CN113623239B - Unbalanced magnetic tension control method, device, system, equipment and medium - Google Patents

Unbalanced magnetic tension control method, device, system, equipment and medium Download PDF

Info

Publication number
CN113623239B
CN113623239B CN202111087320.1A CN202111087320A CN113623239B CN 113623239 B CN113623239 B CN 113623239B CN 202111087320 A CN202111087320 A CN 202111087320A CN 113623239 B CN113623239 B CN 113623239B
Authority
CN
China
Prior art keywords
signal
estimated value
model
magnetic
rotor system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111087320.1A
Other languages
Chinese (zh)
Other versions
CN113623239A (en
Inventor
刘刚
韩雪
周金祥
郑世强
董宝田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ningbo Institute of Innovation of Beihang University
Original Assignee
Ningbo Institute of Innovation of Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ningbo Institute of Innovation of Beihang University filed Critical Ningbo Institute of Innovation of Beihang University
Priority to CN202111087320.1A priority Critical patent/CN113623239B/en
Publication of CN113623239A publication Critical patent/CN113623239A/en
Application granted granted Critical
Publication of CN113623239B publication Critical patent/CN113623239B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D17/00—Radial-flow pumps, e.g. centrifugal pumps; Helico-centrifugal pumps
    • F04D17/08—Centrifugal pumps
    • F04D17/10—Centrifugal pumps for compressing or evacuating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/001—Testing thereof; Determination or simulation of flow characteristics; Stall or surge detection, e.g. condition monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/002—Details, component parts, or accessories especially adapted for elastic fluid pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/05—Shafts or bearings, or assemblies thereof, specially adapted for elastic fluid pumps
    • F04D29/051—Axial thrust balancing
    • F04D29/0516—Axial thrust balancing balancing pistons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/05—Shafts or bearings, or assemblies thereof, specially adapted for elastic fluid pumps
    • F04D29/056—Bearings
    • F04D29/058—Bearings magnetic; electromagnetic

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)

Abstract

The present disclosure relates to an unbalanced magnetic tension control method, apparatus, system, device, and medium. The unbalanced magnetic tension control method is applied to a magnetic suspension rotor system, the current operation signal of the magnetic suspension rotor system is obtained, the current disturbance signal corresponding to the magnetic suspension rotor system is estimated through a pre-built observer model according to the current operation signal and the related parameter information of the magnetic suspension rotor system, the estimated value of the current disturbance signal is obtained, the current disturbance signal comprises the signal corresponding to the unbalanced magnetic tension, then the estimated value of the signal corresponding to the unbalanced magnetic tension in the estimated value of the current disturbance signal is extracted through a pre-built filter model, finally the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the rotor can be stabilized, the unbalanced magnetic tension is accurately restrained, and the stable operation of the magnetic suspension system is ensured.

