CN109725533A - Self-adaptive iterative compensation control method and system - Google Patents
Self-adaptive iterative compensation control method and system Download PDFInfo
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Abstract
The invention discloses a self-adaptive iterative compensation control method, which comprises the steps of equating same-frequency disturbance power generated by a rotor system into disturbance current, extracting the error amount of rotor displacement, and compensating disturbance at the output end of a controller for controlling system output through iterative learning of an iterative search disturbance compensator; and meanwhile, the stability of the system is ensured by utilizing the parallel operation of the adaptive iterative learning controller and the compensator. The invention has the beneficial effects that: firstly, the size of disturbance control current required to be compensated is rapidly and accurately calculated through tracking errors, and the stability of a system is ensured; the second is that the compensator and the controller run in parallel, when the compensator needs to compensate and exceed the capacity, the controller can compensate the output of the compensator, and the compensator has certain fault-tolerant capability.
Description
Technical field
Magnetic bearing system active control technology of the present invention field more particularly to a kind of flywheel energy storage with magnetic bearing from
Adapt to iterative compensation control method and system.
Background technique
Energy accumulation device for fly wheel is as a kind of novel energy storage device in recent years, since it is with energy conservation and environmental protection, service life
The advantages that long, easy to maintain, energy efficiency is high, has good Research Prospects in the application domain of electric energy energy storage.Due to energy storage capacity
Size it is directly proportional to the quadratic sum rotor quality of revolving speed, therefore in the timing of rotor quality one, no matter for applying to power grid
Flywheel energy storage system still applies to for the flywheel energy storage system of automobile batteries improve revolving speed then to be to improve its own energy storage energy
The major way of power.
Active Magnetic Bearing abbreviation electromagnetic bearing is a kind of novel bearing for making rotor suspension get up with electromagnetic force；It is collection
The typical electromechanical integration that electromagnetism, electronic technology, Theory of Automatic Control, computer science, rotor dynamics are integrated produces
Product.Electromagnetic bearing makes rotor contactlessly suspend using electromagnetic force, this unique performance makes electromagnetic bearing and tradition
Sliding bearing, roller bearing compared with ball bearing, have the advantages that incomparable.
Currently, electromagnetic bearing is also the bearing that can implement active control to rotor uniquely come into operation.Due to processing
Precision, the factors such as working environment, rotor there will necessarily be certain sound imbalance at runtime, so as to cause in the geometry of rotor
There are certain deviations for the heart and mass center, and then cause rotor oscillation.Unbalance vibration not only influences the precision of magnetic bearings control, and
And if rotor stator collision occurs under high-revolving situation, catastrophic consequence will be generated, so rotor oscillation
Amplitude controls in the range of a very little；In this context, how to inhibit the vibration of rotor just become one it is popular
It studies a question.
Summary of the invention
The purpose of this section is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferable implementations
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of above-mentioned existing problem, the present invention is proposed.
Therefore, a purpose of the invention is to provide a kind of control method of adaptive iteration compensation, by designing a kind of base
In the iterated search compensator of given position and physical location difference, to realize at a relatively high speed with degree of precision to disturbance
Compensation, remaining disturbance and the processing of X factor are completed by adaptive iterative learning control device.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of adaptive iteration compensating control method,
Same frequency perturbed force including generating rotor-support-foundation system is equivalent at current perturbation, extracts the margin of error of rotor displacement, is searched by iteration
The iterative learning for seeking disturbance compensation device compensates disturbance in the output end of the controller exported for control system；And simultaneously
Using adaptive iterative learning control device and compensator parallel running, guarantee the stability of system.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: specifically further include
Following steps establish the kinetic model of the magnetic bearing comprising out-of-balance force disturbance；According to the kinetic model, builds and include
The closed-loop control system of iterated search disturbance compensation device and magnetic suspension controller, wherein the magnetic suspension controller includes adaptive
