CN114123921A

CN114123921A - Vibration frequency determination method, device, compressor system and readable storage medium

Info

Publication number: CN114123921A
Application number: CN202111425740.6A
Authority: CN
Inventors: 李田; 杨斌; 张鹏飞; 胡善德; 贺伟衡; 刘树清
Original assignee: Midea Group Co Ltd; GD Midea Heating and Ventilating Equipment Co Ltd
Current assignee: Midea Group Co Ltd; GD Midea Heating and Ventilating Equipment Co Ltd
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-03-01

Abstract

The invention provides a vibration frequency determination method and device, a compressor system and a readable storage medium. The vibration frequency determination method comprises the following steps: carrying out amplitude-frequency response test on the transmission control system according to the first test parameters to obtain a plurality of first vibration frequencies of the rotor; based on the plurality of first vibration frequencies, carrying out amplitude-frequency response test on the transmission control system according to a second test parameter to obtain a second vibration frequency of the rotor; and the second test parameter is smaller than the first test parameter. According to the embodiment of the invention, the accuracy of the bending modal frequency identification of the rotor is improved by respectively carrying out the preliminary amplitude-frequency response test and the accurate amplitude-frequency response test on the transmission control system, so that the stability of the transmission control system is improved.

Description

Vibration frequency determination method, device, compressor system and readable storage medium

Technical Field

The invention relates to the technical field of compressors, in particular to a vibration frequency determination method, a vibration frequency determination device, a compressor system and a readable storage medium.

Background

In a magnetic suspension bearing control system, it is necessary to ensure that the control system does not contain an acting force corresponding to a bending mode frequency, otherwise, the suspension of a magnetic suspension bearing rotor is unstable, and the stability of the system is poor. In the related art, the mode of identifying the bending modal frequency of the rotor is mainly completed through a knocking test, and because the knocking test has more interference factors, such as knocking direction, force, a platform for placing the rotor and the like, the accuracy of identifying the bending modal frequency can be influenced, so that the stability of a magnetic suspension bearing control system is influenced.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, an aspect of the present invention is to propose a vibration frequency determination method.

Another aspect of the present invention is to provide a vibration frequency determination apparatus.

Yet another aspect of the present invention is directed to a compressor system.

Yet another aspect of the present invention is to provide a compressor system.

Yet another aspect of the present invention is to provide a readable storage medium.

In view of the above, according to an aspect of the present invention, there is provided a vibration frequency determining method, including: carrying out amplitude-frequency response test on the transmission control system according to the first test parameters to obtain a plurality of first vibration frequencies of the rotor; based on the plurality of first vibration frequencies, carrying out amplitude-frequency response test on the transmission control system according to a second test parameter to obtain a second vibration frequency; and the second test parameter is smaller than the first test parameter.

In the technical scheme, the accurate rotor vibration frequency is obtained by performing amplitude-frequency response test twice on the transmission control system.

Firstly, carrying out a first amplitude-frequency response test on the transmission control system according to a first test parameter to obtain a first test result, and determining a first vibration frequency according to the first test result. Specifically, under the condition of rotor suspension, a plurality of sinusoidal small signals (namely disturbance signals) with different frequencies are sequentially injected into a current reference input end of a transmission control system, amplitude values (namely first test results) corresponding to the frequencies of the small signals are obtained through Fourier decomposition at a displacement feedback end of the transmission control system, and a first vibration frequency is determined among the frequencies according to the amplitude values.

And then, according to a second test parameter, performing a second amplitude-frequency response test on the transmission control system based on the first vibration frequency to obtain a second test result, and determining a second vibration frequency according to the second test result, wherein the second vibration frequency is the bending modal frequency of the rotor. Specifically, under the condition of rotor suspension, a plurality of sinusoidal small signals (namely disturbance signals) with different frequencies are sequentially injected into a current reference input end of a transmission control system, amplitude values (namely second test results) corresponding to the frequencies of the small signals are obtained through Fourier decomposition at a current feedback end of the transmission control system, and a first vibration frequency is determined among the frequencies according to the amplitude values.

It should be noted that the first test parameter includes a preliminary test frequency range and a preliminary frequency increment step, the second test parameter includes a precise test frequency range and a precise frequency increment step, the precise test frequency range is determined according to the first vibration frequency, a range of the first vibration frequency ± a is determined as a precise test frequency range, and a is a preset value. The precise test frequency range is smaller than the preliminary test frequency range, and the precise frequency increment step length is smaller than the preliminary frequency increment step length. Because the test range and the frequency increasing step length of the second amplitude-frequency response test are smaller than those of the first amplitude-frequency response test, the vibration frequency is accurately identified.

It should be noted that the above-mentioned transmission system includes a bearing system of the compressor, for example, a magnetic suspension bearing system. After the amplitude-frequency response test is carried out, not only the amplitude corresponding to the small signal frequency but also the phase corresponding to the small signal frequency can be obtained.

According to the embodiment of the invention, the accuracy of the bending modal frequency identification of the rotor is improved by respectively carrying out the preliminary amplitude-frequency response test and the accurate amplitude-frequency response test on the transmission control system, so that the stability of the transmission control system is improved.