Description

Unbalanced magnetic tension control method, device, system, equipment and medium
Technical Field
The present disclosure relates to the field of unbalanced magnetic tension technology, and in particular, to an unbalanced magnetic tension control method, apparatus, system, device, and medium.
Background
As a non-contact bearing, the magnetic bearing has the characteristics of no need of lubrication and active control compared with the traditional mechanical bearing. Magnetic bearings are used in centrifugal compressors that can operate at higher rotational speeds and can also provide higher efficiency and higher pressure ratios to drive larger flows.
However, due to the differences in material characteristics of the rotor parts in the magnetic bearing, errors in the production, processing and assembly processes, and the like, the inertia axis of the rotor is not coincident with the geometric axis, so that the mass of the rotor is unbalanced. Meanwhile, the rotor is subjected to the same-frequency disturbance during rotation due to the non-uniform magnetization of the rotor permanent magnet. Uneven magnetization of the permanent magnets and unbalanced rotor mass can cause dynamic eccentricity of the rotor during rotation. For the whole magnetic suspension system using the magnetic bearing, unbalanced magnetic tension disturbance caused by dynamic eccentricity can aggravate rotor vibration, easily causes current of a power amplifier and saturation of magnetic density of the magnetic bearing, and directly affects stable operation of the magnetic suspension system. For centrifugal compressors, high amplitude vibration of the rotor can affect the performance index of the compression system and also affect the life of the compressor. Second, once the rotor fails against the disturbance force, the entire compression system will cease to operate, resulting in a significant economic loss. Therefore, high precision control of unbalanced magnetic tension is critical.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a method, an apparatus and a device for controlling unbalanced magnetic tension, which can realize accurate control of unbalanced magnetic tension and ensure stable operation of a magnetic suspension system.
In a first aspect, embodiments of the present disclosure provide an unbalanced magnetic tension control method applied to a magnetic levitation rotor system, the method comprising:
acquiring a current running signal of a magnetic suspension rotor system;
Estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model according to the current running signal and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to unbalanced magnetic tension;
extracting an estimated value of a signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model according to the estimated value of the current disturbance signal;
And controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system.
Optionally, before acquiring the current operation signal of the magnetic suspension rotor system, the method further comprises:
acquiring an operation signal sample of a magnetic suspension rotor system;
According to the operation signal sample and the related parameters of the magnetic suspension rotor system, establishing a power model corresponding to the rotor in the magnetic suspension rotor system;
And constructing an observer model according to the dynamic model corresponding to the rotor.
Optionally, constructing an observer model according to the dynamic model corresponding to the rotor includes:
Converting a dynamic model of the rotor into an integral series form;
Constructing a third-order linear state observer according to the integral series-connection type power model;
And carrying out differential discretization on the third-order linear state observer to obtain an observer model.
Optionally, the current operation signal includes a current displacement signal, and the current displacement signal is obtained by a power model corresponding to the rotor.
Optionally, before the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the method further includes:
Obtaining a compensation signal through a pre-constructed controller model according to the current displacement signal;
according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the unbalanced magnetic tension is controlled, and the method comprises the following steps:
Obtaining a first control signal according to the compensation signal, an estimated value of a signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system;
the unbalanced magnetic tension is controlled according to the first control signal.
Optionally, after the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the method further includes:
acquiring a current operation signal of the magnetic suspension rotor system after controlling the unbalanced magnetic tension, and acquiring an updated current operation signal, wherein the updated current operation signal further comprises a first control signal;
Estimating a current disturbance signal corresponding to the controlled magnetic suspension rotor system through an observer model according to the first control signal and the related parameter information of the magnetic suspension rotor system to obtain an updated estimated value of the current disturbance signal;
and extracting an estimated value of a signal corresponding to the unbalanced magnetic tension in the updated current disturbance signal through a filter model according to the updated estimated value of the current disturbance signal, and controlling the unbalanced magnetic tension.
Optionally, extracting, according to the estimated value of the disturbance signal, the estimated value of the signal corresponding to the unbalanced magnetic tension through a pre-established filter model, including:
And extracting an estimated value of a signal corresponding to the unbalanced magnetic pulling force through a pre-constructed filter model according to the rotating speed of the rotor in the magnetic suspension rotor system and the estimated value of the current disturbance signal.
In a second aspect, embodiments of the present disclosure provide an unbalanced magnetic tension control device for use in a magnetic levitation rotor system, comprising:
The acquisition unit is used for acquiring the current operation signal of the magnetic suspension rotor system;
The estimating unit is used for estimating the current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model according to the current running signal and the related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to unbalanced magnetic tension;
the determining unit is used for extracting the estimated value of the signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model according to the estimated value of the current disturbance signal;
And the control unit is used for controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system.
In a third aspect, an embodiment of the present disclosure provides an unbalanced magnetic tension control system, where the system includes a power model, an observer model, a filter model, a controller model, and a generation model corresponding to a rotor in a magnetic levitation rotor system;
The dynamic model of the rotor is used for obtaining a displacement signal of the rotor according to a control signal generated by the generation model and related parameter information of the magnetic suspension rotor system, and sending the displacement signal to the observer model and the controller model, wherein the current disturbance signal comprises a signal corresponding to unbalanced magnetic tension;
The observer model is used for obtaining an estimated value of the current disturbance signal according to the displacement signal and the control signal, and sending the estimated value of the current disturbance signal to the filter model;
The filter model is used for obtaining an estimated value of a signal corresponding to the unbalanced magnetic tension according to the estimated value of the disturbance signal, and sending the estimated value of the signal corresponding to the unbalanced magnetic tension to the generation model;
the controller model is used for obtaining a compensation signal according to the displacement signal and sending the compensation signal to the generation model;
The generation model is used for obtaining a control signal according to the compensation signal and the estimated quantity of the signal corresponding to the unbalanced magnetic tension, and sending control data to the power model and the observer model.
In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
A processor; and
A computer program;
wherein the computer program is stored in a memory and configured to be executed by a processor to implement the unbalanced magnetic tension control method as described above.
In a fifth aspect, embodiments of the present disclosure provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of an unbalanced magnetic tension control method as described above.
