WO2022041298A1

WO2022041298A1 - Magnetic suspension rotor system, and extremely-small vibration control method and control apparatus therefor

Info

Publication number: WO2022041298A1
Application number: PCT/CN2020/112984
Authority: WO
Inventors: 刘刚; 柳逸凡; 郑世强; 周金祥; 董宝田
Original assignee: 北京航空航天大学宁波创新研究院; 北京航空航天大学
Priority date: 2020-08-24
Filing date: 2020-09-02
Publication date: 2022-03-03
Also published as: CN112152515B; CN112152515A

Abstract

The present disclosure relates to a magnetic suspension rotor system, and an extremely-small vibration control method and a control apparatus therefor. The control method comprises: acquiring a rotor dynamics model at the position of the center of mass, and performing derivation on the basis of the rotor dynamics model so as to obtain an unbalanced vibration model at the position of a magnetic bearing; thereafter, in combination with a displacement measurement signal, which is obtained on the basis of position information of a rotor, at the position of the magnetic bearing, establishing a system model; introducing the system model into a disturbance separation extended state observer on the basis of an active disturbance rejection control principle; synchronously and accurately estimating the displacement, the amount of unbalance and the other disturbance parameters of each channel of a system; and on this basis, establishing an active disturbance rejection controller, such that the rotor can rotate around the inertial axis, thereby realizing extremely-small vibration control of the system.

Description

Magnetic levitation rotor system and its extremely micro vibration control method and control device

This disclosure claims the priority of the Chinese patent application filed with the China Patent Office on August 25, 2020, the application number is 202010854618.X, and the invention title is "Magnetic suspension rotor system and its extremely micro vibration control method and control device", all of which are The contents are incorporated by reference in this disclosure.

technical field

The present disclosure relates to the technical field of motion control, and in particular, to a magnetic suspension rotor system, a method and a control device for extremely micro vibration control thereof.

Background technique

Magnetic levitation technology has the advantages of high speed, no friction, no lubrication, and long service life due to the non-contact support method, and has broad application prospects in rotating machinery (such as magnetic levitation molecular pumps). In pursuit of high precision, high energy density, and operation in ultra-quiet environments, vibration suppression has become an important factor in ensuring device performance.

Among them, the most important vibration source is the unbalanced vibration force of the same frequency proportional to the square of the rotational speed, which is caused by the deviation of the inertia axis and the geometric axis caused by the uneven distribution of the rotor mass. Even a small amount of eccentricity will cause continuous strong vibration at high speed, generate noise pollution, seriously threaten the stability of the system, accelerate mechanical fatigue failure, and even affect the normal operation of other external equipment. For magnetic bearing systems, the coil current also has an unbalanced current response, reducing the energy efficiency of the system. The related unbalanced vibration suppression method uses the same-frequency trap to suppress the same-frequency quantity in the current, and extracts the same-frequency quantity in the displacement signal, and implements feedforward based on the bearing force model. However, this method has poor system stability.

SUMMARY OF THE INVENTION

(1) Technical problems to be solved

The technical problem to be solved by the present disclosure is to solve the problem of poor system stability caused by the existing unbalanced vibration suppression methods.

(2) Technical solutions

In order to solve the above technical problems, the embodiments of the present disclosure provide a magnetic suspension rotor system, a method and a control device for extremely micro vibration control, so as to overcome the deficiencies of open-loop feedforward compensation using magnetic bearing stiffness in related methods. Specifically, by observing the unbalance and other disturbances at the center of mass, an active disturbance rejection controller is established, which can compensate for other disturbances and at the same time realize micro-vibration control that is not affected by the change of bearing stiffness in actual operation.

In a first aspect, an embodiment of the present disclosure provides a method for controlling extremely micro vibration of a magnetic suspension rotor system, including:

Obtain the rotordynamic model at the centroid position;

obtaining an unbalanced vibration model at the location of the magnetic bearing based on the rotor dynamics model;

Obtain the position information of the rotor in real time and convert it into a displacement measurement signal at the position of the magnetic bearing;

establishing a system model based on the unbalanced vibration model and the displacement measurement signal;

Based on the system model, a disturbance-separated extended state observer assisted by the system model information is established;

Based on the disturbance separation expansion state observer, obtain the displacement, unbalance amount and other disturbance parameters of each channel;

Based on the displacement, the unbalance, and the other disturbance parameters, an active disturbance rejection controller is established.

