CN116696944A - Unbalanced vibration suppression method and system for magnetic suspension bearing - Google Patents
Unbalanced vibration suppression method and system for magnetic suspension bearing Download PDFInfo
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- 230000003068 static effect Effects 0.000 claims abstract description 7
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- 230000005484 gravity Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses an unbalanced vibration suppression method and system for a magnetic suspension bearing, and belongs to the technical field of active control of magnetic suspension bearings. When in static suspension, self-learning is carried out firstly, X-axis and Y-axis position angle instructions with different frequencies and changed according to sine and cosine rules are injected, and X-axis and Y-axis position responses with corresponding frequencies in a full rotating speed range are obtained, so that transfer functions containing phase angle and amplitude information under different frequency bands are obtained; when the rotor rotates at a high speed, the position responses of the X axis and the Y axis are measured in real time, the running track of the rotor is described in a vector representation mode, and the current rotation angular velocity is calculated in real time; and constructing and injecting feedforward current through the transfer function and the rotation angular velocity calculated in real time, and simultaneously introducing disturbance rejection coefficients to realize unbalanced vibration rejection of different degrees. The method is applicable to the movement of the bearing rotor at high rotation speed, can stably cross critical rotation speed, and can effectively inhibit unbalanced vibration.
Description
Technical Field
The invention belongs to the technical field of active control of magnetic suspension bearings, and particularly relates to an unbalanced vibration suppression method and system for a magnetic suspension bearing.
Background
The active magnetic suspension bearing utilizes electromagnetic force generated by electrifying the winding to suspend the rotor, thereby avoiding mechanical contact of the traditional bearing and being a novel high-performance supporting mode. Because of no mechanical friction, the bearing rotor can work at high rotation speed, has the advantages of long service life, low loss, no need of lubrication, no pollution and the like, and has been widely applied in the fields of energy storage, aerospace and the like.
When the ideal magnetic suspension bearing rotates, the geometric center of the rotor is consistent with the gravity center, the rotor should be stabilized to rotate at one point, however, the machining precision is limited, and the rotor gravity center is deviated from the geometric center due to the problems of inaccurate dynamic balance verification and the like of the rotor, so that unbalanced vibration is caused. If the vibration is not restrained, the system safety is endangered under serious conditions, and huge economic loss is caused.
At present, the method for inhibiting unbalanced vibration of the magnetic suspension rotor is mainly divided into two types, namely a zero displacement control method and a zero current control method. The zero displacement control method is a control strategy that unbalance force is counteracted by adding current which can generate unbalance vibration with the same magnitude and opposite directions into the output current of the controller, so that the displacement of the magnetic bearing rotor is minimized. The zero current control method is a control strategy for realizing minimum electromagnetic force control by eliminating current components which are in the same frequency with the rotating speed of the rotor in the output current of the controller, so that the magnetic bearing rotor rotates around the inertia shaft of the magnetic bearing rotor.
The zero current control strategy usually adopts a specific algorithm to extract the phase of the rotor same-frequency vibration displacement signal and compensates the phase, so that the unbalanced vibration is restrained. Currently, adaptive traps employing a least mean square (Least Mean Square, LMS) algorithm have been widely studied and applied for unbalanced vibration compensation control, but the algorithm is generally applicable to vibration control at constant rotational speeds and is limited to low rotational speed operating conditions. Although the phase-change self-adaptive LMS trap described in China patent CN202110102615.5 can realize the stability of the system in the full rotation speed range, only a specific phase deviation angle is selected in certain rotation speed sections, the inhibition of unbalanced vibration is realized by compensating the phase, and the continuous compensation of the phase is not realized; in addition, the influence of the control amplitude is not considered, the ideal unbalanced vibration suppression effect is difficult to obtain, the design and the realization of the LMS trap and the self-adaptive algorithm thereof are complex, a complex frequency domain calculation process is needed, the reliability of the system is reduced, the actual control is not facilitated, and the actual cost is increased. On the other hand, in the conventional displacement vibration suppression method, it is generally required to acquire rotational speed information, that is, to install a rotational speed sensor. However, for a magnetic suspension bearing system which is not suitable for installing a rotation speed sensor, no reliable scheme for restraining displacement vibration exists at present.