The embodiment of the disclosure provides an unbalanced magnetic tension control method, which is applied to a magnetic suspension rotor system, and is used for estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-built observer model according to a current operation signal of the magnetic suspension rotor system and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to the unbalanced magnetic tension, then extracting the estimated value of the signal corresponding to the unbalanced magnetic tension in the estimated value of the current disturbance signal through a pre-built filter model, and finally controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system, so that the magnetic suspension rotor can be stabilized, the unbalanced magnetic tension can be accurately restrained, and the stable operation of the magnetic suspension system is ensured.
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 solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of an unbalanced magnetic tension control method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a magnetic levitation rotor system according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an observer model according to an embodiment of the present disclosure;
Fig. 5 is a schematic structural diagram of a filter model according to an embodiment of the disclosure;
FIG. 6 is a schematic flow chart of an unbalanced magnetic tension control method according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of displacement vibration of a rotor according to an embodiment of the present disclosure;
FIG. 8 is a schematic flow chart of an unbalanced magnetic tension control method according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of an unbalanced magnetic tension control system according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of an unbalanced magnetic tension control device according to an embodiment of the present disclosure;
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Aiming at the technical problems, the embodiment of the disclosure provides an unbalanced magnetic tension control method, which is applied to a magnetic suspension rotor system, and is used for estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-built observer model according to a current cloud brothers signal of the magnetic suspension rotor system and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to the unbalanced magnetic tension, extracting an estimated value of the signal corresponding to the unbalanced magnetic tension in the estimated value of the current disturbance signal through a pre-built filter model, and finally controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system, so that a suspension rotor can be stabilized, the unbalanced magnetic tension can be accurately restrained, and the stable operation of the magnetic suspension rotor system is ensured. The details of one or more embodiments are set forth in the description below.
In particular, the unbalanced magnetic tension control method may be performed by a terminal or a server. The terminal or the server can process the disturbance signals through the constructed observer model and the filter model so as to control unbalanced magnetic tension. The execution bodies of the observer model and the filter model constructing method and the unbalanced magnetic tension control method may be the same or different.
For example, in one application scenario, as shown in FIG. 1, the server 12 builds an observer model and a filter model. The terminal 11 acquires the constructed observer model and filter model from the server 12, and the terminal 11 processes the current disturbance signal through the observer model and the filter model, thereby controlling the unbalanced magnetic tension. The current perturbation signal may be obtained from a magnetic levitation rotor system by terminal 11.
In another application scenario, the server 12 builds an observer model and a filter model. Further, the server 12 estimates the current disturbance signal by constructing the completed observer model and the filter model, thereby controlling the unbalanced magnetic tension.
It will be appreciated that the unbalanced magnetic tension control methods provided by embodiments of the present disclosure are not limited to the several possible scenarios described above. Since the construction of the observer model can be applied to the unbalanced magnetic tension control method, the observer model construction method can be described below before the unbalanced magnetic tension control method is described.
Fig. 2 is a flow chart of an observer model building method according to an embodiment of the present disclosure, taking building an observer model on a server as an example, the observer model building method is described, and specifically includes the following steps S210 to S220 shown in fig. 2:
S210, acquiring an operation signal sample of the magnetic suspension rotor system, and establishing a dynamic model corresponding to a rotor in the magnetic suspension rotor system according to the operation signal sample and related parameters of the magnetic suspension rotor system.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a magnetic levitation rotor system according to an embodiment of the present disclosure, wherein an observer model and other model construction methods are described based on a magnetic levitation rotor system 300, and the magnetic levitation rotor system 300 includes position sensors 310 and 350, magnetic bearings 320 and 340, a rotor 330, and a system controller 360, wherein the position sensors 310 and 350 are connected to the rotor 330, and are used for acquiring a position of the rotor, detecting a deflection condition of the rotor, and obtaining a displacement signal; magnetic bearings (320, 340) are respectively connected to the rotor 330, and the rotor 330 is suspended in the air by Magnetic force without mechanical contact with the rotor 330; the position sensors 310, 350 are connected to the system controller 360, and transmit the acquired displacement signals to the system controller 360; the system controller 360 is connected with the magnetic bearings 320 and 340 and is used for controlling the magnetic bearings; the principle of operation of magnetic levitation rotor system 300: the magnetic bearings 320 and 340 suspend the rotor 330 in the air by magnetic force, the position sensors 310 and 350 detect a deviation signal (displacement signal) of the rotor 330, the deviation signal is transmitted to the system controller 360, the system controller 360 calculates the deviation signal detected by the position sensors 310 and 350, and the magnetic bearings 320 and 340 are controlled to indirectly suspend the rotor 330 at a predetermined reference position. It is appreciated that an unbalanced magnetic tension control method provided by embodiments of the present disclosure may be implemented based on the system controller 360 by controlling the unbalanced magnetic tension such that the rotor 330 is levitated at a prescribed reference position.
It can be understood that an operation signal sample of the magnetic suspension rotor system is obtained, the operation signal sample is used as a model training sample, and a dynamic model corresponding to the rotor in the magnetic suspension rotor system is built according to the operation signal sample, the displacement signal and related parameters of the magnetic suspension rotor system. The magnetic levitation rotor system for acquiring the operation signal sample is the same as the magnetic levitation rotor system for acquiring the current operation signal described below. The disturbance signal sample is a signal generated in the rotating process of the rotor, the disturbance signal comprises a signal corresponding to unbalanced magnetic pulling force, the unbalanced magnetic pulling force is generated by the rotor deviating from the center relative to the stator, and the unbalanced magnetic pulling force accelerates the damage of the bearing to cause vibration and noise, so that the stable operation of the magnetic suspension rotor is ensured, and the unbalanced magnetic pulling force is restrained (controlled); the relevant parameters of the magnetic levitation rotor system may specifically include relevant parameters of the rotor; the position of the rotor refers to the position of the rotor in the XY direction, for example, referring to fig. 3, the position of one end of the rotor 330 in the XY direction is obtained by the position sensor 310, the position of the other end of the rotor 330 in the XY direction is obtained by the position sensor 350, and the positions of both ends of the rotor are obtained; the dynamic model may be a mathematical model, which may be specifically shown in formula (1).
