CN115514280B - Method for controlling start-up oscillation after magnetic levitation motor is added with low-pass filtering module - Google Patents
Method for controlling start-up oscillation after magnetic levitation motor is added with low-pass filtering module Download PDFInfo
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention discloses a method for controlling start-up oscillation after a magnetic suspension motor is added with a low-pass filtering module, which comprises the following steps: step 1), a low-pass filter module is connected with a rotor of a magnetic suspension motor in a communication way through a discrete time PID controller; step 2) dividing the magnetic suspension motor rotor into five degrees of freedom, and setting the degrees of freedom in the radial direction and the axial direction of the front end and the rear end of the motor rotor; step 3) conducting magnetism on a stator of the magnetic suspension motor, controlling low-frequency filtering current to be sent out at the same time interval through a discrete time PID controller, and giving the low-frequency filtering current sent out at each time to a rotor of the magnetic suspension motor in sequence from a first degree of freedom to a fifth degree of freedom, wherein the rotor of the motor rotates; step 4) adjusting the discrete time PID controller until the rotor of the magnetic suspension motor does not oscillate; step 5) the starting of the magnetic levitation motor is completed, and the method has the beneficial effects that: when the magnetic suspension motor is started, the motor rotor is controlled and stably started under the action of magnetic suspension force.
Description
Technical Field
The invention relates to the technical field of starting of motors, in particular to a method for controlling starting oscillation after a magnetic suspension motor is added with a low-pass filtering module.
Background
At present, one of the biggest problems in the aspect of control of the magnetic levitation motor is that the stability of electromagnetic compatibility cannot reach a satisfactory degree. Basically, the magnetic suspension motor is based on the traditional motor body, and external devices such as a sensor, a driver and the like are additionally arranged, so that the magnetic suspension motor becomes a complete closed-loop control system. The system consists of three parts, namely a sensor, a controller and an actuator, wherein the actuator consists of an electromagnet and a power amplifier, the power amplifier consists of a large number of electronic components according to a certain logic relationship, and the core of the power amplifier is a Printed Circuit Board (PCB). The use of a large number of electronic components, integrated circuits, functional modules and specialty chips necessarily results in the generation of electromagnetic compatibility (EMC) problems.
Due to the influence of clock signals and clock signal higher harmonics, the magnetic levitation motor can radiate high-frequency electromagnetic waves to the space, so that electromagnetic interference (EMI) is caused on control signals, which is a main cause of EMC problems. The most straightforward way to solve this problem is to add a low-pass filter module to the control circuit. In practice, a large number of experiments show that when the low-pass filtering module is added, the phenomenon that the motor is unstable in suspension and oscillates easily occurs in the process of starting the magnetic levitation motor, and the lower the cut-off frequency of the low-pass filtering, the higher the probability of the oscillation phenomenon.
First, this oscillation phenomenon cannot be solved by PID regulation, because the PID algorithm cannot obtain a feedback signal at a higher frequency to control the state of the motor rotor at a lower cut-off frequency. Secondly, the magnetic suspension control algorithm of the motor rotor is multidimensional control with five degrees of freedom (including a positive direction and a negative direction in the radial direction of the front end of the motor rotor, a positive direction and a negative direction in the radial direction of the rear end of the motor rotor and an axial direction), and the phenomenon of control instability caused by high-frequency signal loss is more easy to occur.
Disclosure of Invention
The invention aims to provide a method for controlling start-up oscillation of a magnetic levitation motor after the magnetic levitation motor is added with a low-pass filter module, and solve the problem of unstable start-up control of the magnetic levitation motor after the magnetic levitation motor is added with the low-pass filter module.
The invention mainly aims to solve the problem that the start-up control of the magnetic suspension motor is unstable after the low-pass filtering is added to the magnetic suspension motor, and the problem is essentially caused by the fact that the magnetic suspension stability on a plurality of degrees of freedom cannot be controlled simultaneously, so that the problem is solved by utilizing the principle of a five-degree-of-freedom step start-up method.
