Magnetic bearing vibration moment suppression method based on complex variable finite dimension repetitive control

Abstract

The invention discloses a magnetic bearing vibration moment suppression method based on complex variable finite dimension repetitive control. The method comprises the following steps: firstly establishing a magnetic suspension rotor rotation system dynamics model containing rotor dynamic unbalance and displacement sensor harmonic noise; and then designing a magnetic bearing vibration moment suppression algorithm based on a parallel complex variable finite dimension repetitive control; and finally designing the co-frequency and frequency-doubling vibration moment suppresser parameter accordingto the dual-frequency Bode chart of the complex variable system function, and realizing the strong gyroscopic effect magnetic bearing system vibration moment suppression in the premise of guaranteeingthe stability of a closed-loop system. The defect that the system stability is bad since the serial type is in signal amplification and phase lagging at the non-harmonic frequency is controlled by adopting the parallel finite dimension repetitive control is solved; a controller parameter is designed by utilizing complex variable system function dual-frequency Bode chart, and the complexity of theparameter design under the strong gyroscopic effect is reduced; furthermore, the influence of the low-pass characteristic of a power amplifier system is sufficiently considered, and the vibration moment suppression precision is improved.

Description

technical field [0001] The invention belongs to the field of active vibration control of magnetic bearing systems, in particular to a method for suppressing vibration torque of magnetic bearings based on complex variable finite-dimensional repetitive control, which is used for vibration torque of magnetic bearing systems with strong gyro effect including rotor unbalance and sensor harmonic noise inhibition. Background technique [0002] Compared with traditional mechanical bearings, oil film bearings and sliding bearings, magnetic bearings have the advantages of no mechanical contact, no wear, long life and high precision. The most prominent thing is that magnetic bearings can adjust their own stiffness coefficient and damping coefficient to achieve active vibration control. . Through active vibration control, a control force is applied to the magnetic levitation rotor to make the rotor rotate around its geometric axis to achieve high-precision control; it can also realize ...

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Problems solved by technology

In order to suppress the vibration torque of the magnetic bearing system, it is necessary to take the bearing torque as the controlled quantity, and it is impossible to use the general plug-in series finite-dimensional repetitive control

In addition, the amplitude gain of the signal at the non-multiplied frequency of the serial finite-dimensional repetitive control is not zero, which affects the vibration torque suppression accuracy of the magnetic bearing system; and there is a certain phase lag at the non-multiplied frequency, which has a relatively small impact on the stability of the closed-loop system. Big

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