Wherein,For the output of the power model, k a and k b are coefficients related to the size, mass and inertia of the rotor, k ω is the gain of the power amplifier, k i and k h are the force-current stiffness coefficient and the force-displacement stiffness coefficient, respectively, x (n) is the rotor position, u (n) is the output of the system controller 360, f d is the disturbance signal, and n is the number of iterations.
S220, constructing an observer model according to the dynamic model corresponding to the rotor.
Optionally, on the basis of S210, an observer model is constructed according to a dynamic model corresponding to the rotor, which specifically includes: converting a dynamic model of the rotor into an integral series form; constructing a third-order linear state observer according to the integral series-connection type power model; and carrying out differential discretization on the third-order linear state observer to obtain an observer model.
It can be understood that, according to the form of integral series connection of the linear extended state observer in the related art, the constructed dynamic model of the rotor is equivalent to a second-order integral series system, and the second-order integral series system can be shown as a formula (2).
Wherein b 0＝kωkbki is a relevant parameter of the magnetic suspension rotor system,
It can be understood that after the constructed dynamic model of the rotor is equivalent to a second-order integral series system, a third-order linear state observer is designed according to the second-order integral series system, and the third-order linear state observer can be shown as a formula (3).
Where z 3 is the estimate of the disturbance signal, z 1 is the estimate of the rotor position,Omega o is the gain of the third-order linear state observer, u is the output of the system controller, or the output of the generated model described below, and x is the rotor position signal.
It can be appreciated that the above-constructed third-order linear state observer is subjected to differential discretization processing to obtain an observer model, where the differential discretization may be forward differential discretization, and the observer model may be as shown in formula (4).
Where n is the number of iterations and h is the step size.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an observer model according to an embodiment of the disclosure, where the observer model shown in formula (3) is calculated, where inputs of the observer model 400 are u (n) and x (n), then a product of u (n) and b 0 is calculated to obtain b 0 u (n), a difference between x (n) and z 1 (n) is calculated to obtain (x (n) -z 1 (n)), a product between (x (n) -z 1 (n)) and β 1、β2 and β 3(x-z1 is calculated, β 3(x-z1 is integrated, where 1/s represents integration, to obtain z 3 (n), a sum of z 3(n)、b0 u (n) and β 2(x(n)-z1 (n)) is integrated to obtain z 2 (n), then a sum of β 1(x(n)-z1 (n)) and z 2 (n) is integrated to obtain z 1 (n), and finally an estimated value z 3 (n) of a disturbance signal is output.
Optionally, after the observer model is built, a filter model is built according to the estimated value of the disturbance signal sample.
It can be understood that after the observer model is constructed, a filter model is constructed according to the estimated value of the disturbance signal sample output by the observer model, where the filter model may specifically refer to a learning management system adaptive filter (LMS adaptive filter), and the filter model may be shown in formula (5).
Wherein,For the estimated value of the signal corresponding to the unbalanced magnetic tension, Ω is the rotation speed of the rotor, μ is the iteration step of the LMS adaptive filter, h is the integration step, and the larger μ is, the faster the LMS adaptive filter converges.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a filter model according to an embodiment of the disclosure, showing a calculation mode of the filter model shown in formula (5), inputs of the filter model 500 are z 3 (n), sin (nΩ h) and cos (nΩ h), and z 3 (n) andThe difference between the two is calculated according to the difference value and sin (nΩ h), W 1 (n) is calculated according to the difference value and cos (nΩ h), W 2 (n) is calculated according to the difference value and cos (nΩ h), wherein the circle and the downward-inclined arrow represent that W 2 (n) and W 1 (n) are updated in real time, and the sum of W 1 (n) sin (nΩ h) and W 2 (n) cos (nΩ h) is calculated to obtain/>The filter model 500 outputs an estimate of the signal corresponding to the unbalanced magnetic pull force/>
Optionally, the compensation controller is constructed based on the displacement signal of the rotor.
It is understood that the displacement signal of the rotor is obtained, and the compensation controller is constructed based on the displacement signal of the rotor and the proportional-integral-derivative related information.
It is understood that the compensation controller may be a proportional-integral-derivative controller (PID controller), which is composed of a proportional unit (P), an integral unit (I) and a derivative unit (D), and is constructed by three parameters of Kp, ki and Kd. The compensation controller may be as shown in equation (6).
Where x (n) is the displacement signal of the rotor for different iterations and u c (n+1) is the output of the compensation controller.
Optionally, after the filter model and the compensation controller are constructed, a generating model is constructed according to the compensation signal output by the compensation controller and the estimated value of the signal corresponding to the unbalanced magnetic tension.
It can be understood that after the filter model and the compensation controller are constructed, a generating model is constructed according to the output of the compensation controller and the estimated value of the signal corresponding to the unbalanced magnetic tension output by the filter model, the output of the generating model can be understood as the output of the system controller, and the generating model can be shown as a formula (7).
Where u (n+1) is the output of the generation model, the output u (n) of the system controller described above can also be understood as the output of the generation model.
It can be understood that the system controller may include an observer model, a filter model, a compensation controller, a generation model, etc., and after acquiring the displacement signal and the disturbance signal of the rotor transmitted by the position sensor, the system controller processes the displacement signal and the disturbance signal through the plurality of models to control the unbalanced magnetic tension, thereby changing the position of the rotor.
Fig. 6 is a schematic flow chart of a method for controlling unbalanced magnetic tension, which is provided in an embodiment of the present disclosure, and is applied to a magnetic levitation rotor system, and is used for controlling unbalanced magnetic tension based on the above-constructed observer model and filter model, and specifically includes steps S610 to S640 shown in fig. 6:
S610, acquiring a current operation signal of the magnetic suspension rotor system.
It can be understood that the current operation signal of the magnetic suspension rotor system is obtained, the current operation signal refers to a signal generated in real time in the operation process of the rotor in the magnetic suspension rotor system, and the operation signal specifically comprises a displacement signal and a control signal.
S620, estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model according to the current operation signal and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to unbalanced magnetic tension.
It can be understood that, on the basis of S610, the current running signal and the relevant parameter information of the magnetic suspension rotor system are input into a pre-constructed observer model, the current disturbance signal is estimated to obtain an estimated value of the current disturbance signal, where f d in the formula (1) is replaced by the current disturbance signal to obtain the output x (n) of the constructed power model of the rotor, the relevant parameter information of the magnetic suspension rotor system is b 0 in the formula (4), and the estimated value of the current disturbance signal is the output of the observer model, such as z 3 in the formula (4). The current disturbance signal is generated in the running process of the magnetic suspension rotor, and comprises a noise signal, a signal corresponding to unbalanced magnetic tension and the like.
S630, extracting an estimated value of a signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model according to the estimated value of the current disturbance signal.
Optionally, on the basis of S620, according to the rotation speed of the rotor in the magnetic suspension rotor system and the estimated value of the current disturbance signal, the estimated value of the signal corresponding to the unbalanced magnetic tension is extracted through a pre-established filter model.
