Magnetic suspension rotor harmonic current suppression method based on multi-order repetitive controller

Abstract

The invention discloses a magnetic suspension rotor harmonic current suppression method based on a multi-order repetitive controller. According to the method, for a magnetic suspension control momentgyroscope, a magnetic suspension rotor dynamic model containing mass imbalance and sensor harmonic waves is established firstly, then signals of the first three periods are processed by adopting a multi-order repetitive controller so as to adjust the current, and effective suppression of the harmonic current under the fixed frequency is realized. The method can achieve the effective inhibition ofthe harmonic current at any fixed rotating speed, and is suitable for the inhibition of the harmonic current of the magnetic suspension rotor with mass imbalance and sensor harmonic waves. By applyingthe repetitive controller, the harmonic current is accurately suppressed, and the notch width at each frequency point is relatively wide, so that the frequency robustness of the control system is improved.

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 multi-stage repetitive controller, which is used to suppress the harmonic current in the magnetic levitation control torque gyro rotor system, for The application of the magnetic levitation control moment gyro on the "ultra-stable and ultra-quiet" satellite platform provides technical support. Background technique [0002] The maglev rotor system has the characteristics of no friction, long life and controllable active vibration. It has good applications in maglev control torque gyroscope, maglev flywheel and maglev molecular pump. Due to the limited machining accuracy, the mass imbalance of the magnetic levitation rotor will inevitably exist, and the same frequency control current as the speed frequency will be generated during high-speed rotation; on...

AI Technical Summary

Problems solved by technology

The vibration caused by the harmonics of the sensor is characterized by the existence of fundamental frequency and multiple frequency harmonics, so the control method for a single frequency often cannot use a simple structure to achieve harmonic suppression

The other category refers to the method of simultaneously suppressing fundamental frequency and multiplier frequency, such as state observer, repetitive controller, etc. This method can realize the simultaneous suppression of vibration of different frequency components without connecting multiple filters in parallel, in which the state observation The controller needs to estimate the disturbance, so it often requires a complex structure and a large amount of calculation

The repetitive controller based on the internal model principle can achieve complete suppression of multiplied harmonics, and the existing methods do not have frequency robustness

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