Period-variable adaptive control method and device for synchronous vibration of electromagnetic bearing system

Abstract

The application relates to a variable period adaptive control method and device for synchronous vibration of an electromagnetic bearing system, wherein the method comprises the following steps: based on the sweep frequency result of the electromagnetic bearing closed loop system, calculating optimal initial iteration step length coefficients of different rotating speed sections, and storing the optimal initial iteration step length coefficients in a lookup table; determining the rotor rotating speed and the rotor rotating period by using a rotating speed sensor, and calculating the rotor phase in the corresponding rotating period according to the rotor rotating speed and the rotor rotating period; adaptively adjusting the iteration period coefficient according to the rotor rotating speed to determine the iteration period, and calculating the synchronous direct current component and the synchronous energy in the current iteration period, taking the synchronous energy as a target function, iteratively updating the Fourier coefficient of the feedforward compensation signal until the synchronous energy converges to zero. Thus, the problems in the prior art that the electromagnetic bearing system cannot simultaneously have excellent convergence performance and control stability, and is prone to forming a safety hazard threatening the reliable operation of the electromagnetic bearing system are solved.

Description

Technical Field

[0001] This application relates to the field of unbalance control of electromagnetic bearing systems, and in particular to a variable-period adaptive control method and device for synchronous vibration of electromagnetic bearing systems. Background Technology

[0002] Electromagnetic bearing systems possess advantages such as low friction, no need for lubrication or sealing, and low power consumption, making them commercially valuable and increasingly widely used in industry. However, due to factors such as machining and assembly errors, and uneven material density, the rotors of electromagnetic bearing systems often have residual unbalanced mass. This can easily cause the electromagnetic bearing system to vibrate at the same frequency as its rotational speed during operation, severely affecting the system's stability and safety.

[0003] In related technologies, the common method for suppressing synchronous vibration in electromagnetic bearing systems is the dynamic balancing method. Among the existing unbalance control algorithms, the iterative feedforward compensation strategy has advantages such as simple structure, strong practicality, and no dependence on precise mathematical models, and is widely used in the unbalance control of electromagnetic bearing systems.

[0004] However, in related technologies, the dynamic balancing method requires repeated shutdowns and restarts, which is complex, time-consuming, costly, and uneconomical. Furthermore, the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration cycle, cannot simultaneously possess excellent convergence performance and control stability, and cannot guarantee good robustness within the entire system operating bandwidth. This can easily create safety hazards that threaten the reliable operation of the electromagnetic bearing system, and therefore urgently needs improvement. Summary of the Invention

[0005] This application provides a variable-period adaptive control method and device for synchronous vibration of an electromagnetic bearing system, which solves the problems in related technologies, such as the need for repeated shutdown and restart in the dynamic balancing method, which is complex, time-consuming, costly and uneconomical, and the inability of the algorithm based on the iterative feedforward compensation strategy to adaptively adjust the iteration period, which cannot simultaneously have excellent convergence performance and control stability, and cannot guarantee good robustness throughout the entire system operating bandwidth, which can easily lead to safety hazards that threaten the reliable operation of the electromagnetic bearing system.

[0006] The first aspect of this application provides a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system, comprising the following steps: calculating the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, and storing the optimal initial iteration step size coefficient in a lookup table; determining the rotor speed and rotor rotation period using a speed sensor, and calculating the rotor phase within the corresponding rotation period based on the rotor speed and rotor rotation period; and adaptively adjusting the iteration period coefficient based on the rotor phase and the rotor speed to determine the iteration period, and calculating the synchronous DC component and synchronous energy within the iteration period, using the synchronous energy as the objective function to iteratively update the Fourier coefficients of the feedforward compensation signal until the synchronous energy converges to zero.

[0007] Optionally, in one embodiment of this application, the step of calculating the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system includes: calculating the initial iteration step size coefficient threshold at different speeds; dividing the operating speed range of the electromagnetic bearing closed-loop system into multiple speed ranges; selecting the corresponding optimal initial iteration step size coefficient according to the multiple speed ranges, making the optimal initial iteration step size coefficient a target multiple of the stable threshold; and storing the optimal initial iteration step size coefficient in the lookup table.

[0008] Optionally, in one embodiment of this application, the formula for calculating the initial iteration step size coefficient threshold at different rotational speeds is:

[0009]

[0010] Where χ0 is the initial iteration step size coefficient, Q x and The frequency response functions of the electromagnetic bearing closed-loop system are respectively The amplitude and phase of Ω, where Ω is the rotor speed and j is the imaginary unit.

[0011] Optionally, in one embodiment of this application, the calculation formula for determining the rotor speed using a speed sensor is as follows:

[0012]

[0013] Among them, T p The rotation period is defined as p (p = 1, 2, 3, ...), where p is the count of the rotor rotation periods.