The invention is realized by the following technical scheme:
a method for controlling start-up oscillation after a magnetic suspension motor is added into a low-pass filtering module comprises the following steps:
Step 1), a low-pass filter module is connected with a rotor of a magnetic suspension motor in a communication way through a discrete time PID controller;
step 2) dividing the magnetic suspension motor rotor into five degrees of freedom, wherein in the radial direction of the front end of the motor rotor, the direction facing the axis of the motor rotor is set as a first degree of freedom, the direction of the reverse motor rotor axis is set as a second degree of freedom, in the radial direction of the rear end of the motor rotor, the direction facing the axis of the motor rotor and the direction of the reverse motor rotor axis are respectively set as a third degree of freedom and a fourth degree of freedom, and in the axial direction of the motor rotor, the direction is set as a fifth degree of freedom;
Step 3) conducting magnetism on a stator of the magnetic suspension motor, filtering high-frequency current into low-frequency filtering current through a low-pass filtering module, controlling the low-frequency filtering current to be sent out each time through a discrete time PID controller, enabling the low-frequency filtering current sent out each time to be sent out at the same time interval, enabling the low-frequency filtering current sent out each time to be given to a rotor of the magnetic suspension motor in sequence from a first degree of freedom to a fifth degree of freedom, and enabling the rotor of the motor to rotate;
step 4) adjusting the time interval of low-frequency filtering current sent by the discrete time PID controller each time until the rotor of the magnetic suspension motor does not oscillate;
And 5) completing the starting of the magnetic levitation motor.
Further, in step 3), when the discrete time PID controller is controlled, the low frequency filtering current sent by each PID controller corresponds to different degrees of freedom divided on the rotor of the magnetic levitation motor.
Further, the discrete time PID controller emits the low frequency filtered current each time at a time interval in the range of 2-3 s.
Further, in the step 3), the low-frequency filtering current emitted by the PID controller is made to be a pulse current each time the discrete-time PID controller is controlled, and the pulse current is made to be a peak shape.
Furthermore, an on-state current is arranged between the low-frequency filtering current and the low-frequency filtering current sent by the discrete time PID controller each time, the on-state current value is controlled and kept smaller than the low-frequency filtering current value, and the on-state current value is controlled to be constant so that the rotor of the magnetic suspension motor is in a magnetic suspension state.
Furthermore, the discrete time PID controller has an off-state current before the low-frequency filtering current is sent out and after the starting of the magnetic levitation motor is completed, the off-state current value is controlled to be smaller than the on-state current value, and the off-state current enables the rotor of the magnetic levitation motor to be in a magnetic levitation state before and after the starting of the magnetic levitation motor.
Further, the low-pass filtering module is arranged at the edge of the PCB.
Furthermore, a high-frequency decoupling capacitor with good characteristics or a component of a parallel ferrite magnetic bead and a capacitor are connected in parallel to the ground of the power supply pair of the low-pass filter module circuit, so that the low-pass filter module filters high-frequency current.
Further, a circuit in communication connection with the low-pass filter module is arranged at the edge of the PCB.
Further, in step 3), the discrete-time PID controller employs a bilinear transformation algorithm to control the emission of the low-frequency filtered current.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. The invention adopts a five-degree-of-freedom step starting method and a low-pass filter module with adjustable cutoff frequency to control the rotor of the magnetic suspension motor to start, five different time gaps are needed to be added in a magnetic suspension control algorithm, namely, each degree of freedom is not controlled simultaneously but is controlled corresponding to one degree of freedom at the same time, and each degree of freedom is controlled by low-frequency current, so that each degree of freedom of the five degrees of freedom respectively acts in turn at different moments to enable the motor rotor to suspend on magnetic suspension respectively, thus mutual interference among the five degrees of freedom does not occur, and the effect of stable starting of the rotor of the magnetic suspension motor is finally achieved.