It can be understood that after obtaining the estimated value of the current disturbance signal, the rotational speed of the rotor in the magnetic levitation rotor system and the estimated value of the current disturbance signal are input into a pre-established filter model to obtain the estimated value of the signal corresponding to the unbalanced magnetic tension, that is, the estimated value of the signal corresponding to the unbalanced magnetic tension is extracted from the estimated values of the current disturbance signals including various disturbances, the rotational speed of the rotor is Ω in the formula (5), the estimated value of the current disturbance signal is z 3 in the formula (5), and the estimated value of the signal corresponding to the unbalanced magnetic tension is that in the formula (5)
S640, controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system.
It can be understood that, based on the above S630, the ratio of the estimated value of the signal corresponding to the unbalanced magnetic tension to the related parameter information of the magnetic levitation rotor system is calculated, the unbalanced magnetic tension is controlled according to the ratio, and specifically, referring to the formula (7), the estimated value of the signal corresponding to the unbalanced magnetic tension is calculatedThe ratio of the related parameter information b 0 to the magnetic suspension rotor system may be calculated for the first time without setting u c (n+1) or setting u c (n+1) as a random parameter.
Optionally, the current running signal includes a current displacement signal, and the current displacement signal is obtained by a power model corresponding to the rotor; before the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the method specifically further comprises the following steps: and obtaining a compensation signal through a pre-constructed controller model according to the current displacement signal.
It can be appreciated that, before executing S640, the displacement signal of the rotor output by the power model corresponding to the rotor may be further input into a pre-constructed controller model to obtain a compensation signal corresponding to the unbalanced magnetic tension, where the pre-constructed controller model refers to the constructed compensation controller, that is, the compensation controller shown in the formula (6), the displacement signal of the rotor refers to x in the formula (6), and the compensation signal refers to the output u c (n+1) of the compensation controller.
Optionally, after the compensation signal is obtained, S640 specifically includes: obtaining a first control signal according to the compensation signal, an estimated value of a signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system; the unbalanced magnetic tension is controlled according to the first control signal.
It can be understood that after the compensation signal is obtained, the compensation signal, the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic levitation rotor system are input into the above-constructed generation model, that is, the generation model shown in the formula (7), and the compensation signal is u c (n+1), the estimated value of the signal corresponding to the unbalanced magnetic tensionAnd substituting the related parameter information b 0 of the magnetic suspension rotor system into a formula (7) to obtain a first control signal u (n+1), and then inhibiting unbalanced magnetic tension according to the first control signal to ensure stable operation of the magnetic suspension rotor system.
For example, referring to fig. 7, fig. 7 is a schematic diagram of displacement vibration of a rotor in a magnetic levitation rotor system according to an embodiment of the present disclosure. In fig. 7, the horizontal axis represents time in seconds(s), the vertical axis represents amplitude in micrometers (μm), the amplitude is the absolute value of the maximum displacement from the equilibrium position when the object vibrates, and the amplitude and the intensity of vibration of the object are described as being equal in value to the magnitude of the maximum displacement. As can be seen from fig. 7, in the range of 0-4 seconds, the displacement of the rotor is in the range of [ -50,50], the high-amplitude vibration of the rotor affects the performance index of the whole magnetic suspension rotor system, and then after the unbalanced magnetic tension is restrained (controlled) by the method provided by the disclosure, the amplitude of the rotor is obviously reduced after 4 seconds, so that the unbalanced magnetic tension can be controlled with high accuracy, and the stable operation of the magnetic suspension rotor system is ensured.
The embodiment of the disclosure provides an unbalanced magnetic tension control method, which is applied to a magnetic suspension rotor system, and is used for estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-built observer model according to a current operation signal of the magnetic suspension rotor system and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a signal corresponding to the unbalanced magnetic tension, then extracting the estimated value of the signal corresponding to the unbalanced magnetic tension in the estimated value of the current disturbance signal through a pre-built filter model, and finally controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system, so that the magnetic suspension rotor can be stabilized, the unbalanced magnetic tension can be accurately restrained, and the stable operation of the magnetic suspension system is ensured.
On the basis of the above embodiment, optionally, after the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic levitation rotor system, steps S810 to S830 shown in fig. 8 are specifically further included:
S810, acquiring a current operation signal of the magnetic suspension rotor system after controlling the unbalanced magnetic tension, and obtaining an updated current operation signal, wherein the updated current operation signal further comprises a first control signal.
It can be understood that after the first control signal is obtained to control the unbalanced magnetic tension, the current operation signal of the magnetic suspension rotor system is continuously obtained, the magnetic suspension rotor system is in an operation state, the current operation information of the magnetic suspension rotor system after control is obtained in real time, the unbalanced magnetic tension is restrained according to the current operation information, and the current operation signal at this time comprises a displacement signal and the first control signal.
S820, estimating the current disturbance signal corresponding to the controlled magnetic suspension rotor system through an observer model according to the first control signal and the related parameter information of the magnetic suspension rotor system, and obtaining an updated estimated value of the current disturbance signal.
It can be understood that, based on S810, the first control signal obtained by the previous calculation and the related parameter information of the magnetic suspension rotor system are input into a pre-constructed observer model, and the current disturbance signal corresponding to the magnetic suspension rotor system after control is estimated, so as to obtain an updated estimated value of the current disturbance signal, that is, an estimated value of the current disturbance signal generated by the real-time system is calculated.
S830, extracting an estimated value of a signal corresponding to the unbalanced magnetic tension in the updated current disturbance signal through a filter model according to the updated estimated value of the current disturbance signal, and controlling the unbalanced magnetic tension.
It can be understood that, based on S820 above, the updated estimated value of the current disturbance signal is input into the constructed filter model to obtain the estimated value of the signal corresponding to the unbalanced magnetic tension in the updated current disturbance signal, and the updated current displacement signal of the rotor is input into the compensation controller to obtain the compensation signal, and then the updated first control signal, that is, the second control signal, is obtained according to the estimated value of the signal corresponding to the updated unbalanced magnetic tension and the compensation signal, and the updated unbalanced magnetic tension is controlled according to the second control signal.