In one embodiment, the control method may further include:

Obtain the transfer function of the power amplifier in the system;

Based on the transfer function, obtain the magnetic bearing coil current represented by the control quantity of each channel;

The system model is processed based on the magnetic bearing coil current to obtain a system model including a power amplifier link.

In one embodiment, based on the system model, establishing a system model information-assisted disturbance separation extended state observer includes:

Based on the system model, obtain the relationship between the unbalanced vibration quantities of each channel;

Build four perturbation-separated state observers in parallel with coupled terms.

In a second aspect, an embodiment of the present disclosure further provides a device for controlling extremely micro vibration of a magnetic suspension rotor system, including:

The rotor dynamics model acquisition module is used to obtain the rotor dynamics model at the position of the center of mass;

an unbalanced vibration model obtaining module, used for obtaining the unbalanced vibration model at the position of the magnetic bearing based on the rotor dynamics model;

The displacement measurement signal conversion module is used to convert the position information of the rotor obtained in real time into the displacement measurement signal at the position of the magnetic bearing;

a system model establishment module for establishing a system model based on the unbalanced vibration model and the displacement measurement signal;

The perturbation separation extended state observer building module is used to establish the perturbation separation extended state observer assisted by the system model information based on the system model;

a parameter acquisition module, used for separating the expanded state observer based on the disturbance, and obtaining the displacement, unbalance and other disturbance parameters of each channel;

An active disturbance rejection controller establishment module is configured to establish an active disturbance rejection controller based on the displacement, the unbalance amount and the other disturbance parameters.

In one embodiment, the control device may further include a power amplifier modeling module;

The power amplifier modeling module is used to obtain the transfer function of the power amplifier in the system, obtain the magnetic bearing coil current represented by the control quantity of each channel based on the transfer function, and model the system based on the magnetic bearing coil current. After processing, a system model including the power amplifier link is obtained.

In one embodiment, the power amplifier modeling module includes:

The transfer function acquisition sub-module is used to acquire the transfer function of the power amplifier in the system;

a magnetic bearing coil current acquisition sub-module for acquiring the magnetic bearing coil current represented by the control quantity of each channel based on the transfer function;

The system model optimization sub-module is used for processing the system model based on the magnetic bearing coil current to obtain a system model including a power amplifier link.

In a third aspect, an embodiment of the present disclosure further provides a magnetic suspension rotor system, including any of the control devices provided in the second aspect of the present disclosure.

In a fourth aspect, an embodiment of the present disclosure further provides a computer storage medium, wherein the computer storage medium can store a program, and when the program is executed, the first aspect of the present disclosure provides a method for controlling extremely micro vibration of a magnetic levitation rotor system. some or all of the steps in each implementation.

In a fifth aspect, an embodiment of the present disclosure further provides a device for controlling extremely micro vibration of a magnetic suspension rotor system, characterized in that it includes:

processor;

memory for storing processor-executable instructions or programs;

wherein the processor is configured to:

By invoking the instructions or programs stored in the memory, the first aspect of the present disclosure provides some or all of the steps in each implementation manner of the method for controlling the micro-vibration of a magnetic suspension rotor system.

(3) Beneficial effects

Compared with the prior art, the above-mentioned technical solutions provided by the embodiments of the present disclosure have the following advantages: the control method provided by the embodiments of the present disclosure can be used for extremely micro-vibration stabilization control of a magnetic suspension rotor system, and the position of the magnetic bearing can be obtained through system modeling At the same time, by establishing a disturbance separation expansion state observer, estimating the unbalance and other disturbances of the system at the same time, realizing the synchronous suppression of unbalance vibration and other collective disturbances; And, using the observations output from the disturbance separation expansion observer, an active disturbance rejection controller is established to improve the robustness and stability of the rotor system. Specifically, the control method includes: acquiring a rotor dynamics model at the position of the center of mass, and deriving an unbalanced vibration model at the position of the magnetic bearing based on the rotor dynamics model; The displacement measurement signal at the position is used to establish a system model; based on the principle of active disturbance rejection control, the system model is introduced into the disturbance separation expansion state observer to accurately estimate the displacement, unbalance and other disturbance parameters of each channel of the system. The active disturbance rejection controller can make the rotor rotate around the inertia axis to realize the extremely micro vibration control of the system; it has the advantages of high control precision, strong anti-disturbance ability and closed-loop vibration suppression, which is conducive to the realization of magnetic levitation in the processing and manufacturing of precision instruments and equipment. High-performance operation of molecular pump, and stable control of magnetic levitation control torque gyroscope in spacecraft attitude control.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the accompanying drawings that are required to be used in the description of the embodiments or the prior art will be briefly introduced below. In other words, on the premise of no creative labor, other drawings can also be obtained from these drawings.