2. The low-pass filter module is arranged at the edge of the PCB, namely the low-frequency circuit is arranged at the edge of the PCB, and the circuit which is in communication connection with the low-pass filter module is arranged at the edge of the PCB, so that the use of a large number of electronic components, integrated circuits, functional modules and professional chips is avoided, and the problem of electromagnetic compatibility (EMC) is caused; and a high-frequency decoupling capacitor with good characteristics or a component of a parallel ferrite magnetic bead and a capacitor is connected in parallel to the ground of the power supply of the low-pass filtering module circuit, so that the low-pass filtering module filters high-frequency current.
3. The five-degree-of-freedom step start method of the invention not only needs the improvement and perfection of a magnetic suspension control algorithm on software, but also needs the support of a Printed Circuit Board (PCB) on hardware, wherein the PCB is a support piece of circuit components in electronic products, and the design principle (shown in figure 1) of the PCB is to prevent the generation of electromagnetic compatibility (EMC) problems. The method is characterized in that improvement is required to be carried out on a PCB, a low-pass filter module with adjustable cutoff frequency is added, five different time gaps are required to be added in a magnetic suspension PID control algorithm, and suspension programs in five degrees of freedom are respectively loaded into the five time gaps.
4. The PID control algorithm of the invention adopts a bilinear transformation algorithm, namely, a continuous time PID controller is transformed into a discrete time PID controller. For the conversion process, the advantage of converting continuous time control into discrete time control is realized by using a bilinear conversion method; the phase advance obtained by the bilinear transformation algorithm in the high frequency band is significantly better than the effect obtained by the inverse differential algorithm, and can achieve much higher system stiffness, i.e. much higher characteristic frequency of the closed loop system, and sufficient damping, so that the system performance can not be obtained by PID control of the inverse differential algorithm. The bilinear transformation algorithm is applicable to transformation in multiple degrees of freedom directions, so that the five-degree-of-freedom step start method of the magnetic levitation motor can be completely realized by the method.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 is a diagram of an electronic component design layout of a PCB;
FIG. 2 is a schematic diagram of the current generated instantaneously by the switching action of the magnetic levitation motor when the motor is started;
FIG. 3 is a graph of time versus gain for a continuous time model, an inverse differential algorithm, and a bilinear transformation;
fig. 4 is a time-phase comparison graph of continuous time model, inverse differential algorithm and bilinear transformation.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1
Firstly, we need to know that the main purpose of the invention is to solve the problem that the control of the motor rotor is not stable under the action of magnetic levitation force when the magnetic levitation motor is started. Here, we assume that as long as the magnetic levitation motor can be started stably, the phenomenon that the magnetic levitation falls and is unstable can not occur in the running process of the motor. Therefore, we do not need to fundamentally consider the rationality and stability of the control algorithm, but only need to improve from five degrees of freedom plus the special control mode of the PID algorithm.
Second, we need to know that filtering is a technique to extract useful signals from the interfering received signals. Filtering is a main means for suppressing conductive interference of electric and electronic equipment and improving the noise immunity technology level, and is also an important auxiliary measure for ensuring the whole or partial shielding effectiveness of the equipment. Thus, the filtering module is a component that extracts the useful signal from the signal mixed with the interfering signal, and whether the signal is useful or not is not absolute, and may be useless at some times and useful at other times. For the control of the starting of the magnetic suspension motor, the high-frequency signal is useless in the running process of the magnetic suspension motor and is an interference signal, and the high-frequency signal is removed by a filtering means; and the method is useful in the magnetic suspension starting process, and if low-pass filtering with the cutoff frequency being too low is added, the probability of the starting oscillation of the magnetic suspension motor is greatly improved.
However, we have found that if we do not suspend the five degrees of freedom in their entirety and add a low pass filter with a cut-off frequency too low at the same time, but individually suspend each degree of freedom separately, no ringing occurs. Therefore, the concept of a time slot can be introduced from control, namely, each degree of freedom is not controlled simultaneously, but is controlled to be corresponding to one degree of freedom at intervals of the same time, and the suspensions of the five degrees of freedom are respectively filled into five different time slots, so that the rotor can be respectively suspended on the five degrees of freedom, mutual interference between the five degrees of freedom is avoided, and the effect of stable starting of the magnetic levitation motor is finally achieved.