Iterative learning controller and PID controller；The iterated search disturbance compensation device design, moves to left and perturbed force including perturbed force
It searches, by introducing the difference of target position and physical location, after calculating current perturbation, by directly applying one in current terminal
The opposite signal of a amplitude is overlapped with it to be compensated；Utilize iterated search disturbance compensation device and the adaptive iteration
Controller parallel operation is practised, the disturbance of system is effectively inhibited and guarantees system stable operation.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: according to considering
The unbalanced presence of sound, therefore perturbed force and disturbing moment indicate are as follows:
Fex=me ω2cos(ωt+φ)
Fey=me ω2sin(ωt+φ)
Mεx=(Jx-Jz)εω2cos(ωt+φ)
Mεy=(Jy-Jz)εω2sin(ωt+φ)
Parameter ω indicates that the revolving speed of magnetic bearing rotor, parameter e indicate spindle eccentricity away from parameter ε is indicated by torque in above formula
Caused inclination angle, angle of unbalance caused by φ indicates uneven.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: by the disturbance
Power and disturbing moment, it is known that the kinetic model comprising out-of-balance force disturbance are as follows:
M indicates the quality of rotor in above formula, and ω indicates the revolving speed of rotor, JxIndicate the equator moment of inertia in the direction x, JyTable
Show the equator moment of inertia in the direction y, JzIndicate polar moment of inertia, FLxAnd FRxElectricity of respectively left and right two magnetic bearings in the direction x
Magnetic force, FLyAnd FRyElectromagnetic force of respectively left and right two magnetic bearings in the direction y；FexAnd FeyIt respectively indicates and acts on rotor x and y
Out-of-balance force on the two directions；MεxAnd MεyRespectively indicate the unbalanced moments acted on the two directions rotor x and y.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: build described close
Ring control system, including adapt to iterative learning controller and compensator parallel running, i.e., the input and output side phase of two modules
Together, be all by input and electric current of the error of given position and physical location it is output, inhibits to remove the unbalanced disturbance of sound
With the output of compensation compensator.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: the perturbed force
It moves to left to move to left perturbed force to the output end of PID controller, the perturbed force is equivalent to the existence form of current perturbation, root
According to the formula of electromagnetic force, this perturbed force can be write as: Fund=em ω2∠ (ω t+ φ) in order to directly compensate in the controller
Fall out-of-balance force, disturbance quantity can be moved forward, regards an amount of unbalance of electric current, size as are as follows:
Parameter P indicates that the rotary speed parameter equation of power amplifier module, parameter S indicate the revolving speed of magnetic bearing module in above formula
Parametric equation, parameter X (ω) indicate that the amplitude of P.S, parameter phi (ω) indicate the phase angle of P.S.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: the perturbed force
Search be that X (ω) is a constant in magnetic bearing system, and φ (ω) is also close to 0, so amount of unbalance can be write as:
So the amount that needs recognize isIt can enable
Therefore required electric current are as follows: id=α cos (ω t)-β sin (ω t)+j α sin (ω t)+j β cos (ω t).
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: using under gradient
Drop method come carry out identification α and β；Consist of assuming that the error in the measured x-axis direction of kth time is ex(k), then it is total in x-axis
Body error are as follows:
The global error in y-axis can similarly be obtained are as follows:
Global error are as follows:
It is assumed that searching step-length is R, it is defined as follows search logic:
[αn+1βn+1]=[αnβn]+F(n)
F (0)=R
Required α, β can be acquired.
A kind of preferred embodiment as adaptive iteration compensating control method of the present invention, in which: by compensator and
Adaptive iterative learning control device parallel running, learning rate are as follows:
vk+1(n)=β Pvk(n)+Qek(n)+Q1ek(n-1)
Learning rate is adjusted under conditions of β=1 makes result meet demand；Before disturbance can be fully compensated in compensator
It puts, adaptive iterative learning control device is mainly used for maintaining system stable operation；When disturbance exceeds the maximum amount of compensator
When, it, can be to noncompensable component since adaptive iterative learning control device itself has the performance that error is reduced to zero
It compensates.
It is described it is a further object to provide a kind of adaptive iteration compensation control system, including rotor-support-foundation system
Rotor-support-foundation system includes rotor body, magnetic bearing and PID controller, and the magnetic bearing drives the rotor body, and with the PID
Controller constitutes closed-loop system；Iterated search disturbance compensation device, connect with the output end of the PID controller, compensates and disturb
It is dynamic；Adaptive iterative learning control device guarantees the stability of system with the iterated search disturbance compensation device parallel running.