FIG. 1 is a schematic flowchart of a method for controlling extremely micro-vibration of a magnetic levitation rotor system according to an embodiment of the disclosure;

FIG. 2 is a schematic flowchart of a method for controlling extremely micro-vibration of a magnetic levitation rotor system according to another embodiment of the disclosure;

3 is a schematic block diagram of a method for controlling extremely micro vibration of a magnetic suspension rotor system according to an embodiment of the present disclosure;

4 is a basic structural diagram of a channel disturbance separation state observer in an embodiment of the present disclosure;

FIG. 5 is a structural block diagram of a channel ADRC controller in an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a micro-vibration control device for a magnetic suspension rotor system according to an embodiment of the disclosure;

FIG. 7 is a schematic structural diagram of a micro-vibration control device for a magnetic levitation rotor system according to another embodiment of the disclosure.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than All examples. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

The realization principle of the technical solutions of the embodiments of the present disclosure is: the deviation of the inertial axis and the geometric axis of the rotor caused by the uneven mass distribution, the unbalanced vibration force and moment at the same frequency proportional to the square of the rotational speed generated during high-speed rotation, through the The current response of the magnetic bearing is transmitted to the system chassis, causing an overall unbalanced vibration. The specific expression form of the unbalance quantity at the center of mass is the sine and cosine function of the same frequency as the rotational speed, unknown amplitude and phase. In the embodiment of the present disclosure, the unbalanced quantity model is combined with the rotor dynamics model at the position of the center of mass, and the unbalanced vibration model at the position of the magnetic bearing can be derived through coordinate transformation; the displacement sensor can be used to obtain the rotor position information of the sensor plane in real time. , convert it into the displacement measurement signal of the magnetic bearing position through coordinate transformation; build a system model based on the unbalanced vibration model and the displacement measurement signal; establish a disturbance separation expansion state observer assisted by the system model information (namely, the model-assisted expansion state observer). ), which can achieve synchronous and accurate estimation of the displacement, unbalance and other disturbance parameters of each channel of the system, and use the estimator of the above observer to establish an active disturbance rejection controller, while suppressing other disturbances except unbalanced vibration, The rotor is rotated around the inertial axis to realize the micro-vibration control of the system, and the control stability is good. The method and device for controlling extremely micro vibration of a magnetic suspension rotor system provided by the embodiments of the present disclosure will be exemplarily described below with reference to FIGS. 1 to 7 .

Exemplarily, FIG. 1 is a schematic flowchart of a method for controlling extremely micro vibration of a magnetic suspension rotor system according to an embodiment of the present disclosure. 1, the control method may include:

S110. Acquire a rotor dynamics model at the position of the center of mass.

Exemplarily, this step may include obtaining a rotor dynamics model according to Newton's law and Euler's law, and this step prepares for obtaining an unbalanced vibration model in S120.

S120, obtaining an unbalanced vibration model at the position of the magnetic bearing based on the rotor dynamics model.

Exemplarily, there is an offset between the position of the center of mass of the rotor and the position of the geometric center of the rotor, which can be called an unbalance. After local linearization, the magnetic bearing force can be obtained. Based on the magnetic bearing force and the rotor dynamics model, after transformation, the unbalanced vibration model at the magnetic bearing position can be obtained. This step prepares for the establishment of the system model in S140.

S130. Acquire the position information of the rotor in real time, and convert it into a displacement measurement signal at the position of the magnetic bearing.

Exemplarily, a displacement sensor can be used to acquire the position information of the rotor in real time, and after mathematical conversion, a displacement measurement signal at the position of the magnetic bearing can be obtained. This step prepares for the establishment of the system model in S140.

S140, establishing a system model based on the unbalanced vibration model and the displacement measurement signal.

Exemplarily, based on the unbalanced vibration model at the magnetic bearing position obtained in S120 and the displacement measurement signal at the magnetic bearing position obtained in S130, a system model is established, that is, a rotor system model is established.

S150 , based on the system model, establish a disturbance separation expansion state observer assisted by the system model information.

In this step, an observer is established. The observer expands two states based on the system model, and can observe the unbalance and external disturbance respectively, and can compensate in the active disturbance rejection controller established in the following S170. High-precision disturbance suppression, so as to realize the control of micro vibration.