According to the vibration frequency determining method of the present invention, the following additional technical features may be further provided:

in the above technical solution, performing an amplitude-frequency response test on the transmission control system according to the first test parameter to obtain a plurality of first vibration frequencies of the rotor, includes: according to the first test parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve; and determining the frequency corresponding to the peak amplitude on the vibration amplitude-frequency response curve as the first vibration frequency.

In this solution, a method of determining a first vibration frequency is defined.

The method comprises the steps of obtaining a first preliminary test frequency range and a first preliminary frequency increasing step length set by a user, determining P1 different frequencies according to the first preliminary test frequency range and the first preliminary frequency increasing step length, and further performing amplitude-frequency response test of rotor vibration on a transmission system, wherein first test parameters comprise the first preliminary test frequency range and the first preliminary frequency increasing step length. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of a transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a displacement feedback end of the transmission control system, and after P1 different frequencies are injected, a vibration amplitude-frequency response curve is output, wherein the abscissa of the vibration amplitude-frequency response curve is the frequency, and the ordinate of the vibration amplitude-frequency response curve is the output amplitude of the displacement feedback end.

Further, the frequency corresponding to the peak amplitude on the vibration amplitude-frequency response curve is determined, and the frequency is used as the first vibration frequency, so that the bending mode frequency of the rotor is preliminarily identified.

According to the embodiment of the invention, the bending modal frequency of the rotor is preliminarily identified, so that a basis is provided for obtaining the accurate bending modal frequency.

In any of the above technical solutions, the first test parameter includes a first sub-parameter and a second sub-parameter, and an amplitude-frequency response test is performed on the transmission control system according to the first test parameter to obtain a plurality of first vibration frequencies of the rotor, including: according to the first sub-parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve; according to the second sub-parameter, carrying out amplitude-frequency response test on the current loop of the transmission control system to obtain an amplitude-frequency response curve of the current loop; determining a target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve; and determining the frequency corresponding to the peak amplitude on the target amplitude-frequency response curve as the first vibration frequency.

In this solution, another method of determining the first vibration frequency is defined.

And acquiring a second preliminary test frequency range and a second preliminary frequency increasing step length set by a user, determining P2 different frequencies according to the second preliminary test frequency range and the second preliminary frequency increasing step length, and further performing amplitude-frequency response test of rotor vibration on the transmission system, wherein the first sub-parameter comprises the second preliminary test frequency range and the second preliminary frequency increasing step length. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of a transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a displacement feedback end of the transmission control system, and after P2 different frequencies are injected, a vibration amplitude-frequency response curve is output, wherein the abscissa of the vibration amplitude-frequency response curve is the frequency, and the ordinate of the vibration amplitude-frequency response curve is the output amplitude of the displacement feedback end.

And acquiring a third preliminary test frequency range and a third preliminary frequency increasing step length set by a user, determining P3 different frequencies according to the third preliminary test frequency range and the third preliminary frequency increasing step length, and further performing amplitude-frequency response test on the current loop of the transmission system, wherein the second sub-parameter comprises the third preliminary test frequency range and the third preliminary frequency increasing step length. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of the transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a current feedback end of the transmission control system, and after P3 different frequencies are injected, a current loop amplitude frequency response curve is output, wherein the abscissa of the current loop amplitude frequency response curve is the frequency, and the ordinate is the output amplitude of the current feedback end.

Further, the first vibration frequency is determined according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve, and therefore preliminary identification of the bending modal frequency of the rotor is achieved.

According to the embodiment of the invention, the bending modal frequency of the rotor is preliminarily identified, so that a basis is provided for obtaining the accurate bending modal frequency. And the accuracy of primary identification of bending mode frequency is improved by combining the amplitude-frequency response test of the current loop.

In any of the above technical solutions, determining a target amplitude-frequency response curve according to a vibration amplitude-frequency response curve and a current loop amplitude-frequency response curve includes: calculating the ratio of a first amplitude on the vibration amplitude-frequency response curve to a second amplitude on the current loop amplitude-frequency response curve to obtain a target amplitude-frequency response curve; and the frequency corresponding to the first amplitude is equal to the frequency corresponding to the second amplitude.

In the technical scheme, a vibration amplitude-frequency response result and a current loop amplitude-frequency response result are combined, that is, the vibration characteristic amplitude of the same frequency point is divided by the amplitude of a current loop, and a target amplitude-frequency response curve is output.

Further, determining a peak amplitude on the target amplitude-frequency response curve, and determining a frequency corresponding to the peak amplitude as a first vibration frequency, namely, preliminarily obtaining a frequency response result of the vibration characteristic of the rotor.

In the embodiment of the invention, the accuracy of the preliminary identification of the bending mode frequency is improved by combining the amplitude-frequency response test of the current loop.

In any of the above technical solutions, determining a frequency corresponding to a peak amplitude on a vibration amplitude-frequency response curve as a first vibration frequency includes: and determining the frequency corresponding to the peak amplitude which is greater than or equal to a first preset threshold value on the vibration amplitude-frequency response curve as the first vibration frequency.

In the technical scheme, after the peak amplitude is determined on the vibration amplitude-frequency response curve, the peak amplitude is compared with a first preset threshold, and under the condition that the peak amplitude is greater than or equal to the first preset threshold, the frequency corresponding to the peak amplitude is taken as the first vibration frequency.