Beneficial effects of the present invention: first is that the disturbance control electricity compensated needed for quickly accurately being calculated by tracking error
The size of stream ensure that the stability of system；Second is that compensator and controller parallel running, the compensation needed for compensator is more than it
When capacity, controller can compensate for its output, have certain fault-tolerant ability.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the unbalanced schematic diagram of rotor-support-foundation system of the present invention；
Fig. 2 is the functional block diagram of adaptive iteration compensation control system of the present invention；
Fig. 3 is the functional block diagram of adaptive iteration of the present invention study；
Fig. 4~7 are simulation result diagram of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
A specific embodiment of the invention is described in detail, it is clear that and described embodiment is a part of the embodiments of the present invention, and
It is not all of embodiment.Based on the embodiments of the present invention, ordinary people in the field is without making creative work
Every other embodiment obtained, all should belong to the range of protection of the invention.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Secondly, " one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Combination schematic diagram of the present invention is described in detail, when describing the embodiments of the present invention, for purposes of illustration only, indicating device
The sectional view of structure can disobey general proportion and make partial enlargement, and the schematic diagram is example, should not limit this herein
Invent the range of protection.In addition, the three-dimensional space of length, width and depth should be included in actual fabrication.
Simultaneously in the description of the present invention, it should be noted that the orientation of the instructions such as " upper and lower, inner and outer " in term
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.In addition, term " first, second or third " is used for description purposes only, and cannot understand
For indication or suggestion relative importance.
In the present invention unless otherwise clearly defined and limited, term " installation is connected, connection " shall be understood in a broad sense, example
Such as: may be a fixed connection, be detachably connected or integral type connection；It equally can be mechanical connection, be electrically connected or be directly connected to,
Can also indirectly connected through an intermediary, the connection being also possible to inside two elements.For the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment 1
Signal referring to Fig.1~3, the present embodiment consider that rotor body sound imbalance leads to the shadow of the eccentric force of rotor
It rings, establishes the magnetic bearing kinetic model for being contained in revolving speed with the vibration force of frequency, then devise a kind of based on magnetic bearing position
The adaptive iteration compensating controller of shift error, perturbed force (torque) is equivalent at current perturbation, by the error for extracting displacement
Amount is disturbed by the method for iterative learning in PID control reference-junction compensation, guaranteed using adaptive iterative learning control device be
The stability of system.By such method, the uneven brought vibration of sound under high revolving speed can effectively be inhibited to influence, and this
The thought of kind disturbance quantity Forward has certain reference significance to the active control of magnetic bearing system, is previous magnetic bearings control
Controller design is integrally carried out from system mostly in system；And the present embodiment moves forward disturbance quantity, is seen a current disturbing,
Directly fall in electric current end compensating.It should be understood that unless otherwise indicated, compensator, that is, iterated search disturbance is mended in the present embodiment
Device is repaid, controller refers to including adaptive iterative learning control device and PID controller.
Specifically, further comprising the steps of:
Step 1: considering the unbalanced presence of sound, establishes the magnetic bearing kinetic model comprising out-of-balance force disturbance, is
The design of iterated search disturbance compensation device, adaptive iterative learning control device and PID controller provides mathematical model and analysis
Basis.
It for design compensation device and controller, needs to establish the mathematical model of system, considers sound not when modeling
Influence of the presence of balance to rotor dynamics.
Perturbed force and disturbing moment may be expressed as:
Fex=me ω2cos(ωt+φ)
Fey=me ω2sin(ωt+φ)
Mεx=(Jx-Jz)εω2cos(ωt+φ)
Mεy=(Jy-Jz)εω2sin(ωt+φ)
Parameter ω indicates that the revolving speed of magnetic bearing rotor, parameter e indicate spindle eccentricity away from parameter ε is indicated by torque in above formula
Caused inclination angle, angle of unbalance caused by φ indicates uneven.
Magnetic bearing kinetic model comprising out-of-balance force disturbance is expressed as follows:
M indicates the quality of rotor in above formula, and ω indicates the revolving speed of rotor, JxIndicate the equator moment of inertia in the direction x, JyTable
Show the equator moment of inertia in the direction y, JzIndicate polar moment of inertia, FLxAnd FRxElectricity of respectively left and right two magnetic bearings in the direction x
Magnetic force, FLyAnd FRyElectromagnetic force of respectively left and right two magnetic bearings in the direction y.FexAnd FeyIt respectively indicates and acts on rotor x and y
Out-of-balance force on the two directions.MεxAnd MεyRespectively indicate the unbalanced moments acted on the two directions rotor x and y.