[0014] The formula for calculating the rotor phase within the corresponding rotation cycle is as follows:

[0015] ψ p (k1)=ψ p (k1-1)+Ω p Ts ,

[0016] Among them, T s Ω is the controller sampling period. p Here is the rotational speed value, k1 (k1 = 1, 2, ..., N). p N represents the discrete time within one rotation cycle of the rotor. p These are the sampling points within one rotation cycle of the rotor.

[0017] Optionally, in one embodiment of this application, the formula for calculating the iteration period coefficient is:

[0018]

[0019] Among them, t d 200T s ;

[0020] The formula for calculating the feedforward compensation signal is as follows:

[0021]

[0022] Where A and B represent bearings at ends A and B respectively, n is the iteration step number, and k1 (k1 = 1, 2, ..., N) p ) represents the discrete time within one rotation cycle of the rotor.

[0023] The formula for calculating the synchronous DC component within the iteration period is:

[0024]

[0025] Among them, e xAp (k1) and e xBp (k1) represents the error signals in the x-direction at ends A and B, respectively, where A and B represent the bearings at ends A and B, respectively, and n is the iteration step number, k1 (k1 = 1, 2, ..., N). p ) represents the discrete time within one rotation cycle of the rotor.

[0026] Optionally, in one embodiment of this application, the step of adaptively adjusting the iteration cycle coefficient based on the rotor phase and the rotor speed to determine the iteration cycle includes: obtaining initial values ​​of algorithm parameters, incrementing the iteration step number by one to calculate the iteration cycle coefficient, and adaptively adjusting the iteration cycle coefficient based on the rotor speed to determine the iteration cycle.

[0027] A second aspect of this application provides a variable-period adaptive control device for synchronous vibration of an electromagnetic bearing system, comprising: a calculation module for calculating the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, and storing the optimal initial iteration step size coefficient in a lookup table; an acquisition module for determining the rotor speed and rotor rotation period using a speed sensor, and calculating the rotor phase within the corresponding rotation period based on the rotor speed and rotor rotation period; and a control module for adaptively adjusting the iteration period coefficient based on the rotor phase and the rotor speed to determine the iteration period, calculating the synchronous DC component and synchronous energy within the iteration period, and iteratively updating the Fourier coefficients of the feedforward compensation signal with the synchronous energy as the objective function until the synchronous energy converges to zero.

[0028] Optionally, in one embodiment of this application, the calculation module includes: a calculation unit for calculating the initial iteration step size coefficient threshold at different speeds; and a selection unit for dividing the operating speed range of the electromagnetic bearing closed-loop system into multiple speed segments, selecting the optimal initial iteration step size coefficient according to the multiple speed segments, making the optimal initial iteration step size coefficient a target multiple of the stable threshold, and storing the optimal initial iteration step size coefficient in the lookup table.

[0029] Optionally, in one embodiment of this application, the formula for calculating the initial iteration step size coefficient threshold at different rotational speeds is:

[0030]

[0031] Where χ0 is the initial iteration step size coefficient, Q x and The frequency response functions of the electromagnetic bearing closed-loop system are respectively The amplitude and phase of Ω, where Ω is the rotor speed and j is the imaginary unit.

[0032] Optionally, in one embodiment of this application, the calculation formula for determining the rotor speed using a speed sensor is as follows:

[0033]

[0034] Among them, T p The rotation period is defined as p (p = 1, 2, 3, ...), where p is the count of the rotor rotation periods.

[0035] The formula for calculating the rotor phase within the corresponding rotation cycle is as follows:

[0036] ψ p (k1)=ψ p (k1-1)+Ω p Ts ,

[0037] Among them, T s Ω is the controller sampling period. p Here is the rotational speed value, k1 (k1 = 1, 2, ..., N). p N represents the discrete time within one rotation cycle of the rotor. p These are the sampling points within one rotation cycle of the rotor.

[0038] Optionally, in one embodiment of this application, the formula for calculating the iteration period coefficient is:

[0039]

[0040] Among them, t d 200T s ;

[0041] The formula for calculating the feedforward compensation signal is as follows:

[0042]

[0043] Where A and B represent bearings at ends A and B respectively, n is the iteration step number, and k1 (k1 = 1, 2, ..., N) p ) represents the discrete time within one rotation cycle of the rotor.

[0044] The formula for calculating the synchronous DC component within the iteration period is:

[0045]

[0046] Among them, e xAp (k1) and e xBp (k1) represents the error signals in the x-direction at ends A and B, respectively, where A and B represent the bearings at ends A and B, respectively, and n is the iteration step number, k1 (k1 = 1, 2, ..., N). p ) represents the discrete time within one rotation cycle of the rotor.

[0047] Optionally, in one embodiment of this application, the control module includes: a determining unit, configured to obtain initial values ​​of algorithm parameters, increment the iteration step number by one to calculate the iteration period coefficient, and adaptively adjust the iteration period coefficient according to the rotor speed to determine the iteration period.

[0048] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system as described in the above embodiments.

[0049] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system as described above.