Because the bending mode frequency of the rotor appears on a larger wave peak amplitude, in the embodiment of the invention, the wave peak amplitude is filtered by utilizing the preset threshold value, the frequency screening range is reduced, and the accuracy and the efficiency of the determined first vibration frequency are improved.

In any of the above technical solutions, determining a frequency corresponding to a peak amplitude on a target amplitude-frequency response curve as a first vibration frequency includes: and determining the frequency corresponding to the peak amplitude which is greater than or equal to the second preset threshold value on the target amplitude-frequency response curve as the first vibration frequency.

In the technical scheme, after the peak amplitude is determined on the target amplitude-frequency response curve, the peak amplitude is compared with a second preset threshold, and under the condition that the peak amplitude is greater than or equal to the second preset threshold, the frequency corresponding to the peak amplitude is taken as the first vibration frequency.

In any of the above technical solutions, the suppressing method further includes: determining the center frequency of a trap circuit of the transmission control system according to the second vibration frequency; the second oscillation frequency is suppressed by a trap circuit.

In this solution, a trap circuit is provided in the drive control system in order to suppress the bending mode frequency of the rotor. Specifically, the recognized bending modal frequency (i.e., the second vibration frequency) of the rotor is used as the center frequency of the trap circuit, so that the trap circuit is designed, and the designed trap circuit is connected in series into a controller of the transmission control system, so that the bending modal frequency of the rotor is suppressed, and the stability of the transmission control system is improved.

It should be noted that, when actually designing the wave trap, various types of wave traps can be used for designing, and the center frequency of the wave trap is the identified bending modal frequency of the rotor.

According to another aspect of the present invention, there is provided a vibration frequency determination apparatus including: the first testing module is used for carrying out amplitude-frequency response testing on the transmission control system according to first testing parameters to obtain a plurality of first vibration frequencies of the rotor; the second testing module is used for carrying out amplitude-frequency response testing on the transmission control system according to a second testing parameter based on the plurality of first vibration frequencies to obtain a second vibration frequency of the rotor; and the second test parameter is smaller than the first test parameter.

The above-described vibration frequency determination apparatus according to the present invention may further have the following additional technical features:

in the above technical solution, the first test module is specifically configured to: according to the first test parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve; and determining the frequency corresponding to the peak amplitude on the vibration amplitude-frequency response curve as the first vibration frequency.

In this solution, a method of determining the first vibration frequency is defined.

In any of the above technical solutions, the first test parameter includes a first sub-parameter and a second sub-parameter, and the first test module is specifically configured to: according to the first sub-parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve; according to the second sub-parameter, carrying out amplitude-frequency response test on the current loop of the transmission control system to obtain an amplitude-frequency response curve of the current loop; determining a target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve; and determining the frequency corresponding to the peak amplitude on the target amplitude-frequency response curve as the first vibration frequency.

In any of the above technical solutions, the first test module is specifically configured to: calculating the ratio of a first amplitude on the vibration amplitude-frequency response curve to a second amplitude on the current loop amplitude-frequency response curve to obtain a target amplitude-frequency response curve; and the frequency corresponding to the first amplitude is equal to the frequency corresponding to the second amplitude.

In any of the above technical solutions, the first testing module is specifically configured to determine, as the first vibration frequency, a frequency corresponding to a peak amplitude greater than or equal to a first preset threshold on the vibration amplitude-frequency response curve.

It should be noted that the preset threshold includes a first preset threshold and a second preset threshold, where the first preset threshold is used to compare with a peak amplitude on the vibration amplitude-frequency response curve, and the second preset threshold is used to compare with a peak amplitude on the target amplitude-frequency response curve.

In any of the above technical solutions, the first testing module is specifically configured to determine, as the first vibration frequency, a frequency corresponding to a peak amplitude greater than or equal to a second preset threshold on the target amplitude-frequency response curve.

In any of the above technical solutions, the method further includes: and the processing module is used for determining the center frequency of a trap circuit of the transmission control system according to the second vibration frequency and utilizing the trap circuit to restrain the second vibration frequency.

According to yet another aspect of the present invention, there is provided a compressor system comprising: a rotor; a transmission control system; a memory storing programs or instructions; a processor, which when executing a program or instructions, performs the steps of the method for determining a vibration frequency according to any of the above-mentioned embodiments.

The compressor system, program or instructions provided by the present invention, when executed by a processor, implement the steps of the vibration frequency determination method according to any of the above-mentioned technical solutions, and therefore the compressor system includes all the advantageous effects of the vibration frequency determination method according to any of the above-mentioned technical solutions.

According to yet another aspect of the present invention, there is provided a compressor system comprising: a rotor; a transmission control system; the vibration frequency determining apparatus according to any one of the above aspects.

The compressor system provided by the invention comprises the vibration frequency determination device of any one of the above technical schemes, so that the compressor system comprises all the beneficial effects of the vibration frequency determination device of any one of the above technical schemes.

According to a further aspect of the present invention, a readable storage medium is proposed, on which a program or instructions are stored, which when executed by a processor implement the steps of the vibration frequency determination method according to any one of the above-mentioned technical solutions.

