Harmonic vibration torque suppression method based on hybrid repetitive controller

Abstract

The invention discloses a harmonic vibration torque suppression method based on a hybrid repetitive controller. The method comprises the following steps: firstly, establishing a magnetic suspension rotor deflection subsystem kinetic model containing mass imbalance and sensor harmonic, introducing a complex coefficient transfer function, and enabling a double-input coupling system of the deflectionsubsystem model to be equivalent to a complex coefficient single-input system; and secondly, using a harmonic vibration torque suppression method based on the hybrid repetitive controller to realizeaccurate suppression of the harmonic vibration torque under a fixed frequency. The hybrid repetitive controller is formed by connecting a virtual sampling second-order odd repetitive controller and asame-frequency finite-dimensional repetitive controller in parallel so that the suppression precision and convergence rapidity of the resonance vibration torque can be improved. The method can achievethe precise inhibition of the harmonic vibration torque at any fixed rotating speed, and is suitable for a magnetic suspension rotor system with mass imbalance and sensor harmonics. Accurate and rapid suppression of the harmonic vibration torque is realized.

Description

technical field [0001] The present invention relates to the technical field of magnetic suspension rotor harmonic vibration torque suppression, in particular to a harmonic vibration torque suppression method based on a hybrid repetitive controller, which is used to control the harmonic vibration of a magnetic suspension control torque gyro rotor system at any given fixed speed. The wave vibration torque is suppressed, providing technical support for the application of the magnetic levitation control torque gyro on the "ultra-quiet" and "ultra-stable" satellite platforms. Background technique [0002] The magnetic bearing rotor system has the characteristics of no friction, long life and controllable active vibration, and has good applications in magnetic levitation flywheels, magnetic levitation gyroscopes, and magnetic levitation molecular pumps. The magnetic bearing system mainly includes two vibration sources. One is the mass imbalance caused by the mechanical processing ...

AI Technical Summary

Problems solved by technology

Traditional repetitive controllers are too sensitive to frequency changes, and the suppression effect will be seriously affected when the frequency fluctuates slightly, and even affect the stability of the system

At the same time, the dynamic response speed of the repetitive controller is slow, and the vibration torque cannot be suppressed in time, and the sampling frequency and harmonic fundamental frequency in the digital system are not integers, which will also affect the suppression accuracy of the repetitive controller.

Images