Step 2: above-mentioned steps 2) detailed process is as follows:
Adaptive iterative learning control device and compensator parallel running, i.e., the input and output side of two modules is identical, all
It is with the error of given position and physical location for input, electric current is output, and such controller can inhibit except sound is uneven
Disturbance and compensate compensator output.
Step 3: is illustrated to compensator herein, moves to left the search with perturbed force including perturbed force.
Perturbed force moves to left:
The problem of what it was solved is how disturbance to be converted to electric current from power, specifically includes,
In order to the influence of the compensating disturbance directly in control electric current, selection moves to left perturbed force to PID controller
Output end is equivalent to a kind of existence form of current perturbation
According to the formula of electromagnetic force, this perturbed force can be write as:
Fund=em ω2∠(ωt+φ)
In order to which out-of-balance force is fallen in compensation directly in PID controller, disturbance quantity can be moved forward, regard one of electric current as not
Aequum, size are as follows:
Parameter P indicates that the rotary speed parameter equation of power amplifier module, parameter S indicate the revolving speed of magnetic bearing module in above formula
Parametric equation, parameter X (ω) indicate that the amplitude of P.S, parameter phi (ω) indicate the phase angle of P.S.
The search of perturbed force:
The problem of what it was solved is how to pick out current disturbing, specifically includes,
X (ω) is a constant in magnetic bearing system, and φ (ω) is also close to 0, so amount of unbalance can be write as:
So the amount that needs recognize isIt can enable
Required electric current are as follows: id=α cos (ω t)-β sin (ω t)+j α sin (ω t)+j β cos (ω t)
Here identification α and β is carried out using gradient descent method.It is assumed that the error in x-axis direction measured by kth time is ex
(k), then global error in x-axis are as follows:
The global error in y-axis can similarly be obtained are as follows:
Global error are as follows:
It is assumed that searching step-length is R, it is defined as follows search logic:
[αn+1βn+1]=[αnβn]+F(n)
F (0)=R
Required α, β can be acquired；Wherein α and β is above-mentioned current disturbing expression formula idIn unique unknown quantity, find out this
Two amounts can find out current disturbing, to compensate.
Step 4: detailed process is as follows, it should be noted that compensator and controller are two modules, and step 3 is to retouch
The mentality of designing of compensator is stated, using the selection of parameter when such control rate when step 4 is both descriptions parallel running；It can be right
The feasibility of this control rate carries out proof addition.
By compensator and adaptive iterative learning control device parallel running, learning rate are as follows:
vk+1(n)=β Pvk(n)+Qek(n)+Q1ek(n-1)
Learning rate is adjusted under conditions of β=1 makes result meet demand.Before disturbance can be fully compensated in compensator
It puts, adaptive iterative learning control device is mainly used for maintaining system stable operation；When disturbance exceeds the maximum amount of compensator,
Since there is controller itself the performance that error is reduced to 0 can compensate to noncompensable component, thus guarantee be
The fault-tolerance of system.
Further, the feasibility of control rate can be proved referring to the block diagram of Fig. 3:
As shown in figure 3 above, error signal:
ek(n)=Ud(n)-U1(n)
Learning rate are as follows:
vk+1(n)=β Pvk(n)+Qek(n)+Q1ek(n-1)
The input of power amplifier are as follows:
U3(n)=U2(n)+βvk(n)
Here be this law of learning can make error signal level off to 0 proof:
By vk+1(n)=β Pvk(n)+Qek(n)+Q1ek(n-1) formula is write as discrete form and can be obtained:
Vk+1(z)=β PVk(z)+QEk(z)+Q1Ek(z)z-1=
βPVk(z)+(Q+Q1z-1)Ek(z)
The discrete output form of controller can be write as:
The input of so power amplifier is are as follows:
For the ease of analysis, enableIt is available: Ek(z)=
U3(z(-β)Vk z K(z)
Formula is brought by above formula is counterIn it is available:
Vk+1(z)=β PVk(z)+(Q+Q1z-1)(U3(z)-βVk(z)) K (z)=
β[P-(Q+Q1z-1)K(z)]Vk(z)+(Q+Q1z-1)K(z)U3(z)
Both sides take the limit that can obtain simultaneously:
V∞(z)=β [P- (Q+Q1z-1)K(z)]V∞(z)+(Q+Q1z-1)K(z)U3(z)
So
If β=1 in above formula, | | β [P- (Q+Q1z-1)K(z)||∞< 1 is set up, then
It releases:
So above-mentioned control method can theoretically make error amount be reduced to 0, it was demonstrated that this controller can be by error
It is reduced to 0, also ensures that input is equal to the purpose that output namely designs and reaches.