S160, based on the disturbance separation expansion state observer, obtain the displacement, unbalance amount and other disturbance parameters of each channel.

In this step, the displacement, unbalance and other disturbance parameters of each channel can be obtained based on the observer established in S150, so as to prepare for establishing the ADRC in S170.

S170 , establish an active disturbance rejection controller based on displacement, unbalance and other disturbance parameters.

In this step, based on the displacement, unbalance amount and other disturbance parameters obtained in S160, an active disturbance rejection controller corresponding to the rotor system can be established, and the active disturbance rejection controller can be consistent with other disturbances except unbalanced vibration while , the rotor can be rotated around the inertial axis, and the micro-vibration control of the rotor system can be realized.

In the control method provided by the embodiment of the present disclosure, the unbalanced vibration model at the position of the magnetic bearing can be derived according to the rotor dynamics model at the position of the center of mass; the position information of the rotor can be obtained in real time by using a displacement sensor, and converted into the position of the bearing through coordinate transformation. Displacement measurement signal; after that, a system model is established based on the above-mentioned unbalanced vibration model and displacement measurement signal, and a disturbance separation state observer assisted by the system model information is established to accurately estimate the displacement, unbalance and other disturbances of each channel of the rotor system synchronously , and use the estimated quantity obtained by the above observer to establish an ADRC, so that the rotor can be rotated around the inertial axis while suppressing other disturbances except unbalanced vibration, so as to realize the micro-vibration control of the system. That is, the control method overcomes the influence of the bearing stiffness change on the vibration suppression effect, and observes and suppresses other aggregate disturbances, thereby realizing extremely micro vibration control.

In this control method, the observer is a disturbance-separated extended state observer. This form of observer is based on the basic form of the traditional extended state observer without model information, by introducing information related to the system model, and classifying the disturbance into a model that can be constructed. Modular disturbance and non-modelable disturbance; the aggregate disturbance in the basic form is divided into two state quantities in parallel, and then the disturbance information is estimated synchronously, which can realize the simultaneous observation of the unbalance quantity and other disturbance parameters in the above rotor system.

Meanwhile, in the control method, the controller is an active disturbance rejection controller, which establishes a new control target by adding the unbalance amount estimated by the above observation and the basic target value. The tracking differentiator can be selected to obtain the tracking signal and differential signal of the target, as shown in Figure 3. Then combined with other observed disturbances, the ADRR control rate is established to ensure that the system eliminates the observable disturbances and improves the robustness and stability of the control system.

On the basis of the control method shown in FIG. 1 , the system model can also be optimized to improve the control accuracy. In one embodiment, FIG. 2 is a schematic flowchart of a method for controlling extremely micro vibration of a magnetic levitation rotor system according to another embodiment of the present disclosure. Referring to FIG. 2, on the basis of FIG. 1, the control method may include:

S210. Obtain the rotor dynamics model at the position of the center of mass.

S220. Obtain an unbalanced vibration model at the position of the magnetic bearing based on the rotor dynamics model.

S230. Acquire the position information of the rotor in real time, and convert it into a displacement measurement signal at the position of the magnetic bearing.

S240 , establishing a system model based on the unbalanced vibration model and the displacement measurement signal.

S250 , based on the system model, establish a disturbance separation expansion state observer assisted by the system model information.

S260, based on the disturbance separation expansion state observer, obtain the displacement, unbalance amount and other disturbance parameters of each channel.

S270, establish an active disturbance rejection controller based on displacement, unbalance and other disturbance parameters.

Each of the above steps can be understood with reference to the explanation of the corresponding steps in FIG. 1 , and will not be repeated here. The points of difference between FIG. 2 and FIG. 1 include: before S250, it may further include:

S242. Obtain the transfer function of the power amplifier in the system.

Among them, the power amplifier is an important component to ensure the driving capability of the digital control system. In this embodiment, the power amplifier is integrated into the system modeling and the establishment of the control system, which is beneficial to further improve the control accuracy of the system model and the control system.

Exemplarily, the transfer function obtained in this step is used to prepare the magnetic bearing coil current converted in S244.

S244. Based on the transfer function, obtain the magnetic bearing coil current represented by the control quantity of each channel.

Exemplarily, in this step, the magnetic bearing coil current can be obtained based on the transfer function of the power amplifier obtained in S242, which can be represented by the control quantity of each channel.

S246, process the system model based on the magnetic bearing coil current to obtain a system model including a power amplifier link.

