A Harmonic Current Suppression Method for Magnetic Suspension Rotor Based on Multi-stage Repetitive Controller

Abstract

The invention discloses a method for suppressing the harmonic current of a magnetic levitation rotor based on a multi-stage repetitive controller. The method aims at the magnetic levitation control moment gyroscope. Firstly, a dynamic model of the magnetic levitation rotor including mass unbalance and sensor harmonic is established, and secondly, a multi-stage The repeating controller processes the signals of the first three cycles to adjust the current current, and realizes the effective suppression of the harmonic current at a fixed frequency. The invention can effectively suppress the harmonic current at any fixed speed, and is suitable for suppressing the harmonic current of a magnetic levitation rotor with mass imbalance and sensor harmonics. The application of the repetitive controller ensures the accurate suppression of the harmonic current, and at the same time has a wider notch width at each frequency point, thereby improving the frequency robustness of the control system.

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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