The readable storage medium, program or instructions provided by the present invention, when executed by a processor, implement the steps of the vibration frequency determination method according to any of the above-mentioned technical solutions, and therefore the readable storage medium includes all the benefits of the vibration frequency determination method according to any of the above-mentioned technical solutions.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 shows one of the flow diagrams of a vibration frequency determination method of an embodiment of the invention;

FIG. 2 is a second schematic flow chart of a vibration frequency determination method according to an embodiment of the present invention;

FIG. 3 is a third schematic flow chart of a vibration frequency determination method according to an embodiment of the present invention;

FIG. 4 shows a fourth flowchart of a vibration frequency determination method according to an embodiment of the present invention;

FIG. 5 illustrates one of the schematic structural diagrams of the transmission control system of an embodiment of the present invention;

FIG. 6 illustrates a second schematic structural view of a transmission control system in accordance with an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating a target amplitude-frequency response curve of an embodiment of the present invention;

FIG. 8 is a graphical illustration of test results of an amplitude-frequency response test performed on a transmission control system according to a second test parameter in accordance with an embodiment of the present invention;

FIG. 9 shows an amplitude-frequency response curve of a notch circuit of an embodiment of the present invention;

FIG. 10 shows a schematic block diagram of a frequency determination apparatus of an embodiment of the present invention;

FIG. 11 shows one of the schematic block diagrams of the compressor system of an embodiment of the present invention;

fig. 12 shows a second schematic block diagram of a compressor system of an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The magnetic suspension compressor is widely applied to an air conditioning system due to the characteristics of no mechanical loss, no need of lubrication, low loss, low operation noise and the like. The magnetic levitation compressor includes a stator, a rotor, a position sensor, a magnetic levitation bearing (drive train), a controller, and the like. The rotors actually applied to the magnetic suspension compressor are mostly slender rotors, and when the rotors rotate to a certain rotation speed, the rotors can vibrate violently and even generate bending deformation, and the frequencies of the violent vibration and the bending deformation of the rotors are called as bending modal frequencies of the rotors. In a magnetic suspension bearing control system, the control system is ensured not to contain acting force corresponding to bending mode frequency, otherwise, the suspension of a magnetic suspension bearing rotor is unstable, and the stability of the system is poor. The invention provides a vibration frequency determination method, a vibration frequency determination device, a compressor system and a readable storage medium, which aim to improve the accuracy of bending mode frequency identification.

The method for determining a vibration frequency, the apparatus for determining a vibration frequency, the compressor system and the readable storage medium provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Example one

The embodiment of the invention provides a method for determining a vibration frequency, and fig. 1 shows one of the flow diagrams of the method for determining the vibration frequency according to the embodiment of the invention. Wherein, the method comprises the following steps:

102, performing amplitude-frequency response test on the transmission control system according to a first test parameter to obtain a plurality of first vibration frequencies of the rotor;

and 104, performing amplitude-frequency response test on the transmission control system according to a second test parameter based on the plurality of first vibration frequencies to obtain a second vibration frequency of the rotor.

And the second test parameter is smaller than the first test parameter.

Example two

In this embodiment, fig. 2 shows a second flowchart of the method for determining the control parameter according to the embodiment of the present invention. Wherein, the method comprises the following steps:

step 202, determining P1 frequencies according to a preset first preliminary test frequency range and a first preliminary frequency increment step size;

204, performing amplitude-frequency response test of rotor vibration on the transmission control system according to P1 frequencies, and outputting a vibration amplitude-frequency response curve;

step 206, determining a peak amplitude of the vibration amplitude-frequency response curve, and taking a frequency corresponding to the peak amplitude as a first vibration frequency;

and 208, based on the plurality of first vibration frequencies, performing an amplitude-frequency response test on the transmission control system according to a second test parameter, so as to screen out a second vibration frequency of the rotor.

And the second test parameter is smaller than the first test parameter.

It should be noted that, because the current loop of the actual magnetic suspension bearing is designed simply, the amplitude response is about 1 in the bandwidth range, and the attenuation is slight when reaching high frequency, but the attenuation is small relative to the rotor vibration, and the influence on identifying the bending mode frequency of the rotor through the amplitude-frequency characteristic is small, in practical application, the amplitude-frequency response test of the current loop may not be performed.

In addition, the amplitude-frequency response test is carried out according to a second test parameter, which specifically comprises the following steps: and acquiring a first accurate test frequency range and a first accurate frequency incremental step, wherein the first accurate test frequency range is determined according to the first vibration frequency. And determining Q1 different frequencies according to the first precise test frequency range and the first precise frequency increment step, and further performing amplitude-frequency response test of rotor vibration on the transmission system, wherein the second test parameters comprise the first precise test frequency range and the first precise frequency increment step. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of a transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a displacement feedback end of the transmission control system, and after Q1 different frequencies are injected, a vibration amplitude-frequency response curve is output, wherein the abscissa of the vibration amplitude-frequency response curve is the frequency, and the ordinate of the vibration amplitude-frequency response curve is the output amplitude of the displacement feedback end. Further, determining the frequency corresponding to the peak amplitude on the vibration amplitude-frequency response curve, and taking the frequency as a second vibration frequency.