Exemplarily, in this step, the system model established in S240 can be processed based on the magnetic bearing current obtained in S244 to obtain a system model including the power amplifier link, and the system model is more accurate, thereby helping to improve the control accuracy of the control method. sex.

In one embodiment, with continued reference to FIG. 2 , S250 may include:

S251. Based on the system model, obtain the relationship between the unbalanced vibration quantities of each channel.

S252. Establish four disturbance separation state observers that are connected in parallel and have coupling terms.

Exemplarily, in S250, on the basis of the universal extended state observer, corresponding to four control channels, four parallel disturbance separation state observers with coupling terms are established to synchronously and accurately estimate the displacement and unbalance of each channel of the system. and other disturbance parameters.

The foregoing method will be exemplarily described below with reference to FIGS. 3-5 .

Exemplarily, FIG. 3 is a schematic block diagram of a method for controlling extremely micro-vibration of a magnetic suspension rotor system provided by an embodiment of the present disclosure, FIG. 4 is a basic structural diagram of an ax channel disturbance separation state observer in an embodiment of the present disclosure, and FIG. 5 is the present disclosure The structural block diagram of the ax channel ADRC controller in the embodiment. 3 , 4 and 5 , the control method provided by the embodiment of the present disclosure may include: 1) A rotor dynamics model can be obtained according to Newton’s law and Euler’s law:

In the formula, m is the rotor mass, J _z is the rotor pole moment of inertia, J _x , J _y are the equatorial moment of inertia in the x and y directions of the rotor, respectively, l _am , l _bm are the center of the magnetic bearing at the A and B ends to the center of mass of the rotor distance; x _I (α _I ), y _I (β _I ) are the translational (rotational) displacements of the rotor center of mass in the x and y directions in the geometric coordinate system, respectively; f _ax , f _bx , f _ay , and f _by are Corresponding to the electromagnetic force generated by the radial magnetic bearing in four directions; Ω is the rotational angular velocity of the rotor.

In order to express clearly, it is described in vector form, (x, y, α, β) ^T represents the position relative to the center O of the geometric coordinate system, then q _I = (x _I , y _I , α _I , β _I ) ^T is the rotor center of mass Position, q _G = (x _G , y _G , α _G , β _G ) ^T is the rotor geometric center position, the unbalance amount in the generalized coordinate system can be defined as:

In the formula, ε(θ) and σ(φ) are the amplitudes (initial phases) of the rotor unbalance at the center of mass plane, respectively. x=(x _ax , x _bx , x _ay , x _by ) ^T is the displacement of the rotor at the position of the radial magnetic bearing at the A and B ends, (f _ax , f _bx , f _ay , f _by ) ^T represents A, B The electromagnetic force generated by the radial magnetic bearing at the end, (i _ax , i _bx , i _ay , i _by ) ^T is the winding current of the corresponding electromagnet, k _ax , k _bx are the displacement stiffness of the corresponding magnetic bearing, k _ai , k _bi is the current stiffness of the magnetic bearing. After a small range of local linearization, the magnetic bearing force can be approximately expressed as:

Substituting equations (2) and (3) into equation (1), the unbalanced vibration model at the position of the magnetic bearing can be obtained:

In the actual system, the rotor geometric center position cannot be directly measured. The sensor plane rotor position information s=(s _ax ,s _bx ,s _ay ,s _by ) ^T obtained by the displacement sensor is converted through coordinate transformation. The specific relationship is as follows :

However, the position of the displacement sensor and the magnetic bearing do not coincide, resulting in a certain deviation Δ between the actual measured s and the rotor displacement x of the magnetic bearing position, that is,

Among them, in the magnetic bearing system, the displacement signal is measured by the displacement sensor, and the displacement at the position of the magnetic bearing can be obtained only by coordinate transformation, which can also be understood as the displacement at the plane of the magnetic bearing. Deviations caused by misalignment of sensor and magnetic bearing positions are compensated for by the observer established below. Bringing Equation (5) into Equation (4) and simplifying it based on the idea of perturbation separation, the system model is obtained:

where:

It can be seen from equation (8) that _Δx includes the coupling term between each channel, the gyroscopic effect coupling term, and the measurement error caused by the misalignment of the sensor and the magnetic bearing.