Therefore, a method for suppressing unbalanced vibration of the magnetic bearing rotor, which does not need a speed sensor and has more engineering practical significance, is required to be provided, not only can realize stable operation of the magnetic bearing rotor in a full rotation speed range, but also can give consideration to the simplicity and reliability of a system, and is easy to control.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a magnetic bearing unbalanced vibration control method, which aims to solve the problem of unbalanced vibration of a magnetic bearing rotor in a full rotating speed range, and simultaneously provides a rotating speed measurement method without a sensor, so that the stability control and unbalanced suppression of the magnetic bearing can be realized.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the unbalanced vibration suppression method for magnetic suspension bearing without rotating speed sensor features that the running track of the geometric center of bearing rotor at high speed is represented by vector, which can be identified as X-axis and Y-axis, and the amplitude value represents vibration amplitude. The method comprises the following steps:
(1) Injection angular frequency omega in static suspension 1 Is given by X-axis and Y-axis position angles according to sine and cosine law * (t)、y * (t) outputting the control current of the winding according to the conventional PID control method to obtain the corresponding angular frequency omega 1 Lower X-axis, Y-axis position response X 1 (t)、y 1 (t) thereby obtaining the angular frequency omega 1 Transfer function including phase angle and amplitude information related to transfer function of control system
(2) Omega is made in the whole rotation speed range 1 Starting from a relatively small angular frequency, increasing by a certain integer value Δω, at different rotational speed points ω i According to the step (1), the corresponding frequency response process transfer function is obtainedObtaining a frequency response process transfer function G under the whole rotating speed range by a linear interpolation method x (s)、G y (s)。
(3) When the bearing rotor rotates at a high speed, the position responses X (t) and Y (t) of the X axis and the Y axis measured by the displacement sensor are respectively expressed by a vector method according to the running track, and the current rotation angular velocity omega is calculated in real time through trigonometric function operation. According to the method, the real-time rotating speed of the rotor can be obtained without installing a rotating speed or position sensor on the rotor shaft.
(4) Transfer function G of frequency response process according to current rotation angular velocity omega x (jω)、G y (jω) and displacement sensor position responses x (t), y (t), by introducing a disturbance rejection coefficient α, constructing a feed-forward current i qkx 、i qky The current output of the injection, controller is:wherein->Representing the output current before suppression, < >>Representing the suppressed output current; the introduction of the feed-forward current suppresses harmonics of the control current and reduces the amplitude, thereby achieving suppression of unbalanced vibrations of the bearing rotor. In the technical scheme, the running track of the geometric center of the bearing rotor is expressed by a vector and can be decomposed into an X-axis component and a Y-axis component, the vector amplitude represents the amplitude of unbalanced vibration, the included angle theta between the vector amplitude and the X-axis represents the phase angle of the geometric center of the rotor, and the derivative of the vector amplitude represents the rotation angular velocity omega.
In the technical scheme, the step (1) is carried out according to the following steps: by injection in suspension and rotation frequency omega 1 The same X-axis and Y-axis position angles give a signal X * (t)＝X 0 cosω 1 t、y * (t)＝Y 0 sinω 1 t(X 0 、Y 0 For fixed value), simulate the running track of the bearing rotor under unbalanced force, and measure the X-axis and Y-axis position response X by the displacement sensor 1 (t)、y 1 (t) obtaining the frequency ω by frequency domain calculation 1 The following transfer function values:
in the technical scheme, the step (3) is carried out according to the following steps: the running track of the bearing rotor under unbalanced vibration of the geometric center is approximate to a circle, and the position response can be made to be: x (t) =cos ωt=cos θ, y (t) =sin ωt=sin θ, thenAccording to the law of the same frequency of the vibration frequency and the rotating speed of the bearing rotor, the rotating speed of the bearing rotor can be obtained in real time through the following steps:
where θ (n) is the phase angle at the current sampling time, θ (n-1) is the phase angle at the previous sampling time, and T is the sampling period. The method can obtain the real-time rotating speed of the rotor under the condition of not installing the rotating speed or the position sensor.