According to the unbalanced magnetic tension control method provided by the embodiment of the disclosure, the current running signal of the magnetic suspension rotor system is obtained in real time, the current running signal is processed, the unbalanced magnetic tension is controlled according to the processing result, the current disturbance signal generated by rotor rotation can be estimated, the control signal for controlling the unbalanced magnetic tension is automatically adjusted according to the estimation result, accurate suppression of the unbalanced magnetic tension is realized, the method is flexible, the adaptability is realized, and the reliability and stability of the magnetic suspension rotor system can be further improved.
On the basis of the above embodiment, fig. 9 is a schematic diagram of an unbalanced magnetic tension control system provided in an embodiment of the disclosure, where the system 900 includes a power model 910, an observer model 920, a filter model 930, a controller model 940 and a generation model 950 corresponding to a rotor.
The dynamic model 910 of the rotor is configured to obtain a displacement signal of the rotor according to the control signal generated by the generating model 950 and the related parameter information of the magnetic levitation rotor system, and send the displacement signal to the observer model 920 and the controller model 940.
It will be appreciated that if the system 900 is first running, the control signals generated by the generation model 950 can be set according to the user's needs.
The observer model 920 is configured to obtain an estimated value of a current disturbance signal corresponding to the magnetic suspension rotor system according to the displacement signal and the control signal, and send the estimated value of the current disturbance signal to the filter model 930, where the current disturbance signal includes a signal corresponding to the unbalanced magnetic tension.
The filter model 930 is configured to obtain an estimated value of a signal corresponding to the unbalanced magnetic tension according to the estimated value of the current disturbance signal, and send the estimated value of the signal corresponding to the unbalanced magnetic tension to the generation model 950.
The controller model 940 is configured to obtain a compensation signal based on the displacement signal and send the compensation signal to the generation model 950.
The generation model 950 is used to derive a control signal based on the compensation signal and an estimate of the signal corresponding to the unbalanced magnetic pull force, and to send control data to the power model 910 and the observer model 920.
It can be appreciated that after the control signal is obtained, the unbalanced magnetic tension is controlled according to the control signal, and meanwhile, the control signal can be sent to the power model 910 and the observer model 920, and the updated control signal is continuously calculated according to the current running signal generated by the restrained rotor, and then the balanced magnetic tension is controlled according to the updated control signal.
The unbalanced magnetic tension control system comprises a power model, an observer model, a filter model, a controller model and a generation model, wherein the power model, the observer model, the filter model, the controller model and the generation model correspond to a rotor, a current running signal of a magnetic suspension rotor system is obtained in real time, a control signal is obtained after the current running signal is processed by the unbalanced magnetic tension control system, the unbalanced magnetic tension is restrained by the control signal, the operation is simple and convenient, the implementation is convenient, and the control precision is higher.
Fig. 10 is a schematic structural diagram of an unbalanced magnetic tension control device according to an embodiment of the present disclosure. The unbalanced magnetic tension control apparatus provided in the embodiments of the present disclosure may execute the processing flow provided in the embodiment of the unbalanced magnetic tension control method, as shown in fig. 10, where the unbalanced magnetic tension control apparatus 1000 includes:
An obtaining unit 1100, configured to obtain a current operation signal of the magnetic suspension rotor system;
The estimating unit 1200 is configured to estimate, according to a current operating signal and related parameter information of the magnetic suspension rotor system, a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model, to obtain an estimated value of the current disturbance signal, where the current disturbance signal includes a signal corresponding to an unbalanced magnetic tension;
A determining unit 1300, configured to extract, according to an estimated value of a current disturbance signal, an estimated value of a signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model;
the control unit 1400 is configured to control the unbalanced magnetic tension according to the signal estimated value corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic levitation rotor system.
Optionally, the apparatus 1000 further includes a construction unit, configured to obtain an operation signal sample of the magnetic levitation rotor system before obtaining a current operation signal of the magnetic levitation rotor system, and establish a power model corresponding to the rotor in the magnetic levitation rotor system according to the operation signal sample and a related parameter of the magnetic levitation rotor system; and constructing an observer model according to the dynamic model corresponding to the rotor.
Optionally, the constructing unit constructs an observer model according to the dynamic model corresponding to the rotor, which is specifically configured to: converting a dynamic model of the rotor into an integral series form; constructing a third-order linear state observer according to the integral series-connection type power model; and carrying out differential discretization on the third-order linear state observer to obtain an observer model.
Optionally, the current operation signal in the obtaining unit 1100 includes a current displacement signal, where the current displacement signal is obtained by a power model corresponding to the rotor.
Optionally, the apparatus 1000 further includes a compensation unit, configured to obtain, according to the current displacement signal of the rotor output by the power model corresponding to the rotor, a compensation signal through a pre-built controller model before controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system.
Optionally, the control unit 1400 controls the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, which is specifically configured to: obtaining a first control signal according to the compensation signal, an estimated value of a signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system; the unbalanced magnetic tension is controlled according to the first control signal.
Optionally, the apparatus 1000 further includes an updating unit, configured to obtain, after controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, a current operation signal of the magnetic suspension rotor system after controlling the unbalanced magnetic tension, to obtain an updated current operation signal, where the updated current operation signal further includes a first control signal; estimating a current disturbance signal corresponding to the controlled magnetic suspension rotor system through an observer model according to the first control signal and the related parameter information of the magnetic suspension rotor system to obtain an updated estimated value of the current disturbance signal; and extracting an estimated value of a signal corresponding to the unbalanced magnetic tension in the updated current disturbance signal through a filter model according to the updated estimated value of the current disturbance signal, and controlling the unbalanced magnetic tension.
Optionally, the determining unit 1300 extracts, according to the estimated value of the current disturbance signal, the estimated value of the signal corresponding to the unbalanced magnetic pull through a pre-established filter model, which is specifically configured to: and extracting an estimated value of a signal corresponding to the unbalanced magnetic pulling force through a pre-established filter model according to the rotating speed of the rotor in the magnetic suspension rotor system and the estimated value of the current disturbance signal.
The unbalanced magnetic tension control device of the embodiment shown in fig. 10 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure. The electronic device provided in the embodiment of the present disclosure may execute the processing flow provided in the above embodiment, as shown in fig. 11, where the electronic device 1110 includes: a processor 1111, a communication interface 1112, and a memory 1113; wherein a computer program is stored in the memory 1113 and configured to be executed by the processor 1111 in the unbalanced magnetic tension control method as described above.
In addition, the embodiment of the present disclosure also provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to implement the unbalanced magnetic tension control method described in the above embodiment.