EXAMPLE III

In this embodiment, determining a peak amplitude of the vibration amplitude-frequency response curve, and taking a frequency corresponding to the peak amplitude as the first vibration frequency includes: determining the peak amplitude of the vibration amplitude-frequency response curve, comparing the peak amplitude with a first preset threshold, and taking the frequency corresponding to the peak amplitude which is greater than or equal to the first preset threshold as the first vibration frequency.

Example four

In this embodiment, fig. 3 shows a third flowchart of a method for determining a control parameter according to an embodiment of the present invention. Wherein, the method comprises the following steps:

step 302, determining P2 frequencies according to a preset second preliminary test frequency range and a second preliminary frequency increment step size;

304, performing amplitude-frequency response test of rotor vibration on the transmission control system according to P2 frequencies, and outputting a vibration amplitude-frequency response curve;

step 306, determining P3 frequencies according to a preset third preliminary test frequency range and a third preliminary frequency increment step size;

308, performing amplitude-frequency response test on the current loop of the transmission control system according to P3 frequencies, and outputting an amplitude-frequency response curve of the current loop;

step 310, determining a target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve;

step 312, determining a peak amplitude of the target amplitude-frequency response curve, and taking a frequency corresponding to the peak amplitude as a first vibration frequency;

and step 314, based on the plurality of first vibration frequencies, performing an amplitude-frequency response test on the transmission control system according to a second test parameter, so as to screen out a second vibration frequency of the rotor.

And the second test parameter is smaller than the first test parameter.

For example, as shown in fig. 5, a sinusoidal small signal e(s) with the above frequency is injected into a current reference input end of the transmission control system, a sinusoidal signal with the same frequency as the injected sinusoidal small signal e(s) is excited in the displacement feedback signal of the rotor rotating shaft, a same-frequency signal U1(s) in the displacement feedback signal is obtained through fourier decomposition, and the closed-loop response characteristic G1(s) (i.e., the amplitude and the phase) of the transmission control system in the frequency domain can be obtained by dividing the same-frequency signal U1(s) by the sinusoidal small signal e(s).

For example, as shown in fig. 6, a sinusoidal small signal e(s) with the above frequency is injected into a current reference input end of the transmission control system, a sinusoidal signal with the same frequency as the injected sinusoidal small signal e(s) is excited in a current feedback signal of the rotor rotating shaft, a same-frequency signal U2(s) in the current feedback signal is obtained through fourier decomposition, and the closed-loop response characteristic G2(s) (i.e., the amplitude and the phase) of the transmission control system in the frequency domain can be obtained by dividing the same-frequency signal U2(s) by the sinusoidal small signal e(s).

Further, the first vibration frequency is determined according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve, and therefore preliminary identification of the bending modal frequency of the rotor is achieved. Illustratively, FIG. 7 shows a schematic diagram of a target amplitude-frequency response curve of an embodiment of the present invention, with frequency in Hz on the abscissa and magnitude in dB on the ordinate. The peak point of the amplitude-frequency response and its frequency, which are identified as the first vibration frequency of the rotor, are evident from fig. 7.

Further, based on the plurality of first vibration frequencies, the amplitude-frequency response test is carried out on the transmission control system according to the second test parameters, so that the second vibration frequency of the rotor is screened out, namely, the more accurate bending mode frequency value of the rotor can be obtained by reducing the test frequency range and the preliminary frequency increasing step length. For example, if the determined first vibration frequencies include 580Hz, 920Hz, 1490Hz, the precise test frequency ranges are set to 530Hz to 630Hz, 870Hz to 970Hz, 1440Hz to 1540Hz, respectively, and the precise frequency increment step is reduced from the preliminary frequency increment step of 40Hz to 3 Hz. FIG. 8 is a graphical representation of test results of an amplitude-frequency response test performed on a transmission control system according to a second test parameter, wherein the abscissa represents frequency in Hz and the ordinate represents amplitude in dB, in accordance with an embodiment of the present invention.

It should be noted that, in order to obtain the amplitude corresponding to the frequency of the small signal at the current feedback end, a sinusoidal small signal of the frequency may be injected at the current reference input end of the transmission control system by using software instructions as described above. The current signal can be additionally added at the current output end of the transmission control system to serve as an excited sine small signal, the current signal can replace the sine small signal injected at the current reference input end, and a sine high-frequency small signal excitation source is directly added at the current output end (for example, an excitation coil is connected outside a magnetic suspension bearing coil), so that the attenuation of a current ring to the high-frequency signal is avoided, and the bending modal frequency of the rotor identified by practical test application can be more accurate.

In addition, the amplitude-frequency response test is carried out according to a second test parameter, which specifically comprises the following steps: first, a second precise test frequency range and a second precise frequency incremental step are obtained, and the second precise test frequency range is determined according to the first vibration frequency. And determining Q2 different frequencies according to a second precise test frequency range and a second precise frequency increment step, and further performing amplitude-frequency response test of rotor vibration on the transmission system, wherein the second test parameters comprise the second precise test frequency range and the second precise frequency increment step. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of a transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a displacement feedback end of the transmission control system, and after Q2 different frequencies are injected, a vibration amplitude-frequency response curve is output, wherein the abscissa of the vibration amplitude-frequency response curve is the frequency, and the ordinate of the vibration amplitude-frequency response curve is the output amplitude of the displacement feedback end.