2) The power amplifier is an important component to ensure the driving ability of the digital control system, and it is also a link that must be considered in the system modeling and control system establishment. The magnetic bearing rotor system usually adopts a switching power amplifier, and its transfer function can be expressed as:

In the formula, k _w is the gain of the power amplifier, and w _w is the bandwidth of the power amplifier. Then the magnetic bearing coil current can be expressed by each channel control quantity u=(u _ax , u _bx , u _ay , u _by ) ^T as:

In the formula, k _w1 and w _w1 are the gain and bandwidth of the magnetic bearing power amplifier at the A-side, and k _w2 and w _w2 are the gain and bandwidth of the B-side magnetic bearing power amplifier. For an asymmetric rotor, the stiffness of the magnetic bearings at both ends may be different, but the power amplifier bandwidth can be adjusted through the current feedback link, so it is approximately considered that the power amplifier bandwidth of each channel is the same. Taking equation (10) into equation (6) and simplifying it, the system model including the power amplifier link can be obtained:

where:

In the derivation of the above formula, the model is simplified according to the parameter relationship of the actual system. In order to meet the high speed requirements of the magnetic suspension rotor system, the slender shaft rotor with the following moment of inertia ratio is generally selected.

And limited by the volume of the system, the distances _las and _lbs from the rotor center of mass to the radial sensors at both ends are much smaller than unity. Therefore, formula (12) is a simplified result after ignoring the corresponding items, and its feasibility is verified by simulation.

3) Establish a disturbance-separated state observer based on model information assistance. The idea of active disturbance rejection control is to regard the parts of the system dynamics that are different from the standard model as disturbances, observe the total disturbances through the expansion state and eliminate them in the control signal. Unbalanced vibration is a perturbation that can be accurately modeled, and according to equation (12), the unbalanced vibration of each channel has the following relationship:

Therefore, on the basis of the universal extended state observer, corresponding to the four control channels, four disturbance-separated state observers with coupling terms in parallel are established to accurately estimate the displacement, unbalance and other disturbances of each channel of the system synchronously. The input of the observer is the digital quantity (x ₁ , x ₂ , x ₃ , x ₄ ) ^T obtained by AD sampling the displacement sensor signal and the control quantity (u _ax , u _bx , u _ay , u _by ) ^T of each channel. As shown in formula (15).

In the formula, (z ₁ , z ₆ , z ₁₁ , z ₁₆ ) ^T is the rotor displacement signal (s _ax , s _bx , s _ay , s _by ) ^T measured by the sensor, the estimated value of the digital signal after AD sampling ; (z ₂ , z ₇ , z ₁₂ , z ₁₇ ) ^T is the estimator corresponding to the first-order differential of the four-channel digital displacement signal; (z ₃ , z ₈ , z ₁₃ , z ₁₈ ) ^T is the corresponding four-channel digital displacement signal Estimator of second-order differential; (z ₄ , z ₉ , z ₁₄ , z ₁₉ ) ^T is the unbalance vibration estimator corresponding to four channels; (z ₅ , z ₁₀ , z ₁₅ , z ₂₀ ) ^T is corresponding to four channels In addition to the unbalanced disturbance, the estimator of the sum of other external and internal disturbances; the selection of coefficients β ₁ , β ₂ , β ₃ , β ₄ can refer to the traditional linear expansion state observer tuning method; parameters b _a0 , b _b0 and the system model The input is related to the sensor gain. Figure 4 shows the basic structure diagram of the observer corresponding to the ax channel, in which the parameters are shown in formula (16).

The observers of each other channel have the same form, and the parameters corresponding to the other channels can be determined according to equation (15).

4) The ADRC can be further established by using the estimator of the observer. It can be known from the above modeling process that if the rotor is controlled to rotate around the inertial axis, the four-channel control target (I _ax , I _bx , I _ay , I _by ) ^T can be shown in formula (17).

In formula (17), (O _ax , O _bx , O _ay , O _by ) ^T is the control target when the rotor is controlled to rotate around the geometric axis. On the premise of ensuring the control performance, the third-order differential term can be abandoned, and the controller structure can be simplified appropriately. Figure 5 shows the controller block diagram for a single channel, the other channels have the same structure. The control law is expressed by equation (18).

In (18), the differential term of the control target can be obtained by a linear tracking differentiator. Fig. 5 is the structural block diagram of the ax channel ADRC, other channel controllers have the same form, and the parameters corresponding to other channels can be determined according to formula (18). Under this control law, not only the rotor can be rotated around the inertial axis, but also other disturbances other than unbalanced vibration can be suppressed, so that the micro-vibration control of the system can be realized.

Embodiments of the present disclosure also provide a device for controlling extremely micro vibration of a magnetic suspension rotor system. The control device can be used to execute any of the above-mentioned control methods. Therefore, the control device also has the beneficial effects of any of the above-mentioned control methods. I won't go into details.