In the above technical solution, in step (4)Feedforward current i of (2) qkx 、i qky The construction method comprises the following steps: the frequency response process transfer function G obtained according to the step (2) x (s)、G y (s) and the rotational angular velocity ω obtained in step (3), and constructing the feedforward current i qkx 、i qky The following is shown:
to avoid computation directly in the frequency domain, Δ is taken x ＝180°-∠G x (jω)，Δ y ＝180°-∠G y (j omega) substituting delta x 、Δ y After that, i can be obtained qkx 、i qky Expression in time domain:
wherein P is a proportional control coefficient, x (t) and y (t) are actually measured position responses of the sensor, alpha is a disturbance suppression coefficient, and the general value range is 1-10.
In summary, the invention firstly describes the running track of the geometric center under unbalanced force by a vector circle representation method, and the actual rotating speed of the rotating shaft can be measured in real time according to the response of the displacement sensor; then, during static suspension, a self-learning process is carried out firstly, position angle given signals with different frequencies are injected, and a frequency response process transfer function is obtained according to actual response; then, the feedforward current under the corresponding frequency is constructed according to the measured rotating speed and the process transfer function, and the unbalanced force compensation can be realized after the feedforward current is injected into the controller, so that the unbalanced vibration of the magnetic bearing rotor can be effectively restrained under the full rotating speed.
The invention also provides an unbalanced vibration suppression system of the magnetic suspension bearing, which comprises: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is used for reading executable instructions stored in the computer readable storage medium and executing the unbalanced vibration suppression method of the magnetic suspension bearing.
By the above technical scheme, compared with the prior art, the invention can obtain the following
The beneficial effects are that:
1. according to the control method provided by the invention, a rotating speed measuring sensor is not required to be installed, the actual rotating speed can be obtained by only measuring the position response results of the X axis and the Y axis, expressing the track circle vector, solving the phase and performing differential processing, so that the cost is reduced and the complexity of a control system is reduced.
2. The control method provided by the invention does not depend on design parameters of the magnetic bearing rotor, can construct corresponding feedforward current only through a transfer function of a frequency response process in static suspension, has universality and simple operation, reduces harmonic waves and amplitude of the compensated control current, and is beneficial to improving the stability of a system.
3. According to the control method provided by the invention, the unbalanced vibration suppression in the full rotating speed range can be realized by fitting the frequency response process transfer functions of a plurality of measuring points without depending on the working rotating speed of the magnetic bearing rotor, and the stability and the reliability of the system are improved.
4. The control method provided by the invention can directly construct the time domain expression of the feedforward current through simple phase angle transformation without complex frequency domain calculation process, thereby greatly simplifying the calculation process and being more beneficial to engineering actual control.
Drawings
FIG. 1 is a system flow diagram of a control method of the present invention;
FIG. 2 is a schematic diagram of a magnetic bearing-rotor system control of the present invention;
FIG. 3 is a schematic representation of the geometric center trajectory vector of the magnetic levitation rotor of the present invention;
FIG. 4 is a schematic diagram of a transfer function solution for the frequency response process of the present invention;
FIG. 5 is a schematic diagram of a rotational speed solution of the present invention;
FIG. 6 is a magnetic bearing rotor system in an embodiment;
FIG. 7 is a graph showing the comparison of the calculated rotational speed and the actual rotational speed in the example;
FIG. 8 is a graph showing the comparison of the output currents of the controllers before and after the suppression in the embodiment;
fig. 9 is a graph showing an imbalance vibration suppression effect of a magnetic bearing rotor in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not interfere with each other.
The invention provides an unbalanced vibration suppression method under the condition that a magnetic suspension bearing has no rotating speed sensor, a system flow chart is shown in figure 1, a control schematic diagram is shown in figure 2, a magnetic suspension rotor geometric center running track vector representation schematic diagram is shown in figure 3, the positions of a specified displacement sensor are respectively an X axis and a Y axis, then the position of the rotor geometric center at a certain moment can be represented by a vector, the amplitude of the vector represents the vibration amplitude, the included angle theta between the vector and the X axis is a phase, and the X axis is the phase s And y s As measured by the sensor.