And then, acquiring a third accurate test frequency range and a third accurate frequency increment step length set by a user, determining Q3 different frequencies according to the third accurate test frequency range and the third accurate frequency increment step length, and further performing amplitude-frequency response test on the current loop of the transmission system, wherein the second test parameters further comprise the third accurate test frequency range and the third accurate frequency increment step length. Specifically, under the condition of rotor suspension, a sine small signal of the frequency is injected into a current reference input end of the transmission control system, an amplitude corresponding to the frequency of the small signal is obtained through Fourier decomposition at a current feedback end of the transmission control system, and after Q3 different frequencies are injected, a current loop amplitude-frequency response curve is output, wherein the abscissa of the current loop amplitude-frequency response curve is the frequency, and the ordinate of the current loop amplitude-frequency response curve is the output amplitude of the current feedback end.

And finally, determining a second vibration frequency according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve.

EXAMPLE five

In this embodiment, the step of determining the target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve specifically includes: acquiring a first amplitude on a vibration amplitude-frequency response curve, acquiring a second amplitude on a current loop amplitude-frequency response curve, calculating the ratio of the first amplitude to the second amplitude, and outputting a target amplitude-frequency response curve; and the frequency corresponding to the first amplitude is equal to the frequency corresponding to the second amplitude.

In the technical scheme, a target amplitude-frequency response curve is output by combining a vibration amplitude-frequency response result and a current loop amplitude-frequency response result, namely, dividing a vibration characteristic amplitude (namely, a first amplitude) of the same frequency point by an amplitude (namely, a second amplitude) of a current loop.

EXAMPLE six

In this embodiment, determining a peak amplitude of the target amplitude-frequency response curve, and taking a frequency corresponding to the peak amplitude as the first vibration frequency includes: determining the peak amplitude of the target amplitude-frequency response curve, comparing the peak amplitude with a second preset threshold, and taking the frequency corresponding to the peak amplitude which is greater than or equal to the second preset threshold as the first vibration frequency.

EXAMPLE seven

In this embodiment, fig. 4 shows a fourth flowchart of the method for determining the control parameter according to the embodiment of the present invention. Wherein, the method comprises the following steps:

step 402, performing an amplitude-frequency response test on the transmission control system according to a first test parameter, and outputting a plurality of first vibration frequencies of the rotor;

404, based on the plurality of first vibration frequencies, performing an amplitude-frequency response test on the transmission control system according to a second test parameter, so as to screen out a second vibration frequency of the rotor;

step 406, setting the obtained second vibration frequency as the center frequency of a trap circuit of the transmission control system;

step 408 is suppressing the second oscillation frequency by the trap circuit.

And the second test parameter is smaller than the first test parameter.

In this solution, a trap circuit is provided in the drive control system in order to suppress the bending mode frequency of the rotor. Specifically, the identified bending mode frequency (i.e., the second vibration frequency) of the rotor is used as the center frequency of the notch circuit, so as to design the notch circuit, wherein fig. 9 shows the amplitude-frequency response curve of the notch circuit according to the embodiment of the invention. And the designed trap circuit is connected in series into a controller of the transmission control system, so that the suppression of the bending modal frequency of the rotor is realized, and the stability of the transmission control system is improved.

Example eight

The embodiment of the invention provides a method for inhibiting vibration of a magnetic suspension bearing rotor, which comprises the following steps:

step (1), suspending a rotor, injecting a sinusoidal small signal into a current reference input end under the condition that the rotor is suspended as shown in fig. 5, and obtaining the amplitude and the phase of the corresponding small signal frequency through Fourier decomposition at a displacement feedback end;

changing the frequency of the injected small signal, and repeating the operation in the step (1) to obtain a rotor vibration characteristic amplitude-frequency response curve;

step (3), suspending the rotor, injecting a sine small signal into the current reference input end under the condition that the rotor is suspended as shown in fig. 6, and obtaining the amplitude and the phase of the corresponding small signal frequency at the current feedback end through Fourier decomposition;

step (4), changing the frequency of the injected small signal, and repeating the operation of the step (3) to obtain an amplitude-frequency response curve of the current loop;

step (5), combining the amplitude-frequency response result of the rotor vibration characteristic and the amplitude-frequency response result of the current loop, dividing the amplitude of the rotor vibration characteristic at the same frequency point by the amplitude of the current loop to obtain the frequency response result of the rotor vibration characteristic preliminarily, as shown in fig. 7;

step (6), determining the frequency range of the bending mode of the rotor according to the primary vibration characteristics (reference amplitude peak frequency) of the rotor;

step (7), reducing the frequency range and the frequency increasing step length of the frequency sweeping process, and repeating the steps (1) to (5) to obtain the accurate bending mode vibration frequency of the rotor, wherein the result is shown in fig. 8;

and (8) designing a trap circuit by setting the identified bending modal frequency of the rotor as the center frequency, and connecting the trap circuit into a controller of the magnetic suspension bearing in series, wherein the trap circuit design effect is shown in fig. 9.