Exemplarily, FIG. 6 is a schematic structural diagram of a device for controlling extremely micro vibration of a magnetic suspension rotor system according to an embodiment of the present disclosure. 6 , the control device includes: a rotor dynamics model obtaining module 610 for obtaining a rotor dynamics model at the position of the center of mass; an unbalanced vibration model obtaining module 620 for obtaining a rotor dynamics model at the position of the magnetic bearing based on the rotor dynamics model The unbalanced vibration model; the displacement measurement signal conversion module 630 is used to convert the position information of the rotor obtained in real time into the displacement measurement signal at the position of the magnetic bearing; the system model establishment module 640 is used for the unbalanced vibration model and displacement measurement based on signal to establish a system model; a disturbance separation extended state observer establishment module 650 is used to establish a disturbance separation extended state observer assisted by the system model information based on the system model; a parameter acquisition module 660 is used to separate the extended state observer based on the disturbance, Acquire the displacement, unbalance and other disturbance parameters of each channel; the ADRC establishment module 670 is used to establish the ADRC based on the displacement, the unbalance and other disturbance parameters.

In the control device provided by the embodiment of the present disclosure, the rotor dynamics model obtaining module 610 and the unbalanced vibration model obtaining module 620 can obtain the rotor dynamics model at the position of the center of mass, and derive the unbalanced vibration model at the position of the magnetic bearing; displacement The measurement signal conversion module 630 can use the displacement sensor to obtain the rotor position information in real time, and convert it into the displacement measurement signal at the bearing position through coordinate transformation; The disturbance rejection controller establishment module 670 can establish a system model based on the above-mentioned unbalanced vibration model and displacement measurement signal, and establish a disturbance separation state observer assisted by the system model information to accurately estimate the displacement of each channel of the rotor system, the unbalance amount and other Disturbance, and use the estimator obtained by the above observer to establish an ADRC. In this way, the rotor can be rotated around the inertial axis while suppressing other disturbances other than the unbalanced vibration, so as to realize the micro-vibration control of the system. That is, the control method overcomes the influence of the bearing stiffness change on the vibration suppression effect, and observes and suppresses other aggregate disturbances, thereby realizing extremely micro vibration control. In the control device, the established observer is a disturbance separation extended state observer. The observer is based on the basic form of the traditional model-free extended state observer, by introducing the relevant information of the system model, and classifying the disturbance as a buildable state observer. Modular disturbance and non-modelable disturbance; the aggregate disturbance in the basic form is divided into two state quantities in parallel, and then the disturbance information is estimated synchronously, which can realize the simultaneous observation of the unbalance quantity and other disturbance parameters in the above rotor system. At the same time, in the control device, the established controller is an active disturbance rejection controller, which establishes a new control target by adding the unbalance amount estimated by the above observation and the basic target value. The tracking differentiator can be selected to obtain the tracking signal and differential signal of the target, as shown in Figure 3. Then combined with other observed disturbances, the ADRR control rate is established to ensure that the system eliminates the observable disturbances and improves the robustness and stability of the control system.

In one embodiment, FIG. 7 is a schematic structural diagram of a micro-vibration control device for a magnetic suspension rotor system according to another embodiment of the present disclosure. On the basis of FIG. 6 , referring to FIG. 7 , the control device may further include a power amplifier modeling module 680 ; the power amplifier modeling module 680 is used to obtain the transfer function of the power amplifier in the system. The magnetic bearing coil current represented by the quantity and the system model based on the magnetic bearing coil current are processed to obtain the system model including the power amplifier. In one embodiment, the power amplifier modeling module 680 includes: a transfer function acquisition sub-module 681 for acquiring the transfer function of the power amplifier in the system; and a magnetic bearing coil current acquisition sub-module 682 for acquiring, based on the transfer function, the The magnetic bearing coil current represented by each channel control quantity; the system model optimization sub-module 683 is used to process the system model based on the magnetic bearing coil current to obtain a system model including the power amplifier link.

In this way, by optimizing the system model, it is beneficial to make the system model closer to the actual structure of the system, thereby helping to improve the control accuracy of the control device for micro-vibration.

On the basis of the above-mentioned embodiments, the embodiments of the present disclosure further provide a magnetic levitation rotor system, including any of the above-mentioned control devices. Therefore, the magnetic suspension rotor system also has the beneficial effects of the above-mentioned control device and control method. Similarities can be understood with reference to the above explanation of the control method and control device, and will not be repeated here.