The method comprises the following specific steps:
(1) According to the X axis and Y axis, the injection angular frequency is omega in static suspension 1 Is given by X-axis and Y-axis position angles according to sine and cosine law * (t)＝X 0 cosω 1 t、y * (t)＝Y 0 sinω 1 t(X 0 、Y 0 Constant value), simulate the bearing rotor to be carried under unbalanced forceThe corresponding angular frequency omega is obtained through a displacement sensor 1 Lower X-axis, Y-axis position response X 1 (t)、y 1 (t) thereby obtaining the angular frequency ω by frequency domain calculation 1 Transfer function including phase angle and amplitude information related to transfer function of control systemThe frequency response process transfer function solving principle is shown in fig. 4, and the calculation formula is shown as follows:
(2) Omega is made in the whole rotation speed range 1 Starting from a relatively small angular frequency, increasing by a certain integer value Δω, at different rotational speed points ω i According to the step (1), the corresponding frequency response process transfer function is obtainedObtaining a frequency response process transfer function G under the whole rotating speed range by a linear interpolation method x (s)、G y (s)。
(3) When the bearing rotor rotates at high speed, according to the rotor geometric center running track vector representation method, the position responses of the X axis and the Y axis, which are measured by the displacement sensor, can be made to be X (t) =cos ωt=cos θ, and t (t) =sin ωt=sin θ, respectively, thenThe principle of solving the rotation speed is shown in fig. 5, and according to the law of the vibration frequency and the rotation speed of the bearing rotor, the rotation speed omega of the bearing rotor can be obtained in real time through the following steps:
where θ (n) is the phase angle at the current sampling time, θ (n-1) is the phase angle at the previous sampling time, and T is the sampling period. The method can obtain the real-time rotating speed of the rotor under the condition of not installing the rotating speed or the position sensor.
(4) The frequency response process transfer function G obtained according to the step (2) x (s)、G y (s) and the position responses x (t), y (t) of the displacement sensor, the feedforward current i can be constructed by introducing the disturbance rejection coefficient α qkx 、i qky The current output of the controller is:wherein-> Representing the output current before the addition of the suppression algorithm, +.>Representing the output current after the rejection algorithm is added.
Feed forward current i qkx 、i qky The construction method is as follows: the frequency response process transfer function G obtained according to the step 2 x (s)、G y (s) and the rotational angular velocity ω obtained in step (3), and taking Δ x ＝180°-∠G x (jω)，Δ y ＝180°-∠G y (jω), constructing the feedforward current i qkx 、i qky The following is shown:
to avoid direct in the frequency domainInternal calculation, substituting delta x 、Δ y I can be obtained qkx 、i qky Expression in time domain:
wherein P is a proportional control coefficient, x (t) and y (t) are actually measured position responses of the sensor, alpha is a disturbance suppression coefficient, and the general value range is 1-10.
According to steps (1) to (4), an unbalanced vibration control method is designed for the magnetic bearing rotor system shown in fig. 6, and system parameters are shown in table 1:
TABLE 1
The comparison of the rotational speed calculated by the vector representation method and the actual rotational speed can be obtained by the control method of the invention, as shown in fig. 7, and the theoretical calculation result and the actual value can be seen to be consistent. Fig. 8 is a comparison diagram of the output current of the controller before and after the addition of the unbalanced vibration suppression method, in which the amplitude of the output current is obviously reduced from 6A to 1.5A after the addition of the algorithm, which is beneficial to the stability of the system. Fig. 9 shows the vibration displacement conditions in the Y-axis direction before and after the addition of the unbalanced vibration suppression method, and clearly reflects that the maximum vibration displacement is 12 μm before the addition of the suppression algorithm, and the maximum vibration displacement is 5 μm after the addition of the suppression algorithm, thereby achieving a good unbalanced vibration suppression effect compared with 58.3% reduction.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The unbalanced vibration suppression method of a magnetic suspension bearing, use the vector to represent the running track of the geometric center of the bearing rotor, the identity is X-axis, Y-axis; the method is characterized by comprising the following steps of:
(1) A self-learning process is introduced: injection angular frequency omega in static suspension 1 Is given by X-axis and Y-axis position angles according to sine and cosine law * (t)、y * (t) obtaining the corresponding angular frequency omega 1 Lower X-axis, Y-axis position response X 1 (t)、y 1 (t) thereby obtaining the angular frequency omega 1 Transfer function including phase angle and amplitude information
(2) In the self-learning process, omega is led to be within the whole rotating speed range 1 Starting from a preset value, the value is increased continuously by an integer value delta omega, and at different rotation speed points omega i According to the step (1), the corresponding frequency response process transfer function is obtainedObtaining a frequency response process transfer function G under the whole rotating speed range by a linear interpolation method x (s)、G y (s)；
(3) When the bearing rotor rotates at a high speed, the position responses X (t) and Y (t) of the X axis and the Y axis of the running track of the rotor are measured respectively, and the current rotation angular velocity omega is calculated in real time through trigonometric function operation;
(4) Transfer function G of frequency response process according to current rotation angular velocity omega x (jω)、G y (jω) and position responses x (t), y (t), by introducing a disturbance rejection coefficient α, constructing a feed forward current i qkx 、i qky The introduction of the feedforward current suppresses the amplitude of the control current, thereby realizingThe suppression of unbalanced vibrations of the bearing rotor is now achieved.