Sound imbalance Disturbance Rejection method proposed by the present invention has the advantage that
(1) size of the disturbance control electric current compensated needed for quickly accurately being calculated by tracking error, ensure that and be
The stability of system.
(2) compensator and controller parallel running, when the compensation needed for compensator is more than its capacity, controller can compensate for it
Output has certain fault-tolerant ability.When the electric current picked out is greater than the fan-out capability of compensator, compensator is in maximum negative
Lotus operation, can not be fully compensated, and there are still disturbances in model.Theoretically using the controller of step 4 controller design at this time
Error can be reduced to 0, disturbance can be inhibited)
(3) accurate parameter is not needed when designing controller, has still and can keep in face of unknown disturbance and uncertain parameter
System is stablized, such as when system deviation occurs due to magnetic center and the centre of motion can generate multiple harmonic in systems, at this time from
Such disturbance can be inhibited so that system has certain robustness by adapting to iterative learning controller.Such as imitating for Fig. 4~7
True signal discovery compensation front and back effect is obvious.
A kind of adaptive iteration compensation control system, including rotor-support-foundation system, the rotor-support-foundation system are also provided in the present embodiment
Including rotor body, magnetic bearing and PID controller, the magnetic bearing drives the rotor body, and with the PID controller structure
At closed-loop system；Iterated search disturbance compensation device, connect with the output end of the PID controller, compensates disturbance；And from
It adapts to iterative learning controller and guarantees the stability of system with the iterated search disturbance compensation device parallel running.In combination with figure
2 signal, understandable to be, it is iterated search disturbance compensation device that wherein compensating module is corresponding, and adaptation module is corresponding
Be controller shown in adaptive iterative learning control device and Fig. 3 be adaptive iterative learning control device.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferable
Embodiment describes the invention in detail, those skilled in the art should understand that, it can be to technology of the invention
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (10)
1. a kind of adaptive iteration compensating control method, it is characterised in that: including,
The same frequency perturbed force that rotor-support-foundation system is generated is equivalent at current perturbation, extracts the margin of error of rotor displacement, is searched by iteration
The iterative learning for seeking disturbance compensation device compensates disturbance in the output end of the controller exported for control system；And simultaneously
Using adaptive iterative learning control device and compensator parallel running, guarantee the stability of system.
2. adaptive iteration compensating control method as described in claim 1, it is characterised in that: it is specific further comprising the steps of,
Establish the kinetic model of the magnetic bearing comprising out-of-balance force disturbance；
According to the kinetic model, the closed-loop control system comprising iterated search disturbance compensation device and magnetic suspension controller is built
System, wherein the magnetic suspension controller includes adaptive iterative learning control device and PID controller；
The iterated search disturbance compensation device design, moves to left the search with perturbed force including perturbed force, by introducing target position
With the difference of physical location, after calculating current perturbation, by directly applying the opposite signal of an amplitude and it in current terminal
It is overlapped and compensates；
Using iterated search disturbance compensation device and the adaptive iterative learning control device parallel operation, the disturbance of system is carried out
Effectively inhibits and guarantee system stable operation.
3. adaptive iteration compensating control method as claimed in claim 2, it is characterised in that: according in view of sound imbalance
Presence, therefore perturbed force and disturbing moment indicate are as follows:
Fex=me ω2cos(ωt+φ)
Fey=me ω2sin(ωt+φ)
Mεx=(Jx-Jz)εω2cos(ωt+φ)
Mεy=(Jy-Jz)εω2sin(ωt+φ)
Parameter ω indicates that the revolving speed of magnetic bearing rotor, parameter e indicate spindle eccentricity away from parameter ε expression is caused by torque in above formula
Inclination angle, angle of unbalance caused by φ indicates uneven.