Furthermore, the disclosed embodiments also provide a computer program product comprising a computer program or instructions which, when executed by a processor, implements the unbalanced magnetic tension control method as described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A method of unbalanced magnetic tension control for a magnetic levitation rotor system, the method comprising:
Acquiring a current operation signal of the magnetic suspension rotor system;
Estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model according to the current running signal and related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a noise signal and a signal corresponding to unbalanced magnetic tension;
extracting an estimated value of a signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model according to the estimated value of the current disturbance signal;
Controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, wherein the related parameter information of the magnetic suspension rotor system comprises the related parameters of the rotor;
The extracting, according to the estimated value of the current disturbance signal, the estimated value of the signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model includes:
And extracting an estimated value of a signal corresponding to the unbalanced magnetic tension through the pre-constructed filter model according to the rotating speed of the rotor in the magnetic suspension rotor system and the estimated value of the current disturbance signal.
2. The method of claim 1, wherein prior to acquiring the current operating signal of the magnetic levitation rotor system, the method further comprises:
Acquiring an operation signal sample of the magnetic suspension rotor system, and establishing a power model corresponding to a rotor in the magnetic suspension rotor system according to the operation signal sample and related parameters of the magnetic suspension rotor system;
And constructing an observer model according to the dynamic model corresponding to the rotor.
3. The method of claim 2, wherein constructing an observer model from the dynamic model corresponding to the rotor comprises:
Converting the dynamic model of the rotor into an integral series form;
Constructing a third-order linear state observer according to the integral series-connection type power model;
And carrying out differential discretization processing on the third-order linear state observer to obtain the observer model.
4. The method of claim 2, wherein the current operating signal comprises a current displacement signal derived from a corresponding power model of the rotor;
Before the unbalanced magnetic tension is controlled according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, the method further comprises:
obtaining a compensation signal through a pre-constructed controller model according to the current displacement signal;
And controlling the unbalanced magnetic tension according to the estimated value of the signal corresponding to the unbalanced magnetic tension and the related parameter information of the magnetic suspension rotor system, wherein the method comprises the following steps:
obtaining a first control signal according to the compensation signal, an estimated value of a signal corresponding to the unbalanced magnetic tension and related parameter information of the magnetic suspension rotor system;
And controlling the unbalanced magnetic tension according to the first control signal.
5. The method of claim 4, wherein after controlling the unbalanced magnetic tension force based on the estimated value of the signal corresponding to the unbalanced magnetic tension force and the related parameter information of the magnetic levitation rotor system, the method further comprises:
acquiring a current operation signal of the magnetic suspension rotor system after controlling the unbalanced magnetic tension to obtain an updated current operation signal, wherein the updated current operation signal further comprises the first control signal;
estimating a current disturbance signal corresponding to the controlled magnetic suspension rotor system through the observer model according to the first control signal and the related parameter information of the magnetic suspension rotor system to obtain an updated estimated value of the current disturbance signal;
And extracting an estimated value of a signal corresponding to the unbalanced magnetic tension in the updated current disturbance signal through the filter model according to the estimated value of the updated current disturbance signal, and controlling the unbalanced magnetic tension.
6. An unbalanced magnetic tension control device for a magnetic levitation rotor system, comprising:
the acquisition unit is used for acquiring the current operation signal of the magnetic suspension rotor system;
The estimating unit is used for estimating a current disturbance signal corresponding to the magnetic suspension rotor system through a pre-constructed observer model according to the current running signal and the related parameter information of the magnetic suspension rotor system to obtain an estimated value of the current disturbance signal, wherein the current disturbance signal comprises a noise signal and a signal corresponding to unbalanced magnetic tension;
The determining unit is used for extracting the estimated value of the signal corresponding to the unbalanced magnetic tension through a pre-constructed filter model according to the estimated value of the current disturbance signal;
the control unit is used for controlling the unbalanced magnetic pulling force according to the estimated value of the signal corresponding to the unbalanced magnetic pulling force and the related parameter information of the magnetic suspension rotor system, wherein the related parameter information of the magnetic suspension rotor system comprises the related parameters of the rotor;
Wherein the determining unit is configured to:
And extracting an estimated value of a signal corresponding to the unbalanced magnetic tension through the pre-constructed filter model according to the rotating speed of the rotor in the magnetic suspension rotor system and the estimated value of the current disturbance signal.
7. An unbalanced magnetic tension control system is characterized by comprising a power model, an observer model, a filter model, a controller model and a generation model corresponding to a rotor in a magnetic suspension rotor system;
The power model of the rotor is used for obtaining a displacement signal of the rotor according to the control signal generated by the generation model and the related parameter information of the magnetic suspension rotor system, and sending the displacement signal to the observer model and the controller model, wherein the related parameter information of the magnetic suspension rotor system comprises the related parameter of the rotor;
the observer model is used for obtaining an estimated value of a current disturbance signal corresponding to the magnetic suspension rotor system according to the displacement signal and the control signal, and sending the estimated value of the current disturbance signal to the filter model, wherein the current disturbance signal comprises a noise signal and a signal corresponding to unbalanced magnetic tension;
The filter model is used for obtaining an estimated value of a signal corresponding to the unbalanced magnetic tension according to the estimated value of the current disturbance signal, and sending the estimated value of the signal corresponding to the unbalanced magnetic tension to the generation model;
the controller model is used for obtaining a compensation signal according to the displacement signal and sending the compensation signal to the generation model;
The generation model is used for obtaining the control signal according to the compensation signal and the estimated value of the signal corresponding to the unbalanced magnetic tension, and sending the control signal to the power model and the observer model.
8. An electronic device, comprising:
a memory;
A processor; and
A computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the unbalanced magnetic tension control method of any one of claims 1 to 5.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the unbalanced magnetic tension control method according to any one of claims 1 to 5.
CN202111087320.1A 2021-09-16 2021-09-16 Unbalanced magnetic tension control method, device, system, equipment and medium Active CN113623239B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111087320.1A CN113623239B (en) 2021-09-16 2021-09-16 Unbalanced magnetic tension control method, device, system, equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111087320.1A CN113623239B (en) 2021-09-16 2021-09-16 Unbalanced magnetic tension control method, device, system, equipment and medium

