be corrected firstly to eliminate the radial runout component in the output of the sensor (1_3). The correction may be accomplished by detecting the harmonic components by some technique and then injecting the detected harmonic components back into the sensor output to cancel the original harmonic components. The technical means for detecting the harmonic component can be a high-precision detection tool, and can also be a numerical analysis or automatic control algorithm.
The rotor assembly is controlled to surround the geometric central axis x of the high-speed magnetic suspension motor (1) and a control system (2) thereof r o r Rotating at constant rotation speed omega and obtaining the unbalance response vector of the actual system
Meanwhile, the simulation system composed of the magnetic suspension motor dynamic mathematical model (3) and the magnetic suspension controller simulation (4) in fig. 9 digitally simulates the magnetic suspension motor and the control system thereof to obtain
The inertia matrix adopted by the dynamic mathematical model (3) of the high-speed magnetic suspension motor in the simulation is
Therefore, the temperature of the molten metal is controlled,
is that
As a function of (c).
The optimizing objective function of the hardware-in-loop system dynamic balance unbalance parameter computer optimizing module (5) is formed by the unbalance response vector of the actual system
And imbalance response vector of simulation system
Is formed by the difference of
(7) The computer optimizing process is that 3D Component (b) of
And gamma forms a 3-dimensional space R 3 Searching out a 'best' path to approximate the target function J (delta) 3D ) Corresponding to the minimum value of (a) is the dynamic balance unbalance parameter vector delta 3D_OPT . The computer optimization algorithm for realizing the process belongs to the category of artificial intelligence, and in the background of the high-speed development of the artificial intelligence at present, various choices exist for realizing the aim of the invention, and the term "optimal" refers to the selected optimization algorithm. In the present invention, as one of the specific implementation schemes of the computer optimization Algorithm, a Hooke-Jeeves Algorithm (Hooke-Jeeves Algorithm) is selected but not limited to be used as the search engine for computer optimization.
The optimizing path of the hookkiviss algorithm is formed by two moving processes of detecting movement and mode movement,and is also called a pattern search method. The extreme value of the objective function is gradually approximated by a repeated iterative process of detection movement → mode movement → detection movement \8230. The (k + 1) th probe move is from the current parametric variable vector delta 3D (k) Are started respectively at
And the positive and negative directions of gamma component are in a set step length h m Or h γ Perturbation one by one, h m And h γ Representing the mass perturbation and angle perturbation step sizes, respectively. The parameter variable vector corresponding to each perturbation is delta 3D (k, l) (l =1,2, \ 8230;, 6, standing at δ 3D (k) 6 perturbations) of the 3 components), the corresponding inertia matrix perturbation I (k, l) = I (δ) of each parameter variable perturbation 3D (k, l)) is used for updating the dynamic mathematical model of the rotor assembly, and an objective function J (k, l) = J (delta) caused by perturbation is obtained through simulation 3D (k, l)) to determine the optimal direction of movement of the perturbation components, i.e. to increase, or decrease or remain the same. After perturbation of the three components is completed in sequence, the parameter variable vector delta can be obtained 3D (k) Delta vector delta 3D (k) As a result of the detected movement.
The mode shift being a result of Δ δ in the detection of the shift 3D (k) Order under the condition of non-zero
δ 3D (k,m)＝δ 3D (k)+mΔδ 3D (k),m＝1,2,3,…
Simulation was performed and an objective function J (k, m) = J (δ) was calculated 3D (k, m)). The condition for completion of the mode shift is
l(k，m)＜J(k，m+1)
I.e. delta obtained by the movement of the objective function along the probe 3D (k) Convergence in direction no longer continues. The parameter variable vector obtained at this time will be used as the new current value
δ 3D (k+1)＝δ 3D (k)+mΔδ 3D ( k )
The detection movement is performed for the (k + 1) th time.
If the result of the movement is detected delta 3D (k) Equal to zero, i.e. detecting movementThe result is δ 3D (k) Held stationary, then δ is accounted for 3D (k) The optimum value has been approached. In this case, the detection moving step h can be reduced m And h γ At a rate of delta 3D (k) And returning to the detection moving stage as the current parameter variable vector to continue optimizing so as to improve the detection precision of the dynamic balance unbalance parameter. If h is m And h γ And if the minimum value of the step length is smaller than the set minimum value of the step length, the computer optimizing process is finished. Delta at this time 3D (k) I.e. the detected dynamic balance unbalance parameter vector delta 3D_OPT 。
As previously mentioned delta 3D_OPT Need to be converted into a four-dimensional dynamic balance unbalance parameter vector
So as to realize the balance correction on the dynamic balance correction ring belt through machining. The correction parameters when the dynamic balance unbalance correction is carried out by adopting the weight reduction method are
Finally, the dynamic balance correction of the rotor assembly is completed by carrying out corresponding weight removing operation by referring to the weight reducing positions and the weight reducing values in a machining mode.
