Magnetic suspension rotor harmonic current inhibition method of digital controller based on DPSORC

Abstract

The present invention discloses a magnetic suspension rotor harmonic current inhibition method of a digital controller based on dual parallel structure digital second-order repetitive control (DPSORC). The method comprises: establishing a magnetic suspension rotor kinetic model including quality unbalance and sensor harmonic wave, and employing the magnetic suspension rotor harmonic current inhibition method of the digital controller based on DPSORC. The digital controller employs parallel dual memory cycle and one weighting factor to connect into a magnetic suspension rotor closed loop system so as to improve the robustness of rotating speed nondeterminacy. A traditional first-order repetitive controller phase compensation link can be completely planted into the DPSORC to provide convenience for the actual usage of the DPSORC and allow the controller to have good versatility. The method provided by the invention can perform inhibition of the harmonic wave components of the magnetic bearing coil current in the magnetic suspension rotor, and is suitable for the magnetic suspension rotor system harmonic wave current inhibition including quality unbalance and sensor harmonic wave.

Description

technical field [0001] The present invention relates to the technical field of magnetic levitation rotor harmonic current suppression, in particular to a magnetic levitation rotor harmonic current suppression method based on a parallel second-order repetitive control DPSORC (Dual Parallel Structure Digital Second-order Repetitive Control, DPSRC) digital controller, It is used to suppress the harmonic current in the maglev control moment gyro rotor system, and provides technical support for the application of the maglev control moment gyro on the "ultra-quiet" satellite platform. Background technique [0002] The magnetic bearing in the control moment gyroscope CMG (Control Moment Gyroscope, CMG) uses electromagnetic force to levitate the rotor. Because there is no contact between the bearing rotor and the stator, it has the following three advantages compared with mechanical bearings: first, the speed of the CMG flywheel can be greatly increased, the size and mass of the rot...

AI Technical Summary

Problems solved by technology

Existing technologies are mainly aimed at suppressing single-frequency interference, and there are relatively few studies on harmonic disturbance suppression, mainly including parallel multi-notch filters or multiple LMS filters, repetitive control RC algorithms, etc.

However, parallel multi-notch filters cannot suppress all vibrations at the same time, the amount of calculation is large, and the convergence speed between different filters needs to be considered, so the design is more complicated; while the repetitive control RC algorithm can realize the control without multiple filters in parallel. Simultaneous suppression of vibrations of different frequency components

The repetitive control RC algorithm is a method to achieve zero static error of the system based on the internal model principle, but the existing repetitive algorithms applied to the magnetic levitation rotor control system do not consider the frequency fluctuation and the inaccurate frequency detection, the traditional first-order RC It is difficult to accurately suppress the problem of harmonic signals

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