Example nine

An embodiment of the present invention provides a vibration frequency determination apparatus, and fig. 10 shows a schematic block diagram of a vibration frequency determination apparatus 1000 according to an embodiment of the present invention. Wherein the vibration frequency determination apparatus 1000 includes: a first test module 1002 and a second test module 1004.

The first testing module 1002 can perform amplitude-frequency response testing on the transmission control system according to the first testing parameters to obtain a plurality of first vibration frequencies of the rotor. The second testing module 1004 can perform amplitude-frequency response testing on the transmission control system according to a second testing parameter based on the plurality of first vibration frequencies to obtain a second vibration frequency of the rotor.

And the second test parameter is smaller than the first test parameter.

Example ten

In this embodiment, the first testing module 1002 is specifically configured to: determining P1 frequencies according to a preset first preliminary test frequency range and a first preliminary frequency increasing step length, performing amplitude-frequency response test on rotor vibration of the transmission control system according to P1 frequencies, and outputting a vibration amplitude-frequency response curve; determining the peak amplitude of the vibration amplitude-frequency response curve, and taking the frequency corresponding to the peak amplitude as the first vibration frequency.

EXAMPLE eleven

In this embodiment, the first test parameter includes a first sub-parameter and a second sub-parameter, and the first test module 1002 is specifically configured to: determining P2 frequencies according to a preset second preliminary test frequency range and a second preliminary frequency increasing step length, performing amplitude-frequency response test on rotor vibration according to P2 frequencies to the transmission control system, and outputting a vibration amplitude-frequency response curve; determining P3 frequencies according to a preset third preliminary test frequency range and a third preliminary frequency incremental step, performing amplitude-frequency response test on a current loop according to P3 frequencies for the transmission control system, and outputting an amplitude-frequency response curve of the current loop; determining a target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve; determining the peak amplitude of the target amplitude-frequency response curve, and taking the frequency corresponding to the peak amplitude as the first vibration frequency.

Example twelve

In this embodiment, the first testing module 1002 is specifically configured to: acquiring a first amplitude on a vibration amplitude-frequency response curve, acquiring a second amplitude on a current loop amplitude-frequency response curve, calculating the ratio of the first amplitude to the second amplitude, and outputting a target amplitude-frequency response curve; and the frequency corresponding to the first amplitude is equal to the frequency corresponding to the second amplitude.

EXAMPLE thirteen

In this embodiment, the first testing module 1002 is specifically configured to: determining the peak amplitude of a vibration amplitude-frequency response curve, comparing the peak amplitude with a first preset threshold, and taking the frequency corresponding to the peak amplitude which is greater than or equal to the preset threshold as a first vibration frequency; or determining the peak amplitude of the target amplitude-frequency response curve, comparing the peak amplitude with a second preset threshold, and taking the frequency corresponding to the peak amplitude which is greater than or equal to the preset threshold as the first vibration frequency.

In the technical scheme, on one hand, after the peak amplitude is determined on the vibration amplitude-frequency response curve, the peak amplitude is compared with a first preset threshold, and under the condition that the peak amplitude is greater than or equal to the first preset threshold, the frequency corresponding to the peak amplitude is taken as the first vibration frequency.

On the other hand, after the peak amplitude is determined on the target amplitude-frequency response curve, the peak amplitude is compared with a second preset threshold, and under the condition that the peak amplitude is greater than or equal to the second preset threshold, the frequency corresponding to the peak amplitude is used as the first vibration frequency.

Example fourteen

In this embodiment, the vibration frequency determination apparatus 1000 further includes: and the processing module is used for setting the acquired second vibration frequency as the central frequency of a trap circuit of the transmission control system and utilizing the trap circuit to restrain the second vibration frequency.

In this solution, a trap circuit is provided in the drive control system in order to suppress the bending mode frequency of the rotor. Specifically, the bending modal frequency (i.e., the second vibration frequency) of the rotor is identified as the center frequency of the trap circuit, so that the trap circuit is designed, and the designed trap circuit is connected in series into a controller of the transmission control system, so that the bending modal frequency of the rotor is suppressed, and the stability of the transmission control system is improved.

Example fifteen

In an embodiment of the present invention, a compressor system is provided, and fig. 11 shows one of schematic block diagrams of a compressor system 1100 according to an embodiment of the present invention. Wherein, this compressor system 1100 includes: the method comprises the following steps: a rotor 1102, a transmission control system 1104, a memory 1106, and a processor 1108. Wherein the memory 1106 can store a program or instructions which, when executed by the processor 1108, implement the steps of the frequency determination method according to any of the above-described embodiments.

Wherein the memory 1106 and the processor 1108 may be connected by a bus or other means. The Processor 1108 may include one or more Processing units, and the Processor 1108 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.

The compressor system 1100 provided by the present invention, when the program or the instructions are executed by the processor 1108, implements the steps of the vibration frequency determining method according to any of the above-mentioned technical solutions, and therefore the compressor system 1100 includes all the advantages of the vibration frequency determining method according to any of the above-mentioned technical solutions.