Example 2
Importantly, the five-degree-of-freedom step start method not only requires improvement and perfection of a magnetic suspension control algorithm on software, but also requires support of a Printed Circuit Board (PCB) on hardware. Firstly, the PCB board is a supporting member for circuit components in the electronic product, and the design principle of the PCB board is shown in fig. 1, and of course, we need to improve the design principle and add a low-pass filter module with adjustable cut-off frequency. Then, we need to add five different "time slots" to the magnetic levitation control algorithm, and load the levitation program in five degrees of freedom into these five "time slots" respectively.
The low-pass filter circuit is designed by considering the performance of a low-pass filter module, and filtering is an effective means for suppressing interference, namely, suppressing the disturbance source and eliminating the interference coupling, and enhancing the anti-interference capability of the receiving equipment.
In addition, the design of five "time slots" needs to consider the suspension sequence of five degrees of freedom, the interval of starting time between each degree of freedom, and other factors affecting the suspension stability. In fact, magnetic levitation control is a discrete-time control, and any discrete-time control of a magnetic bearing includes a low-pass filter characteristic to reduce high-frequency noise and avoid modal instability of the system at higher frequencies, especially in modern MIMO Lu Bang control designs, the design concept is more important, and we often use an inverse differential algorithm to construct this discrete-time model.
In this case, the sampling delay causes serious problems and is extremely liable to cause instability of the relevant high-frequency mode. These problems can only be eliminated by suitable filtering algorithms or by building more sophisticated, higher order controller models, due to unavoidable sampling delays. Thus, eventually we use bilinear transformation algorithms to build the PID controller model.
Example 3
In designing a filter circuit, the type and the operation time of the switch need to be considered, and the transient current generated by typical switching operation is generally high in peak value of the current of the switch as shown in fig. 2, and the peak value of the current needs to be suppressed in circuit design.
For the PCB, the distributed inductance of each 1mm of wire is about 1.5nH, the high-speed induced voltage of the integrated circuit on the 20 mm of wire is about 0.8V, and the induced voltage in the medium-speed circuit is about 0.15V, so that the high-speed circuit is not needed to be used as much as possible. The most convenient method for overcoming the interference is to connect a high-frequency decoupling capacitor with good characteristics or a component of a parallel ferrite magnetic bead and a capacitor in parallel to the ground of the power supply of the low-pass filter module circuit so as to enable the low-pass filter module to absorb the interference.
When the magnetic suspension control program is designed, the modern robust control design concept can be said to be the optimal method for realizing the magnetic suspension control standardization. Therefore, we have conducted more intensive studies and improvements on the equivalent discrete model of the PID control algorithm. This requires two preconditions: on the one hand, the continuous-time system description of the controlled object (motor rotor) considered by the controller design must be equivalent to the discrete model of the controlled object after correctly considering the influence of the sampling delay introduced by zero-order hold (ZOH). On the other hand, the controller obtained from the process of continuous-time design must be converted into a discrete-time representation to be executed on the DSP controller. Unfortunately, there is no exact mathematical transformation for both steps and only approximation methods can be used.
Fig. 3 and 4 show the results obtained when the bilinear approximation method is used in the opposite direction, i.e. converting a continuous time PID controller into a discrete time PID controller. For this conversion process, the handling of the ZOH unit does not have to be considered specifically as the handling of the controlled object, since the state quantity of the discrete-time controller does not change between the two sampling instants. Figures 3 and 4 also demonstrate the advantage of using a bilinear transformation method to achieve continuous-time to discrete-time controlled transformations.
Although the inverse differential algorithm and bilinear transformation describe the same first order system in terms of discrete time, the bilinear transformation achieves a phase advance in the high frequency band that is significantly better than that achieved by the inverse differential algorithm. In this way, a much higher system stiffness, i.e. a much higher closed loop system characteristic frequency, is achieved, as well as sufficient damping, such that system performance is obtained which is not obtainable by the inverse differential algorithm PID control. Furthermore, bilinear transformation is applicable to transformation in multiple degrees of freedom directions, so that the five-degree-of-freedom step start method of the magnetic levitation motor can be completely realized by using the method.
Example 4
Preferably, the embodiment provides a method for controlling start-up oscillation after a magnetic levitation motor is added into a low-pass filtering module, which comprises the following steps:
Step 1), a low-pass filter module is connected with a rotor of a magnetic suspension motor in a communication way through a discrete time PID controller;
step 2) dividing the magnetic suspension motor rotor into five degrees of freedom, wherein in the radial direction of the front end of the motor rotor, the direction facing the axis of the motor rotor is set as a first degree of freedom, the direction of the reverse motor rotor axis is set as a second degree of freedom, in the radial direction of the rear end of the motor rotor, the direction facing the axis of the motor rotor and the direction of the reverse motor rotor axis are respectively set as a third degree of freedom and a fourth degree of freedom, and in the axial direction of the motor rotor, the direction is set as a fifth degree of freedom;
Step 3) conducting magnetism on a stator of the magnetic suspension motor, filtering high-frequency current into low-frequency filtering current through a low-pass filtering module, controlling the low-frequency filtering current to be sent out each time through a discrete time PID controller, enabling the low-frequency filtering current sent out each time to be sent out at the same time interval, enabling the low-frequency filtering current sent out each time to be given to a rotor of the magnetic suspension motor in sequence from a first degree of freedom to a fifth degree of freedom, and enabling the rotor of the motor to rotate;
step 4) adjusting the time interval of low-frequency filtering current sent by the discrete time PID controller each time until the rotor of the magnetic suspension motor does not oscillate;
And 5) completing the starting of the magnetic levitation motor.
Further, in step 3), when the discrete time PID controller is controlled, the low frequency filtering current sent by each PID controller corresponds to different degrees of freedom divided on the rotor of the magnetic levitation motor.
Further, the discrete time PID controller emits the low frequency filtered current each time at a time interval in the range of 2-3 s.
Further, in step 3), the discrete-time PID controller is controlled such that the low-frequency filtered current emitted from the PID controller is a pulse current each time, and the pulse current has a peak shape (as shown in fig. 2).
As shown in fig. 2, an on-state current is arranged between the low-frequency filtering current and the low-frequency filtering current sent by the discrete time PID controller each time, the on-state current value is controlled and kept smaller than the low-frequency filtering current value, and the on-state current value is controlled to be constant so that the rotor of the magnetic levitation motor is in a magnetic levitation state; and the discrete time PID controller is provided with an off-state current before the low-frequency filtering current is sent out and after the starting of the magnetic levitation motor is completed, the off-state current value is controlled to be smaller than the on-state current value, and the off-state current enables the rotor of the magnetic levitation motor to be in a magnetic levitation state before and after the starting of the magnetic levitation motor.
Further, in step 3), the discrete-time PID controller employs a bilinear transformation algorithm to control the emission of the low-frequency filtered current.