2. A method of suppressing unbalance vibration of a magnetic bearing according to claim 1, wherein the running trajectory of the rotor geometric center of the bearing is represented by a vector and is decomposed into X-axis and Y-axis components, the vector amplitude representing the amplitude of the unbalance vibration, the angle θ between the vector amplitude and the X-axis representing the phase angle of the rotor geometric center, and the derivative thereof being the rotational angular velocity ω of the rotor shaft.
3. The method of claim 1, wherein the step (1) is performed as follows: by injecting in a static suspension state at a rotational frequency omega 1 The same X-axis and Y-axis position angles give a signal X * (t)＝X 0 cosω 1 t、y * (t)＝Y 0 sinω 1 t, simulating the running track of the bearing rotor under unbalanced force, and measuring the position response X of the X-axis and Y-axis through a displacement sensor 1 (t)、y 1 (t) obtaining the frequency ω by frequency domain calculation 1 The following transfer function values:
wherein X is 0 、Y 0 Is a fixed value.
4. The method of claim 1, wherein the step (3) is performed as follows: let the position response be: x (t) =cos ωt=cos θ, y (t) =sin ωt=sin θ, thenAccording to the law of the same frequency of the vibration frequency and the rotating speed of the bearing rotor, the rotating speed of the bearing rotor can be obtained in real time through the following steps:
wherein θ (n) is the phase angle of the current sampling time, θ (n-1) is the phase angle of the previous sampling time, and T is the sampling period.
5. The method for suppressing unbalanced vibration of a magnetic bearing according to claim 1, wherein the feedforward current i in step (4) qkx 、i qky The construction method comprises the following steps: the frequency response process transfer function G obtained according to the step (2) x (s)、G y (s) and the rotational angular velocity ω obtained in step (3), and constructing the feedforward current i qkx 、i qky The following is shown:
taking delta x ＝180°-∠G x (jω)，Δ y ＝180°-∠G y (jω) to give i qkx 、i qky Expression in time domain:
wherein P is a proportional control coefficient, and x (t) and y (t) are the actually measured position responses of the sensor.
6. The method of claim 5, wherein the controlling current output is:wherein-> Representing the output current before suppression, < >>Representing the suppressed output current.
7. An unbalanced vibration suppression system for a magnetic bearing, comprising: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer-readable storage medium and execute the unbalanced vibration suppression method of the magnetic bearing according to any one of claims 1 to 6.
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| CN202310516802.7A CN116696944A (en) | 2023-05-09 | 2023-05-09 | Unbalanced vibration suppression method and system for magnetic suspension bearing |
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| CN202310516802.7A CN116696944A (en) | 2023-05-09 | 2023-05-09 | Unbalanced vibration suppression method and system for magnetic suspension bearing |
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| CN116696944A true CN116696944A (en) | 2023-09-05 |
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| CN202310516802.7A Pending CN116696944A (en) | 2023-05-09 | 2023-05-09 | Unbalanced vibration suppression method and system for magnetic suspension bearing |
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