Phase shift generalized integral expansion state observer, and vibration suppression method and system

Abstract

The invention discloses a phase shift generalized integral expansion state observer, and a vibration suppression method and system, and belongs to the field of magnetic suspension bearing control, wherein the phase shift generalized integral expansion state observer comprises an error obtaining module, a third observation module, a second observation module and a first observation module; the error obtaining module is used for carrying out difference between a displacement signal q[j] in a current control period and a displacement observation value z[j1](p) in a previous control period, and obtaining a displacement error e[j]; the third observation module is used for amplifying e[j] according to l[3], performing integration and transformation according to a transfer function defined in the specification respectively, and adding an integration result and a transformation result to obtain a generalized disturbance observation value z[j3]; the second observation module is used for calculating a displacement first-order derivative observation value z[j2] according to the control current signal i[cj] of the target freedom degree in the current control period of a magnetic suspension bearing and the generalized disturbance observation value z[j3]; and the first observation module is used for calculating a displacement observation value z[j1] according to the displacement first-order derivative observation value z[j2] and the displacement error e[j]. According to the invention, stable suspension and vibration suppression at a low rotating speed can be realized, and the rotating speed range of stable operation of the magnetic suspension bearing is widened.

Description

technical field [0001] The invention belongs to the field of magnetic suspension bearing control, and more specifically relates to a phase shift generalized integral expansion state observer, a vibration suppression method and a system. Background technique [0002] Magnetic suspension bearing is a new type of supporting device that uses electromagnetic force to realize the non-contact support of the rotor. Rotating machinery equipped with magnetic bearings has the advantages of no friction, no lubrication, and controllable support characteristics. At present, magnetic suspension bearings have been used commercially and industrially in the fields of high-speed motors, flywheel energy storage, and compressors. [0003] The vibration problem is a common problem in rotating machinery, and the magnetic suspension bearing can improve the vibration problem through active electromagnetic force. Different from traditional mechanical bearings, magnetic suspension bearings are contr...

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Problems solved by technology

However, further studies have found that the phase value of the generalized integral link in GI-ESO at the resonance frequency is fixed at 90° and cannot be adjusted, resulting in the system at low speeds, especially in the speed range of 0 to 120πrad/s (0 to 60Hz). inside, is not stable, such as figure 2 As shown, in this low speed range, the root locus of the system is on the right side of the imaginary axis, refl

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