Publications (2)

Publication Number Publication Date
CN113623239A CN113623239A (en) 2021-11-09
CN113623239B true CN113623239B (en) 2024-06-25

Family

ID=78390218

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111087320.1A Active CN113623239B (en) 2021-09-16 2021-09-16 Unbalanced magnetic tension control method, device, system, equipment and medium

Country Status (1)

Country Link
CN (1) CN113623239B (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112162574A (en) * 2020-10-22 2021-01-01 中车株洲电机有限公司 Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3517846B2 (en) * 1993-10-29 2004-04-12 株式会社安川電機 Magnetic bearing control device
JP4287213B2 (en) * 2002-09-03 2009-07-01 エドワーズ株式会社 Magnetic bearing device having vibration suppressing function, magnetic bearing device having vibration estimating function, and pump device equipped with the magnetic bearing device
JP6613793B2 (en) * 2015-10-16 2019-12-04 株式会社島津製作所 Magnetic bearing device and rotor rotation drive device
CN106499730B (en) * 2016-11-15 2018-07-10 常州工学院 A kind of magnetic levitation bearing system it is of short duration it is out of control after can realize the control method of settling flux
CN108716471B (en) * 2018-04-03 2020-01-03 北京航空航天大学 Active control method for minimum displacement of rotor of magnetic suspension molecular pump
CN110848256B (en) * 2019-12-16 2021-04-20 常州工学院 Method for compensating interference force borne by rotor in magnetic suspension bearing system in real time
CN112152515B (en) * 2020-08-24 2022-05-10 北京航空航天大学宁波创新研究院 Magnetic suspension rotor system and micro-vibration control method and device thereof
CN111927797B (en) * 2020-09-27 2021-01-05 天津飞旋科技有限公司 Automatic adjustment method, device and system for magnetic suspension composite molecular pump
CN112815007B (en) * 2021-03-16 2022-02-01 华中科技大学 Method for observing unbalanced excitation of rotor and inhibiting displacement vibration of magnetic suspension bearing system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112162574A (en) * 2020-10-22 2021-01-01 中车株洲电机有限公司 Magnetic suspension bearing rotor vibration control method, device, equipment and storage medium

Also Published As

Publication number Publication date
CN113623239A (en) 2021-11-09

Similar Documents

Publication Publication Date Title
Tiwari et al. Identification of bearing dynamic parameters and unbalance states in a flexible rotor system fully levitated on active magnetic bearings
JP4554204B2 (en) Apparatus and method used for automatic compensation of synchronous disturbances
CN104333289A (en) Imporved ACTIVE MAGNETIC BEARINGS CONTROL SYSTEM
Sun et al. Study on PID tuning strategy based on dynamic stiffness for radial active magnetic bearing
Liu et al. Research on automatic balance control of active magnetic bearing‐rigid rotor system
CN110145541B (en) Magnetic suspension bearing rotor unbalanced motion control method based on phase stabilization
CN104009696B (en) Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control
Trajin et al. Comparison between stator current and estimated mechanical speed for the detection of bearing wear in asynchronous drives
Riemann et al. Oil whip instability control using μ-synthesis technique on a magnetic actuator
CN110531626B (en) Magnetic suspension rotor vibration compensation control method and system based on rolling time domain estimation
Prasad et al. Identification of speed-dependent active magnetic bearing parameters and rotor balancing in high-speed rotor systems
Yoon et al. Unbalance compensation for AMB systems with input delay: An output regulation approach
Sarmah et al. Dynamic analysis and identification of multiple fault parameters in a cracked rotor system equipped with active magnetic bearings: a physical model based approach
CN113623239B (en) Unbalanced magnetic tension control method, device, system, equipment and medium
Kuppa et al. Dual flexible rotor system with active magnetic bearings for unbalance and coupling misalignment faults analysis
Darbandi et al. Sensor runout compensation in active magnetic bearings via an integral adaptive observer
Yang et al. Sliding mode control for bearingless induction motor based on a novel load torque observer
Kezhen et al. Harmonic vibration suppression of maglev rotor system under variable rotational speed without speed measurement
CN106940735A (en) A kind of induction machine elastic vibration stability prediction method
CN113282115B (en) Phase-shift generalized integral extended state observer, vibration suppression method and system
CN113467230B (en) Magnetic bearing system, control method and device thereof, storage medium and processor
Chen et al. Nonlinear control of an active magnetic bearing system achieved using a fuzzy control with radial basis function neural network
CN102799125B (en) A kind of control method and system suppressing the magnetic bearing system higher-order of oscillation
Zhang et al. Research on the identification of the moment of inertia of PMSM for industrial robots
CN106525016B (en) A kind of self-adaptation control method of resonant mode gyro

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant