CN117307607A - Variable period self-adaptive control method and device for synchronous vibration of electromagnetic bearing system - Google Patents
Variable period self-adaptive control method and device for synchronous vibration of electromagnetic bearing system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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Abstract
The application relates to a variable period self-adaptive control method and device for synchronous vibration of an electromagnetic bearing system, wherein the method comprises the following steps: calculating optimal initial iteration step coefficients of different rotating speed sections based on a sweep frequency result of the electromagnetic bearing closed-loop system, and storing the optimal initial iteration step coefficients in a lookup table; determining the rotor rotation speed and the rotor rotation period by using a rotation speed sensor, and calculating the rotor phase in the corresponding rotation period according to the rotor rotation speed and the rotor rotation period; and (3) adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle, calculating and obtaining a synchronous direct current component and synchronous energy in the current iteration cycle, and iteratively updating the Fourier coefficient of the feedforward compensation signal by taking the synchronous energy as an objective function until the synchronous energy converges to zero. Therefore, the problems that the prior art cannot have excellent convergence performance and control stability at the same time, potential safety hazards threatening the reliable operation of an electromagnetic bearing system are easily formed and the like are solved.
Description
Technical Field
The application relates to the field of unbalanced control of electromagnetic bearing systems, in particular to a variable period self-adaptive control method and device for synchronous vibration of an electromagnetic bearing system.
Background
The electromagnetic bearing system has the advantages of micro friction, no need of lubrication and sealing, low power consumption and the like, has important commercial value, and is increasingly widely applied in industry. Because of factors such as processing and assembly errors, uneven material density and the like, the rotor of the electromagnetic bearing system usually has residual unbalanced mass, which is easy to cause the electromagnetic bearing system to vibrate at the same frequency as the rotating speed during working, and the stability and the safety of the system are seriously affected.
In the related art, a common method for synchronous vibration suppression of an electromagnetic bearing system is a dynamic balance method, and in the existing unbalanced control algorithm, the method based on an iterative feedforward compensation strategy has the advantages of simple structure, strong practicability, independence of an accurate mathematical model and the like, and is widely used in unbalanced control of the electromagnetic bearing system.
However, in the related art, the dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economical efficiency is poor, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot simultaneously have excellent convergence performance and control stability, the method cannot ensure good robustness in the whole system working bandwidth, potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed, and the improvement is needed.
Disclosure of Invention
The application provides a variable period self-adaptive control method and device for synchronous vibration of an electromagnetic bearing system, which are used for solving the problems that in the related technology, a dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economical efficiency is poor, an algorithm based on an iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot have excellent convergence performance and control stability at the same time, the system cannot have good robustness in the whole system working bandwidth, and potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed.
An embodiment of a first aspect of the present application provides a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system, including the following steps: calculating optimal initial iteration step coefficients of different rotating speed sections based on a sweep frequency result of an electromagnetic bearing closed-loop system, and storing the optimal initial iteration step coefficients in a lookup table; determining the rotor rotation speed and the rotor rotation period by using a rotation speed sensor, and calculating the rotor phase in the corresponding rotation period according to the rotor rotation speed and the rotor rotation period; and based on the rotor phase, adaptively adjusting an iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle, calculating and obtaining a synchronous direct current component and synchronous energy in the iteration cycle, and iteratively updating a Fourier coefficient of a feedforward compensation signal by taking the synchronous energy as an objective function until the synchronous energy converges to zero.
Optionally, in an embodiment of the present application, the calculating the optimal initial iteration step coefficients of different rotation speed segments based on the sweep result of the electromagnetic bearing closed-loop system includes: calculating initial iteration step length coefficient threshold values at different rotating speeds; dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting the corresponding optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in the lookup table.
Optionally, in one embodiment of the present application, the formula for calculating the initial iteration step coefficient threshold at different rotational speeds is:
wherein χ is 0 For initial iteration step coefficients, Q x Andrespectively the frequency response functions of the electromagnetic bearing closed-loop systemOmega is the rotor speed and j is the imaginary unit.
Optionally, in an embodiment of the present application, the calculation formula for determining the rotor rotation speed by using the rotation speed sensor is:
wherein T is p For the rotation period, p (p=1, 2,3, …) is a count of the rotor rotation period;
the calculation formula of the rotor phase in the corresponding rotation period is as follows:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, Ω p Is the rotation speed value, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p Is a sampling point within one rotation period of the rotor.
Optionally, in an embodiment of the present application, the calculation formula for determining the iteration cycle coefficient is:
wherein t is d 200T of s ；
The calculation formula of the feedforward compensation signal is as follows:
wherein A and B respectively represent an A-end bearing and a B-end bearing, n is the number of iterative steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
The calculation formula of the synchronous direct current component in the iteration period is as follows:
wherein e xAp (k 1 ) And e xBp (k 1 ) Respectively are provided withFor the error signals in the x direction of the A end and the B end, A and B respectively represent the A end bearing and the B end bearing, n is the iteration step number, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
Optionally, in an embodiment of the present application, the adaptively adjusting the iteration cycle coefficient according to the rotor speed based on the rotor phase to determine an iteration cycle includes: and obtaining an algorithm parameter initial value, adding one to the iteration step number to calculate the iteration cycle coefficient, and adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle.
An embodiment of a second aspect of the present application provides a variable period adaptive control device for synchronous vibration of an electromagnetic bearing system, including: the calculation module is used for calculating optimal initial iteration step coefficients of different rotating speed sections based on the sweep frequency result of the electromagnetic bearing closed-loop system, and storing the optimal initial iteration step coefficients in a lookup table; the acquisition module is used for determining the rotor rotating speed and the rotor rotating period by utilizing a rotating speed sensor and calculating the rotor phase in the corresponding rotating period according to the rotor rotating speed and the rotor rotating period; and the control module is used for adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed based on the rotor phase to determine an iteration cycle, calculating to obtain a synchronous direct current component and synchronous energy in the iteration cycle, and iteratively updating the Fourier coefficient of the feedforward compensation signal by taking the synchronous energy as an objective function until the synchronous energy converges to zero.
Optionally, in one embodiment of the present application, the computing module includes: the calculating unit is used for calculating initial iteration step length coefficient thresholds at different rotating speeds; the selection unit is used for dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting the optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in the lookup table.
Optionally, in one embodiment of the present application, the formula for calculating the initial iteration step coefficient threshold at different rotational speeds is:
wherein χ is 0 For initial iteration step coefficients, Q x Andrespectively the frequency response functions of the electromagnetic bearing closed-loop systemOmega is the rotor speed and j is the imaginary unit.
Optionally, in an embodiment of the present application, the calculation formula for determining the rotor rotation speed by using the rotation speed sensor is:
wherein T is p For the rotation period, p (p=1, 2,3, …) is a count of the rotor rotation period;
the calculation formula of the rotor phase in the corresponding rotation period is as follows:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, Ω p Is the rotation speed value, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p Is a sampling point within one rotation period of the rotor.
Optionally, in an embodiment of the present application, the calculation formula for determining the iteration cycle coefficient is:
wherein t is d 200T of s ；
The calculation formula of the feedforward compensation signal is as follows:
wherein A and B respectively represent an A-end bearing and a B-end bearing, n is the number of iterative steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
The calculation formula of the synchronous direct current component in the iteration period is as follows:
wherein e xAp (k 1 ) And e xBp (k 1 ) Error signals in x directions of an end A and an end B respectively, wherein A and B respectively represent an end A bearing and an end B bearing, n is the number of iteration steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
Optionally, in one embodiment of the present application, the control module includes: the determining unit is used for obtaining an algorithm parameter initial value, adding one to the iteration step number to calculate the iteration cycle coefficient, and self-adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle.
An embodiment of a third aspect of the present application provides an electronic device, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the variable period self-adaptive control method for synchronous vibration of the electromagnetic bearing system.
The fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the variable period adaptive control method of synchronous vibration of an electromagnetic bearing system as above.
According to the method and the device, the optimal initial iteration step length coefficients in different rotating speed sections can be calculated based on the frequency sweeping results of the electromagnetic bearing closed-loop system, the rotating speed sensor is used for calculating the rotor phase, the iteration period coefficients are adjusted based on the rotating speed in a self-adaptive mode, the iteration period is adjusted in a self-adaptive mode, the Fourier coefficients of feedforward compensation signals are updated in a self-adaptive mode, therefore, the unbalanced vibration is restrained, meanwhile, excellent convergence effect and system stability are guaranteed, and good robustness is guaranteed in the whole system working bandwidth. Therefore, the problems that in the related technology, the dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economy is poor, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot simultaneously have excellent convergence performance and control stability, the system cannot guarantee good robustness in the whole system working bandwidth, potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed, and the like are solved.
Additional aspects and advantages of the application 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 application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system using a rotational speed sensor to calculate rotor phase according to one embodiment of the present application;
FIG. 3 is an iterative schematic of an algorithm n-th step of a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system according to one embodiment of the present application;
FIG. 4 is an iterative flow chart of a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system according to one embodiment of the present application;
fig. 5 is a schematic structural diagram of a variable period adaptive control device for synchronous vibration of an electromagnetic bearing system according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a variable period self-adaptive control method and device for synchronous vibration of an electromagnetic bearing system according to the embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that in the related art mentioned in the background art, a dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economy is poor, an algorithm based on an iterative feedforward compensation strategy cannot adaptively adjust an iteration period, excellent convergence performance and control stability cannot be achieved at the same time, good robustness in the whole system working bandwidth cannot be guaranteed, potential safety hazards threatening the reliable operation of an electromagnetic bearing system are prone to forming, the application provides a variable period adaptive control method for synchronous vibration of the electromagnetic bearing system, in the method, optimal initial iteration step length coefficients in different rotating speed sections can be calculated based on a sweep result of the electromagnetic bearing closed-loop system, a rotating speed sensor is used for calculating a rotor phase, and the iteration period coefficients are adaptively adjusted based on the rotating speed, so that the iteration period is adaptively adjusted, the Fourier coefficients of feedforward compensation signals are adaptively updated, the excellent convergence effect and the system stability are guaranteed while unbalanced vibration is restrained, and the good robustness in the whole system working bandwidth is guaranteed. Therefore, the problems that in the related technology, the dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economy is poor, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot simultaneously have excellent convergence performance and control stability, the system cannot guarantee good robustness in the whole system working bandwidth, potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed, and the like are solved.
Specifically, fig. 1 is a schematic flow chart of a variable period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of the present application.
As shown in fig. 1, the variable period self-adaptive control method for synchronous vibration of the electromagnetic bearing system comprises the following steps:
in step S101, based on the sweep frequency result of the electromagnetic bearing closed-loop system, the optimal initial iteration step coefficients of different rotation speed segments are calculated, and the optimal initial iteration step coefficients are stored in a lookup table.
It can be appreciated that the electromagnetic bearing closed-loop system in the embodiment of the application has the advantages of micro friction, no need of lubrication and sealing, low power consumption and the like, and is widely applied.
In the actual execution process, the method and the device can calculate the optimal initial iteration step coefficients of different rotating speed sections based on the sweep frequency result of the electromagnetic bearing closed-loop system, and store the optimal initial iteration step coefficients in the lookup table, so that the method and the device are beneficial to inhibiting unbalanced vibration, guaranteeing excellent convergence effect and system stability, and guaranteeing good robustness in the whole system working bandwidth.
Optionally, in an embodiment of the present application, calculating the optimal initial iteration step coefficients of different rotation speed segments based on the sweep result of the electromagnetic bearing closed-loop system includes: calculating initial iteration step length coefficient threshold values at different rotating speeds; dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting a corresponding optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in a lookup table.
As a possible implementation manner, the embodiment of the application may calculate initial iteration step size coefficient thresholds that enable the algorithm to be progressively stable at different rotation speeds, and the embodiment of the application may divide the working rotation speed range of the electromagnetic bearing closed loop system into a plurality of rotation speed segments, select, for each rotation speed segment, a corresponding initial iteration step size coefficient, and make the coefficient be 0.5-0.6 times of the stable initial iteration step size coefficient threshold, so as to obtain an optimal initial iteration step size coefficient, and store the optimal initial iteration step size coefficient in the lookup table.
The method and the device can select the corresponding initial iteration step coefficients, further ensure excellent convergence effect and system stability while inhibiting unbalanced vibration, and ensure good robustness in the whole system working bandwidth.
Optionally, in one embodiment of the present application, the formula for calculating the initial iteration step coefficient threshold at different rotational speeds is:
wherein χ is 0 For initial iteration step coefficients, Q x Andthe frequency response functions of the electromagnetic bearing closed-loop system are respectively +.> Omega is the rotor speed and j is the imaginary unit.
In actual implementation, the embodiment of the present application may be represented by the formula:
and calculating the stability threshold value of the iteration step coefficients corresponding to different rotating speeds, improving the accuracy of calculation and ensuring the stability of the electromagnetic bearing closed-loop system.
In step S102, the rotor speed and the rotor rotation period are determined using the speed sensor, and the rotor phase in the corresponding rotation period is calculated from the rotor speed and the rotor rotation period.
It is understood that the rotor speed and rotor rotation period in the embodiments of the present application may be determined by a speed sensor.
In the actual execution process, the embodiment of the application can utilize the rotating speed sensor to determine the rotating speed of the rotor and the rotating period of the rotor, and calculate the phase of the rotor in the corresponding rotating period according to the rotating speed of the rotor and the rotating period of the rotor, so that unbalanced vibration of the electromagnetic bearing system is effectively restrained.
Optionally, in one embodiment of the present application, the calculation formula for determining the rotor speed using the speed sensor is:
wherein T is p For the rotation period, p (p=1, 2,3, …) is the count of rotor rotation periods;
the calculation formula of the rotor phase in the corresponding rotation period is:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, Ω p Is the rotation speed value, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p Is the sampling point within one rotation period of the rotor.
As one possible implementation, embodiments of the present application may determine the rotor speed based on a speed sensor. Referring to fig. 2, fig. 2 is a schematic diagram showing a rotor phase calculation by using a rotation speed sensor, when the rotation speed sensor detects a mark (a groove or a reflective strip) on the rotor, a high-level signal is generated, the time difference between two adjacent rising edges of the rotation speed sensor signal is the rotation period of one rotor, and T is used p Indicating that the rotational speed value is thus obtained:
wherein T is p For the rotation period, which is determined by the time difference between adjacent rising edge signals, p (p=1, 2,3, …) is a count of the rotor rotation period.
The embodiment of the application can calculate the phase of the inner rotor in the corresponding rotation period, and the phase in the p-th rotation period can be expressed as:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p For sampling points in one rotation period of the rotor, when the rotation speed sensor detects a rising edge, the initial phase is set to 0, namely psi p (0)＝0。
In step S103, based on the rotor phase, the iteration cycle coefficient is adaptively adjusted according to the rotor rotation speed to determine an iteration cycle, and the synchronous direct current component and the synchronous energy in the iteration cycle are obtained by calculation, and the fourier coefficient of the feedforward compensation signal is iteratively updated with the synchronous energy as an objective function until the synchronous energy converges to zero.
It is understood that the iteration cycle in the embodiments of the present application is determined by the iteration cycle coefficient and the rotation speed.
In the actual implementation process, the embodiment of the application may adaptively adjust the iteration cycle coefficient according to the rotor rotation speed based on the rotor phase to determine the iteration cycle, calculate the synchronous direct current component and the synchronous energy in the iteration cycle, iteratively update the fourier coefficient of the feedforward compensation signal with the synchronous energy as the objective function until the synchronous energy converges to zero, and in combination with fig. 3, fig. 3 shows a schematic diagram of the variable cycle adaptive control algorithm, where G c 、G w 、K se And C is a controller transfer function matrix, a power amplifier transfer function matrix, a displacement sensor coefficient matrix and a coordinate transformation matrix respectively. FIG. 3 mainly comprises threeThe method comprises the following steps: the rotor phase calculation module is responsible for calculating the rotor phase based on the rotation speed sensor; the synchronous energy extraction module is responsible for calculating the energy of synchronous vibration; the adaptive iteration module is used for adaptively updating the Fourier coefficient of the feedforward compensation signal of the next iteration step by taking the synchronous energy as an objective function. The above schematic diagram illustrates the process of the nth iteration, i.e. the n+1th step feedforward compensation signal r is generated by iteration n+1 The iteration period of the current iteration is represented by an iteration period coefficient lambda n And rotational speed determination.
The embodiment of the application can ensure that the structure is simple, the practicability is strong, the accurate mathematical model is not relied on, the adaptive adjustment iteration period is adopted, the excellent convergence performance and the control stability are realized, and the problems that the excellent convergence effect and the system stability cannot be ensured simultaneously in the process of inhibiting unbalanced vibration and the excellent robustness cannot be realized in the whole system working bandwidth are solved.
Optionally, in one embodiment of the present application, the calculation formula for determining the iteration cycle coefficient is:
wherein t is d 200T of s ；
The calculation formula of the feedforward compensation signal is as follows:
wherein A and B respectively represent an A-end bearing and a B-end bearing, n is the number of iterative steps, and k 1 (k 1 ＝1,2,…,N p ) Discrete time within one rotation period of the rotor;
the calculation formula of the synchronous direct current component in the iteration period is as follows:
wherein the method comprises the steps of，e xAp (k 1 ) And e xBp (k 1 ) Error signals in x directions of an end A and an end B respectively, wherein A and B respectively represent an end A bearing and an end B bearing, n is the number of iteration steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
In the actual execution process, the iteration period of the nth step is lambda of the rotor rotation period n Multiple, lambda n For the iteration cycle coefficient, the n-th step iteration cycle coefficient is first determined according to the following formula:
wherein t is d 200T of s Neither the convergence performance of the algorithm nor the dynamic performance of the system is affected.
Then, the fourier coefficients of the feedforward step signal are updated in an adaptive iteration, taking the nth step as an example, and the fourier coefficients of the nth step iteration are:
u A (n),v A (n),u B (n),v B (n)，
the embodiment of the application can calculate the feedforward compensation signal of the iteration:
next, the synchronous direct current component in the current iteration period is calculated:
wherein e xAp (k 1 ) And e xBp (k 1 ) The error signals in the x direction of the A end and the B end respectively.
Embodiments of the present application may calculate u A (n): if it isThen χ is sA (n)＝-χ sA (n-1); otherwise χ sA (n)＝χ sA (n-1); next u A (n)＝u A (n-1)-χ sA (n)h sA (n)。
Embodiments of the present application may calculate v A (n): if it isThen χ is cA (n)＝-χ cA (n-1); otherwise χ cA (n)＝χ cA (n-1); next +.>
Embodiments of the present application may calculate u B (n): if it isThen χ is sB (n)＝-χ sB (n-1); otherwise χ sB (n)＝χ sB (n-1); next u B (n)＝u B (n-1)-χ sB (n)h sB (n)。
Embodiments of the present application may calculate v B (n): if it isThen χ is cB (n)＝-χ cB (n-1); otherwise χ cB (n)＝χ cB (n-1); next v B (n)＝v B (n-1)-χ cB (n)h cB (n)。
According to the method and the device, the coefficient of the nth step iteration period can be firstly determined, then the feedforward compensation signal of the current iteration is calculated, and then the synchronous direct current component in the current iteration period is calculated, so that the method and the device are further simple in structure, strong in practicability and independent of an accurate mathematical model, the iteration period is adaptively adjusted, excellent convergence performance and control stability are achieved, and the problems that an excellent convergence effect and system stability cannot be guaranteed simultaneously in the process of inhibiting unbalanced vibration and good robustness cannot be achieved in the whole system working bandwidth are solved.
Optionally, in one embodiment of the present application, adaptively adjusting the iteration cycle coefficient according to the rotor speed based on the rotor phase to determine the iteration cycle includes: and obtaining an algorithm parameter initial value, adding one to the iteration step number to calculate an iteration cycle coefficient, and adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle.
Specifically, the embodiment of the present application may initialize the algorithm parameters first, where n=0.
[u A (0),v A (0),u B (0),v B (0)]＝[0,0,0,0]，
[h sA (0),h cA (0),h sB (0),h cB (0)]＝[0,0,0,0]，
According to the rotational speed table look-up, can obtain:
[χ sA (0),χ cA (0),χ dB (0),χ cB (0)]＝[χ 0 ,χ 0 ,χ 0 ,χ 0 ]，
wherein [ h ] sA (0),h cA (0),h sB (0),h cB (0)]Is the initial dc component.
The embodiment of the application can add one to the iteration step number:
n＝n+1，
the Fourier coefficient of the feedforward compensation signal acting on the nth iteration is obtained by the n-1 th step, and the feedforward compensation signal is in the form of:
determining an n-th step iteration cycle coefficient according to the following formula:
according to the method and the device for controlling the rotor rotation speed, the iteration cycle coefficient can be calculated, the iteration cycle coefficient is adaptively adjusted according to the rotor rotation speed to determine the iteration cycle, and the problems that an excellent convergence effect and system stability cannot be guaranteed at the same time in the process of inhibiting unbalanced vibration, and good robustness cannot be achieved in the whole system working bandwidth are further solved.
Next, with reference to fig. 4, the working principle of the variable period adaptive control method for synchronous vibration of the electromagnetic bearing system in the embodiment of the present application may be described in detail in a specific embodiment.
As shown in fig. 4, taking the a-side as an example, in the embodiment of the present application, updating the fourier coefficient of the a-side feedforward compensation signal may include the following steps:
step S401: [ u ] A (0),v A (0)]＝[0,0]，χ sA (0)＝χ cA (0)＝χ 0 ，[h sA (0),h cA (0)]＝[0,0]。
Step S402: n=1
Step S403: calculating lambda n 。
Step S404: and determining the iteration period.
Step S405: generating a feedforward compensation signal r acting on the present iteration n 。
Step S406: the rotor phase is calculated.
Step S407: calculating synchronous DC component h sA (n) and h cA (n)。
Step S408: judgingWhether or not to be greater than->If yes, executing step S409; if not, step S410 is performed.
Step S409: x-shaped articles sA (n)＝-χ sA (n-1)。
Step S410: x-shaped articles sA (n)＝χ sA (n-1)。
Step S411: judgingWhether or not to be greater than->If yes, go to step S412; if not, step S413 is performed.
Step S412: x-shaped articles cA (n)＝-χ cA (n-1)。
Step S413: x-shaped articles cA (n)＝χ cA (n-1)。
Step S414: u (u) A (n)＝u A (n-1)-χ sA (n)h sA (n)，v A (n)＝v A (n-1)-χ cA (n)h cA (n)。
Step S415: n=n+1.
According to the variable period self-adaptive control method for synchronous vibration of the electromagnetic bearing system, which is provided by the embodiment of the application, the optimal initial iteration step length coefficients in different rotating speed sections can be calculated based on the sweep frequency result of the electromagnetic bearing closed-loop system, the rotor phase is calculated by using the rotating speed sensor, the iteration period coefficients are self-adaptively adjusted based on the rotating speed, so that the iteration period is self-adaptively adjusted, the Fourier coefficients of feedforward compensation signals are self-adaptively iterated and updated, the unbalanced vibration is restrained, the excellent convergence effect and the system stability are ensured, and the good robustness in the whole system working bandwidth is ensured. Therefore, the problems that in the related technology, the dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economy is poor, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot simultaneously have excellent convergence performance and control stability, the system cannot guarantee good robustness in the whole system working bandwidth, and potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed are solved.
Next, a variable period adaptive control device for synchronous vibration of an electromagnetic bearing system according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 5 is a schematic structural diagram of a variable period adaptive control device for synchronous vibration of an electromagnetic bearing system according to an embodiment of the present application.
As shown in fig. 5, the variable cycle adaptive control device 10 for synchronous vibration of an electromagnetic bearing system includes: a calculation module 100, an acquisition module 200 and a control module 300.
Specifically, the calculation module 100 is configured to calculate an optimal initial iteration step coefficient of different rotation speed segments based on a sweep frequency result of the electromagnetic bearing closed-loop system, and store the optimal initial iteration step coefficient in a lookup table.
The acquisition module 200 is configured to determine a rotor rotational speed and a rotor rotation period by using a rotational speed sensor, and calculate a rotor phase in a corresponding rotation period according to the rotor rotational speed and the rotor rotation period.
The control module 300 is configured to adaptively adjust the iteration cycle coefficient according to the rotor rotation speed based on the final rotor phase to determine an iteration cycle, calculate a synchronous direct current component and synchronous energy in the iteration cycle, and iteratively update the fourier coefficient of the feedforward compensation signal with the synchronous energy as an objective function until the synchronous energy converges to zero.
Optionally, in one embodiment of the present application, the computing module 100 includes: a calculation unit and a selection unit.
The calculation unit is used for calculating initial iteration step-length coefficient thresholds at different rotating speeds.
The selection unit is used for dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting an optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in the lookup table.
Optionally, in one embodiment of the present application, the formula for calculating the initial iteration step coefficient threshold at different rotational speeds is:
wherein χ is 0 For initial iteration step coefficients, Q x Andrespectively the electromagnetic bearing closed loopsSystem frequency response functionOmega is the rotor speed and j is the imaginary unit.
Optionally, in an embodiment of the present application, the calculation formula for determining the rotor rotation speed by using the rotation speed sensor is:
wherein T is p For a rotation period, p (p=1, 2,3, …) is a count of the rotor rotation period;
the calculation formula of the rotor phase in the corresponding rotation period is as follows:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, Ω p Is the rotation speed value, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p Is a sampling point within one rotation period of the rotor.
Optionally, in an embodiment of the present application, the calculation formula for determining the iteration cycle coefficient is:
wherein t is d 200T of s ；
The calculation formula of the feedforward compensation signal is as follows:
wherein A and B respectively represent an A-end bearing and a B-end bearing, n is the number of iterative steps, and k 1 (k 1 ＝1,2,…,N p ) One revolution for the rotorDiscrete time within the slew period;
the calculation formula of the synchronous direct current component in the iteration period is as follows:
wherein e xAp (k 1 ) And e xBp (k 1 ) Error signals in x directions of an end A and an end B respectively, wherein A and B respectively represent an end A bearing and an end B bearing, n is the number of iteration steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
Optionally, in one embodiment of the present application, the control module 300 includes: and a determining unit.
The determining unit is used for obtaining an algorithm parameter initial value, adding one to the iteration step number to calculate an iteration cycle coefficient, and self-adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle.
It should be noted that the foregoing explanation of the embodiment of the variable period adaptive control method for synchronous vibration of an electromagnetic bearing system is also applicable to the variable period adaptive control device for synchronous vibration of an electromagnetic bearing system of this embodiment, and will not be repeated here.
According to the variable period self-adaptive control device for synchronous vibration of the electromagnetic bearing system, which is provided by the embodiment of the application, the optimal initial iteration step length coefficients in different rotating speed sections can be calculated based on the frequency sweeping result of the electromagnetic bearing closed-loop system, the rotor phase is calculated by using the rotating speed sensor, the iteration period coefficients are self-adaptively adjusted based on the rotating speed, so that the iteration period is self-adaptively adjusted, the Fourier coefficients of feedforward compensation signals are self-adaptively iterated and updated, the unbalanced vibration is restrained, the excellent convergence effect and the system stability are ensured, and the good robustness in the whole system working bandwidth is ensured. Therefore, the problems that in the related technology, the dynamic balance method needs to be repeatedly stopped and started, the process is complex, the time consumption is serious, the cost is high, the economy is poor, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, the algorithm cannot simultaneously have excellent convergence performance and control stability, the system cannot guarantee good robustness in the whole system working bandwidth, and potential safety hazards threatening the reliable operation of the electromagnetic bearing system are easily formed are solved.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602 implements the variable period adaptive control method for synchronous vibration of the electromagnetic bearing system provided in the above embodiment when executing a program.
Further, the electronic device further includes:
a communication interface 603 for communication between the memory 601 and the processor 602.
A memory 601 for storing a computer program executable on the processor 602.
The memory 601 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may perform communication with each other through internal interfaces.
The processor 602 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the variable cycle adaptive control method of electromagnetic bearing system synchronous vibration as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The variable period self-adaptive control method for the synchronous vibration of the electromagnetic bearing system is characterized by comprising the following steps of:
calculating optimal initial iteration step coefficients of different rotating speed sections based on a sweep frequency result of an electromagnetic bearing closed-loop system, and storing the optimal initial iteration step coefficients in a lookup table;
determining the rotor rotation speed and the rotor rotation period by using a rotation speed sensor, and calculating the rotor phase in the corresponding rotation period according to the rotor rotation speed and the rotor rotation period; and
based on the rotor phase, the iteration cycle coefficient is adaptively adjusted according to the rotor rotating speed to determine an iteration cycle, the synchronous direct current component and the synchronous energy in the iteration cycle are obtained through calculation, the synchronous energy is used as an objective function, and the Fourier coefficient of the feedforward compensation signal is iteratively updated until the synchronous energy converges to zero.
2. The method according to claim 1, wherein calculating optimal initial iteration step coefficients for different rotation speed segments based on the sweep result of the electromagnetic bearing closed-loop system and storing the optimal initial iteration step coefficients in a lookup table comprises:
calculating initial iteration step length coefficient threshold values at different rotating speeds;
dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting the optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in the lookup table.
3. The method of claim 2, wherein the formula for calculating the initial iteration step factor threshold at different rotational speeds is:
wherein χ is 0 For initial iteration step coefficients, Q x Andrespectively the frequency response functions of the electromagnetic bearing closed-loop systemOmega is the rotor speed and j is the imaginary unit.
4. The method of claim 1, wherein the calculation formula for determining the rotor speed using the speed sensor is:
wherein T is p For the rotation period, p (p=1, 2,3, …) is a count of the rotor rotation period;
the calculation formula of the rotor phase in the corresponding rotation period is as follows:
ψ p (k 1 )＝ψ p (k 1 -1)+Ω p T s ，
wherein T is s For the controller sampling period, Ω p Is the rotation speed value, k 1 (k 1 ＝1,2,…,N p ) For discrete time in one rotation period of the rotor, N p Is a sampling point within one rotation period of the rotor.
5. The method of claim 1, wherein the calculation formula for determining the iteration cycle coefficient is:
wherein t is d 200T of s ；
The calculation formula of the feedforward compensation signal is as follows:
wherein A and B respectively represent an A-end bearing and a B-end bearing, n is the number of iterative steps, and k 1 (k 1 ＝1,2,…,N p ) Discrete time within one rotation period of the rotor;
the calculation formula of the synchronous direct current component in the iteration period is as follows:
wherein e xAp (k 1 ) And e xBp (k 1 ) Error signals in x directions of an end A and an end B respectively, wherein A and B respectively represent an end A bearing and an end B bearing, n is the number of iteration steps, and k 1 (k 1 ＝1,2,…,N p ) Is the discrete time in one revolution of the rotor.
6. The method of claim 1, wherein said adaptively adjusting an iteration cycle coefficient based on said rotor phase according to said rotor speed to determine an iteration cycle comprises:
and obtaining an algorithm parameter initial value, adding one to the iteration step number to calculate the iteration cycle coefficient, and adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed to determine an iteration cycle.
7. The utility model provides a variable cycle self-adaptation controlling means of electromagnetic bearing system synchronous vibration which characterized in that includes:
the calculation module is used for calculating optimal initial iteration step coefficients of different rotating speed sections based on the sweep frequency result of the electromagnetic bearing closed-loop system, and storing the optimal initial iteration step coefficients in a lookup table;
the acquisition module is used for determining the rotor rotating speed and the rotor rotating period by utilizing a rotating speed sensor and calculating the rotor phase in the corresponding rotating period according to the rotor rotating speed and the rotor rotating period; and
the control module is used for adaptively adjusting the iteration cycle coefficient according to the rotor rotating speed based on the rotor phase to determine an iteration cycle, calculating to obtain a synchronous direct current component and synchronous energy in the iteration cycle, and iteratively updating the Fourier coefficient of the feedforward compensation signal by taking the synchronous energy as an objective function until the synchronous energy converges to zero.
8. The apparatus of claim 7, wherein the computing module comprises:
the calculating unit is used for calculating initial iteration step length coefficient thresholds at different rotating speeds;
the selection unit is used for dividing the working rotating speed range of the electromagnetic bearing closed-loop system into a plurality of rotating speed sections, selecting the optimal initial iteration step length coefficient according to the rotating speed sections, enabling the optimal initial iteration step length coefficient to be a target multiple of a stability threshold value, and storing the optimal initial iteration step length coefficient in the lookup table.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the variable cycle adaptive control method of synchronous vibration of an electromagnetic bearing system according to any one of claims 1-6.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the variable period adaptive control method of synchronous vibration of an electromagnetic bearing system according to any one of claims 1 to 6.
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