Embodiments of the present disclosure also provide a computer storage medium, where a program can be stored in the computer storage medium, and when the program is executed, various implementations of the method for controlling the micro-vibration of a magnetic levitation rotor system provided by the embodiments shown in FIG. 1 to FIG. 2 can be implemented. some or all of the steps in .

Embodiments of the present disclosure also provide a device for controlling extremely micro vibration of a magnetic levitation rotor system, the device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to: store by invoking the memory to execute some or all of the steps in each implementation manner of the method for controlling the micro-vibration of the magnetic suspension rotor system provided by the embodiment shown in FIG. 1 to FIG. 2 .

It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element. The above descriptions are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Industrial Applicability

The present disclosure provides a method for controlling the extremely micro vibration of a magnetic suspension rotor system, so that in terms of the stable control of the extremely micro vibration of the magnetic suspension rotor system, an accurate model of the rotor unbalance amount at the position of the magnetic bearing can be obtained through system modeling, and an accurate model of the unbalance amount can be realized. Suppression; at the same time, by establishing a disturbance-separating extended state observer, simultaneously estimating the unbalanced amount and other disturbances of the system to achieve synchronous suppression of unbalanced vibration and other ensemble disturbances; The anti-disturbance controller improves the robustness and stability of the rotor system and has strong industrial practicability.

Claims

A method for controlling extremely micro vibration of a magnetic suspension rotor system, comprising:

Obtain the rotordynamic model at the centroid position;

obtaining an unbalanced vibration model at the location of the magnetic bearing based on the rotor dynamics model;

Obtain the position information of the rotor in real time and convert it into a displacement measurement signal at the position of the magnetic bearing;

establishing a system model based on the unbalanced vibration model and the displacement measurement signal;

Based on the system model, a disturbance-separated extended state observer assisted by the system model information is established;

Based on the disturbance separation expansion state observer, obtain the displacement, unbalance amount and other disturbance parameters of each channel;

Based on the displacement, the unbalance, and the other disturbance parameters, an active disturbance rejection controller is established.
The control method according to claim 1, further comprising:

Obtain the transfer function of the power amplifier in the system;

Based on the transfer function, obtain the magnetic bearing coil current represented by the control quantity of each channel;

The system model is processed based on the magnetic bearing coil current to obtain a system model including a power amplifier link.
The control method according to claim 1, wherein, based on the system model, establishing a system model information-assisted disturbance separation expansion state observer, comprising:

Based on the system model, obtain the relationship between the unbalanced vibration quantities of each channel;

Build four perturbation-separated state observers in parallel with coupled terms.
A micro-vibration control device for a magnetic suspension rotor system, comprising:

The rotor dynamics model acquisition module is used to obtain the rotor dynamics model at the position of the center of mass;

an unbalanced vibration model obtaining module, used for obtaining the unbalanced vibration model at the position of the magnetic bearing based on the rotor dynamics model;

The displacement measurement signal conversion module is used to convert the position information of the rotor obtained in real time into the displacement measurement signal at the position of the magnetic bearing;

a system model establishment module for establishing a system model based on the unbalanced vibration model and the displacement measurement signal;

The perturbation separation extended state observer building module is used to establish the perturbation separation extended state observer assisted by the system model information based on the system model;

a parameter acquisition module, used for separating the expanded state observer based on the disturbance, and obtaining the displacement, unbalance and other disturbance parameters of each channel;

An active disturbance rejection controller establishment module is configured to establish an active disturbance rejection controller based on the displacement, the unbalance amount and the other disturbance parameters.
The control device according to claim 4, further comprising a power amplifier modeling module;

The power amplifier modeling module is used to obtain the transfer function of the power amplifier in the system, to obtain the magnetic bearing coil current represented by the control quantity of each channel based on the transfer function, and to model the system based on the magnetic bearing coil current. After processing, a system model including the power amplifier link is obtained.
The control device according to claim 4, wherein the power amplifier modeling module comprises:

The transfer function acquisition sub-module is used to acquire the transfer function of the power amplifier in the system;

a magnetic bearing coil current acquisition sub-module for acquiring the magnetic bearing coil current represented by the control quantity of each channel based on the transfer function;

The system model optimization sub-module is used for processing the system model based on the magnetic bearing coil current to obtain a system model including a power amplifier link.
A magnetic suspension rotor system, comprising the control device of any one of claims 4-6.