Example 5
As shown in fig. 1, the low-pass filter module is disposed at an edge of the PCB, that is, the low-frequency circuit is disposed at an edge of the PCB, and the circuit communicatively connected to the low-pass filter module is disposed at an edge of the PCB, so as to avoid the use of a large number of electronic components, integrated circuits, functional modules and specialized chips, resulting in the generation of electromagnetic compatibility (EMC) problems; and a high-frequency decoupling capacitor with good characteristics or a component of a parallel ferrite magnetic bead and a capacitor is connected in parallel to the ground of the power supply of the low-pass filtering module circuit, so that the low-pass filtering module filters high-frequency current.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The method for controlling start-up oscillation after the magnetic suspension motor is added with the low-pass filtering module is characterized by comprising the following steps:
Step 1), a low-pass filter module is connected with a rotor of a magnetic suspension motor in a communication way through a discrete time PID controller;
Step 2) dividing the magnetic suspension motor rotor into five degrees of freedom, wherein in the radial direction of the front end of the motor rotor, the direction facing the axis of the motor rotor is set as a first degree of freedom, the direction of the reverse motor rotor axis is set as a second degree of freedom, in the radial direction of the rear end of the motor rotor, the direction facing the axis of the motor rotor and the direction of the reverse motor rotor axis are respectively set as a third degree of freedom and a fourth degree of freedom, and in the axial direction of the motor rotor, the direction is set as a fifth degree of freedom;
step 3) conducting magnetism on a stator of the magnetic suspension motor, filtering high-frequency current into low-frequency filtering current through a low-pass filtering module, controlling the low-frequency filtering current to be sent out each time through a discrete time PID controller, enabling the low-frequency filtering current sent out each time to be sent out at the same time interval, enabling the low-frequency filtering current sent out each time to be given to a rotor of the magnetic suspension motor in sequence from a first degree of freedom to a fifth degree of freedom, and enabling the rotor of the motor to rotate;
step 4) adjusting the time interval of the discrete time PID controller for sending the low-frequency filtering current each time until the rotor of the magnetic suspension motor does not oscillate;
And 5) completing the starting of the magnetic levitation motor.
2. The method according to claim 1, wherein in step 3), the discrete-time PID controller is controlled such that the low-frequency filtered current from each PID controller corresponds to different degrees of freedom of the division on the rotor of the magnetic levitation motor.
3. A method of controlling start-up oscillations of a magnetic levitation motor according to claim 2, wherein the time interval between each time the discrete-time PID controller sends the low-frequency filtered current is in the range of 2-3 s.
4. The method according to claim 1, wherein in the step 3), the discrete-time PID controller is controlled such that the low-frequency filtering current emitted by the PID controller is a pulse current each time, and the pulse current has a peak shape.
5. The method for controlling start-up oscillation after adding a low-pass filtering module to a magnetic levitation motor according to claim 1, wherein an on-state current is arranged between the low-frequency filtering current and the low-frequency filtering current sent by the discrete-time PID controller each time, the on-state current value is controlled and kept smaller than the low-frequency filtering current value, and the on-state current value is controlled to be constant so that a rotor of the magnetic levitation motor is in a magnetic levitation state.
6. The method of claim 5, wherein the discrete-time PID controller has an off-state current before the low-frequency filtering current is sent out by the discrete-time PID controller and after the start of the magnetic levitation motor is completed, the off-state current is controlled to be smaller than the on-state current, and the off-state current enables the rotor of the magnetic levitation motor to be in a magnetic levitation state before and after the start of the magnetic levitation motor.
7. The method for controlling start-up oscillation of a magnetic levitation motor as defined in claim 1, wherein the magnetic levitation motor is provided with a low-pass filter module
Is characterized in that the low-pass filter module is arranged at the edge of the PCB.
8. The method of claim 7, wherein a high-frequency decoupling capacitor with good characteristics or a component of ferrite beads and capacitors connected in parallel is connected to the ground of the power supply of the low-pass filter module circuit in parallel to enable the low-pass filter module to filter the high-frequency current.
9. The method for controlling start-up oscillation of a magnetic levitation motor according to claim 8, wherein the circuit communicatively connected to the low-pass filter module is disposed at an edge of the PCB.
10. A method of controlling start-up oscillations in a magnetic levitation motor according to claim 1, wherein in step 3) said discrete-time PID controller employs a bilinear transformation algorithm to control the emission of said low-frequency filtered current.
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| CN113067523A (en) * | 2021-04-22 | 2021-07-02 | 东北大学 | Magnetic suspension motor vibration suppression method based on angular domain notch filtering |
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| JP2019218968A (en) * | 2018-06-15 | 2019-12-26 | 川崎重工業株式会社 | Control device for magnetic bearing and control method of magnetic bearing |
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