4. adaptive iteration compensating control method as claimed in claim 3, it is characterised in that: by the perturbed force and perturbed force
Square, it is known that the kinetic model comprising out-of-balance force disturbance are as follows:
M indicates the quality of rotor in above formula, and ω indicates the revolving speed of rotor, JxIndicate the equator moment of inertia in the direction x, JyIndicate the side y
To equator moment of inertia, JzIndicate polar moment of inertia, FLxAnd FRxRespectively left and right two magnetic bearings the direction x electromagnetic force,
FLyAnd FRyElectromagnetic force of respectively left and right two magnetic bearings in the direction y；FexAnd FeyRespectively indicate act on rotor x and y this two
Out-of-balance force on a direction；MεxAnd MεyRespectively indicate the unbalanced moments acted on the two directions rotor x and y.
5. adaptive iteration compensating control method as claimed in claim 2 or claim 3, it is characterised in that: build the closed-loop control
System, including adapt to iterative learning controller and compensator parallel running, i.e., the input and output side of two modules is identical, is all
It is output by input and electric current of the error of given position and physical location, inhibits to mend except the unbalanced disturbance of sound and compensation
Repay the output of device.
6. adaptive iteration compensating control method as claimed in claim 5, it is characterised in that: the perturbed force moves to left to disturb
Power is moved to left to the output end of PID controller, the perturbed force is equivalent to the existence form of current perturbation, according to electromagnetic force
Formula, this perturbed force can be write as: Fund=em ω2∠(ωt+φ)
In order to which directly out-of-balance force is fallen in compensation in the controller, disturbance quantity can be moved forward, regard an amount of unbalance of electric current as,
Size are as follows:
Parameter P indicates that the rotary speed parameter equation of power amplifier module, parameter S indicate the rotary speed parameter of magnetic bearing module in above formula
Equation, parameter X (ω) indicate that the amplitude of P.S, parameter phi (ω) indicate the phase angle of P.S.
7. adaptive iteration compensating control method as claimed in claim 6, it is characterised in that: the search of the perturbed force is,
X (ω) is a constant in magnetic bearing system, and φ (ω) is also close to 0, so amount of unbalance can be write as:
So the amount that needs recognize isIt can enable
Therefore required electric current are as follows: id=α cos (ω t)-β sin (ω t)+j α sin (ω t)+j β cos (ω t).
8. adaptive iteration compensating control method as claimed in claim 7, it is characterised in that: carried out using gradient descent method
Recognize α and β；Consist of assuming that the error in the measured x-axis direction of kth time is ex(k), then global error in x-axis are as follows:
The global error in y-axis can similarly be obtained are as follows:
Global error are as follows:
It is assumed that searching step-length is R, it is defined as follows search logic:
[αn+1βn+1]=[αnβn]+F(n)
F (0)=R
Required α, β can be acquired.
9. the adaptive iteration compensating control method as described in claim 6~8 is any, it is characterised in that: by compensator and certainly
Adapt to iterative learning controller parallel running, learning rate are as follows:
vk+1(n)=β Pvk(n)+Qek(n)+Q1ek(n-1)
Learning rate is adjusted under conditions of β=1 makes result meet demand；When the premise of disturbance can be fully compensated in compensator
Under, adaptive iterative learning control device is mainly used for maintaining system stable operation；
When disturbance exceeds the maximum amount of compensator, error is reduced to since adaptive iterative learning control device itself has
Zero performance can compensate noncompensable component.
10. a kind of adaptive iteration compensation control system, it is characterised in that: including,
Rotor-support-foundation system, the rotor-support-foundation system include rotor body, magnetic bearing and PID controller, and the magnetic bearing driving is described to be turned
Sub- ontology, and closed-loop system is constituted with the PID controller；
Iterated search disturbance compensation device, connect with the output end of the PID controller, compensates disturbance；
Adaptive iterative learning control device guarantees the stability of system with the iterated search disturbance compensation device parallel running.
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