Claims (10)
1. The high-precision dynamic balance correction device for the magnetic suspension rotor comprises a hardware-in-loop simulation system and is characterized in that: the hardware-in-loop simulation system comprises a hardware system which is formed by a high-speed magnetic suspension motor (1) and a magnetic suspension motor controller (2) thereof and physically exists in the hardware-in-loop simulation system, and also comprises a magnetic suspension motor dynamic mathematical model (3), a magnetic suspension control system (4) and a dynamic balance unbalance parameter computer optimization algorithm (5) which form a simulation system which is formed by the hardware in-loop system and exists in a computer digital space;
the high-speed magnetic suspension motor (1) comprises a magnetic suspension rotor assembly (1_1), a radial electromagnetic bearing (1 _u2), a rotor assembly radial displacement sensor (1 _u3) for detecting the position of the magnetic suspension rotor assembly (1 _u1) in an electromagnetic bearing air gap, a three-phase motor stator (1 _u4), an axial electromagnetic bearing (1 _u5) and a magnetic suspension rotor assembly angular displacement sensor (1 _u6); the magnetic suspension motor controller (2) comprises a rotor assembly radial displacement sensor signal processing circuit (2_1), an electromagnetic bearing PWM power amplifier (2 _u2), a magnetic suspension rotor assembly angular displacement signal processing circuit (2 _u3), a magnetic suspension position closed-loop controller (2 _u4) and a motor PWM driving and controlling device (2 _u5).
2. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 1, characterized in that: the magnetic suspension rotor assembly (1_1) is a rigid body rotator formed by assembling parts such as a turbine impeller (1 _1), a radial magnetic suspension bearing rotor magnetic circuit (1 _1 _2), a motor rotor (1 _1 _3), a rotor assembly radial displacement sensor electromagnetic target ring (1 _1 _4), a dynamic balance weight reduction region (1 _1 _5), an axial magnetic suspension bearing rotor (1 _1 _6) and the like.
3. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 1, characterized in that: the radial electromagnetic bearing (1_2), the rotor assembly radial displacement sensor (1_3), the magnetic suspension position closed-loop controller (2 _u4) and the sensor signal processing circuit and the power amplifying circuit which are attached to the magnetic suspension position closed-loop controller jointly form a magnetic suspension radial position control system of the rotor assembly (1 _u1).
4. The magnetic levitation rotor high-precision dynamic balance correction device as recited in claim 2, wherein: the three-phase motor rotating stator (1_4), the rotor (1_1_3), the motor PWM driving and the controller (2_5) form an axial rotation control system of the magnetic suspension rotor assembly (1_1), and the axial position component in the axial electromagnetic bearing (1_5), the axial magnetic suspension bearing rotor (1_1_6), the magnetic suspension position closed-loop controller (2_4) and the rotor assembly axial displacement sensor control form an axial position control system of the rotor assembly (1 u 1).
5. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 2, characterized in that: two ends of the magnetic suspension rotor assembly (1_1) are designed and reserved with annular belts for dynamic balance correction machining.
6. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 1, characterized in that: the radial position closed-loop control algorithm of the magnetic suspension motor controller (2) is a reverse dynamics control algorithm.
7. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 1, characterized in that: the dynamic mathematical model (3) of the magnetic suspension motor comprises a functional module for simulating the dynamic characteristic of a current control ring of a magnetic suspension bearing and the dynamic characteristic of a radial position sensor of a rotor assembly.
8. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 1, characterized in that: the dynamic balance unbalance parameter computer optimization algorithm (5) is to extract synchronous components in the current of the magnetic suspension bearing electromagnet in an actual physical system and a computer simulation system, which have the same frequency with the rotation of the rotor assembly, respectively, and form an objective function of the computer optimization algorithm by using the vector difference of the two components.
9. The high-precision dynamic balance correction device for the magnetic suspension rotor of claim 7, characterized in that: the synchronous component is obtained by the magnetic suspension bearing electromagnet current vector after the rotation transformation from a static coordinate system to a rotor rotating coordinate system and low-pass filtering.
10. Use of a device for high precision dynamic balance correction of a magnetically levitated rotor according to claim 1, characterized in that it comprises the following steps:
s1: supporting the magnetic suspension rotor assembly (1_1) between the electromagnets of the magnetic suspension bearing in a non-contact manner, and enabling the geometric center line of the magnetic suspension rotor assembly (1_1) to be coincident with the geometric center line of the electromagnets;
s2: the magnetic suspension rotor assembly (1_1) rotates in a suspension state under the control of a motor PWM driving and controller (2_5);
s3: the equivalent dynamic balance unbalance parameter of the magnetic suspension rotor assembly (1_1) is determined by a method of signal acquisition, system simulation and computer artificial intelligent parameter optimization, so that the dynamic balance correction of the magnetic suspension rotor assembly (1_1) is realized.
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| CN116500524A (en) * | 2023-07-01 | 2023-07-28 | 北京格瑞拓动力设备有限公司 | Axial magnetic bearing rigidity testing device of magnetic suspension motor |
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| CN116500524A (en) * | 2023-07-01 | 2023-07-28 | 北京格瑞拓动力设备有限公司 | Axial magnetic bearing rigidity testing device of magnetic suspension motor |
| CN116500524B (en) * | 2023-07-01 | 2023-08-18 | 北京格瑞拓动力设备有限公司 | Axial magnetic bearing rigidity testing device of magnetic suspension motor |
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