Example sixteen

In an embodiment of the present invention, a compressor system is provided, and fig. 12 shows a second schematic block diagram of a compressor system 1200 according to an embodiment of the present invention. Wherein, this compressor system 1200 includes: the method comprises the following steps: a rotor 1202, a transmission control system 1204, and a vibration frequency determination device 1000 according to any of the above-described embodiments.

The compressor system 1200 provided by the present invention includes the vibration frequency determination apparatus 1000 according to any of the above-mentioned technical solutions, and therefore the compressor system 1200 includes all the advantageous effects of the vibration frequency determination apparatus according to any of the above-mentioned technical solutions.

Example seventeen

An embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, and the program or instructions, when executed by a processor, implement the steps of the vibration frequency determination method according to any one of the above technical solutions.

The readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vibration frequency determination method, comprising:

carrying out amplitude-frequency response test on the transmission control system according to the first test parameters to obtain a plurality of first vibration frequencies of the rotor;

based on the plurality of first vibration frequencies, carrying out amplitude-frequency response test on the transmission control system according to a second test parameter to obtain a second vibration frequency of the rotor;

wherein the second test parameter is less than the first test parameter.

2. The method of claim 1, wherein performing an amplitude-frequency response test on the drive control system according to the first test parameters to obtain a plurality of first vibration frequencies of the rotor comprises:

according to a first test parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve;

and determining the frequency corresponding to the peak amplitude on the vibration amplitude-frequency response curve as the first vibration frequency.

3. The method of claim 1, wherein the first test parameters include a first sub-parameter and a second sub-parameter, and wherein performing an amplitude-frequency response test on the drive control system according to the first test parameters to obtain a plurality of first vibration frequencies of the rotor comprises:

according to the first sub-parameter, carrying out amplitude-frequency response test of rotor vibration on the transmission control system to obtain a vibration amplitude-frequency response curve;

according to the second sub-parameter, carrying out amplitude-frequency response test on the current loop of the transmission control system to obtain a current loop amplitude-frequency response curve;

determining a target amplitude-frequency response curve according to the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve;

and determining the frequency corresponding to the peak amplitude on the target amplitude-frequency response curve as the first vibration frequency.

4. The method of claim 3, wherein determining a target amplitude-frequency response curve from the vibration amplitude-frequency response curve and the current loop amplitude-frequency response curve comprises:

calculating the ratio of a first amplitude on the vibration amplitude-frequency response curve to a second amplitude on the current loop amplitude-frequency response curve to obtain the target amplitude-frequency response curve;

and the frequency corresponding to the first amplitude is equal to the frequency corresponding to the second amplitude.

5. The method of claim 2, wherein determining the frequency corresponding to the peak amplitude on the vibration amplitude frequency response curve as the first vibration frequency comprises:

and determining the frequency corresponding to the peak amplitude which is greater than or equal to a first preset threshold value on the vibration amplitude-frequency response curve as the first vibration frequency.

6. The method of claim 3, wherein determining a frequency corresponding to a peak amplitude on the target amplitude-frequency response curve as the first vibration frequency comprises:

and determining the frequency corresponding to the peak amplitude which is greater than or equal to a second preset threshold value on the target amplitude-frequency response curve as the first vibration frequency.

7. The method of any one of claims 1 to 6, further comprising:

determining a center frequency of a trap circuit of the transmission control system according to the second vibration frequency;

and suppressing the second oscillation frequency by using the trap circuit.

8. A vibration frequency determination apparatus, characterized by comprising:

the first testing module is used for carrying out amplitude-frequency response testing on the transmission control system according to first testing parameters to obtain a plurality of first vibration frequencies of the rotor;

the second testing module is used for carrying out amplitude-frequency response testing on the transmission control system according to a second testing parameter based on the plurality of first vibration frequencies to obtain a second vibration frequency of the rotor;

wherein the second test parameter is less than the first test parameter.

9. The apparatus of claim 8, wherein the first testing module is specifically configured to:

10. The apparatus of claim 8, wherein the first test parameter comprises a first sub-parameter and a second sub-parameter, and the first test module is specifically configured to:

11. The apparatus of claim 10, wherein the first testing module is specifically configured to:

12. The apparatus of claim 9,

the first test module is specifically configured to determine, as the first vibration frequency, a frequency corresponding to a peak amplitude greater than or equal to a first preset threshold on the vibration amplitude-frequency response curve.

13. The apparatus of claim 10,

the first test module is specifically configured to determine, as the first vibration frequency, a frequency corresponding to a peak amplitude greater than or equal to a second preset threshold on the target amplitude-frequency response curve.

14. The apparatus of any one of claims 8 to 13, further comprising:

and the processing module is used for determining the center frequency of a trap circuit of the transmission control system according to the second vibration frequency and utilizing the trap circuit to restrain the second vibration frequency.

15. A compressor system, comprising:

a rotor;

a transmission control system;

a memory storing programs or instructions;

a processor which, when executing the program or instructions, carries out the steps of the vibration frequency determination method according to any one of claims 1 to 7.

16. A compressor system, comprising:

a rotor;

a transmission control system;

a vibration frequency determination apparatus as claimed in any one of claims 8 to 14.

17. A readable storage medium on which a program or instructions are stored, which program or instructions, when executed by a processor, carry out the steps of the vibration frequency determination method according to any one of claims 1 to 7.