[0050] This application's embodiments can calculate the optimal initial iteration step size coefficient within different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, calculate the rotor phase using a speed sensor, and adaptively adjust the iteration period coefficient based on the speed, thereby adaptively adjusting the iteration period and adaptively updating the Fourier coefficients of the feedforward compensation signal. This ensures excellent convergence performance and system stability while suppressing unbalanced vibrations, guaranteeing good robustness across the entire system's operating bandwidth. Therefore, it solves the problems in related technologies, such as the dynamic balancing method requiring repeated shutdowns and restarts, which is complex, time-consuming, costly, and uneconomical; the algorithm based on the iterative feedforward compensation strategy cannot adaptively adjust the iteration period, failing to simultaneously achieve excellent convergence performance and control stability; and the inability to guarantee good robustness across the entire system's operating bandwidth, potentially posing safety hazards to the reliable operation of the electromagnetic bearing system.

[0051] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0052] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0053] Figure 1 This is a flowchart of a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application;

[0054] Figure 2 A schematic diagram illustrating the principle of a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application, which utilizes a speed sensor to calculate the rotor phase.

[0055] Figure 3 This is a schematic diagram of the nth step iteration of the algorithm for a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application;

[0056] Figure 4 This is an iterative flowchart of a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application;

[0057] Figure 5 This is a schematic diagram of a variable-period adaptive control device for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application;

[0058] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0059] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0060] The following describes a variable-period adaptive control method and apparatus for synchronous vibration of an electromagnetic bearing system according to embodiments of this application, with reference to the accompanying drawings. In the related technologies mentioned in the background section, the dynamic balancing method requires repeated shutdowns and restarts, which is complex, time-consuming, costly, and uneconomical. Furthermore, algorithms based on iterative feedforward compensation strategies cannot adaptively adjust the iteration period, failing to simultaneously achieve excellent convergence performance and control stability, and cannot guarantee good robustness across the entire system's operating bandwidth, easily leading to safety hazards that threaten the reliable operation of the electromagnetic bearing system. This application provides a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system. In this method, the optimal initial iteration step size coefficient within different speed ranges can be calculated based on the frequency sweep results of the electromagnetic bearing closed-loop system. The rotor phase is calculated using a speed sensor, and the iteration period coefficient is adaptively adjusted based on the speed, thereby adaptively adjusting the iteration period and adaptively updating the Fourier coefficients of the feedforward compensation signal. This ensures excellent convergence and system stability while suppressing unbalanced vibration, guaranteeing good robustness across the entire system's operating bandwidth. This solves the problems in related technologies, such as the need for repeated shutdowns and restarts in the dynamic balancing method, which is complex, time-consuming, costly and uneconomical; the inability of algorithms based on iterative feedforward compensation strategies to adaptively adjust the iteration cycle, which makes it impossible to simultaneously have excellent convergence performance and control stability, and to guarantee good robustness throughout the entire system's operating bandwidth, thus easily creating safety hazards that threaten the reliable operation of the electromagnetic bearing system.

[0061] Specifically, Figure 1 This is a flowchart illustrating a variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system provided in an embodiment of this application.

[0062] like Figure 1 As shown, the variable-period adaptive control method for synchronous vibration of the electromagnetic bearing system includes the following steps:

[0063] In step S101, based on the frequency sweep results of the electromagnetic bearing closed-loop system, the optimal initial iteration step size coefficient for different speed ranges is calculated, and the optimal initial iteration step size coefficient is stored in a lookup table.

[0064] It is understood that the electromagnetic bearing closed-loop system in the embodiments of this application has advantages such as low friction, no need for lubrication and sealing, and low power consumption, and is widely used.

[0065] In actual implementation, the embodiments of this application can calculate the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, and store the optimal initial iteration step size coefficient in a lookup table. This helps to suppress unbalanced vibration while ensuring excellent convergence effect and system stability, and ensures good robustness throughout the entire system operating bandwidth.

[0066] Optionally, in one embodiment of this application, the optimal initial iteration step size coefficient for different speed ranges is calculated based on the frequency sweep results of the electromagnetic bearing closed-loop system, including: calculating the threshold of the initial iteration step size coefficient at different speeds; dividing the operating speed range of the electromagnetic bearing closed-loop system into multiple speed ranges, selecting the corresponding optimal initial iteration step size coefficient according to the multiple speed ranges, making the optimal initial iteration step size coefficient a target multiple of the stable threshold, and storing the optimal initial iteration step size coefficient in a lookup table.

[0067] As one possible implementation method, embodiments of this application can calculate the initial iteration step size coefficient threshold that enables the algorithm to gradually stabilize at different speeds. Embodiments of this application can divide the operating speed range of the electromagnetic bearing closed-loop system into multiple speed segments. For each speed segment, a corresponding initial iteration step size coefficient is selected, and the coefficient is made to be 0.5-0.6 times the stable initial iteration step size coefficient threshold to obtain the optimal initial iteration step size coefficient, which is then stored in a lookup table.

[0068] The embodiments of this application can select the corresponding initial iteration step size coefficient, which further ensures excellent convergence effect and system stability while suppressing unbalanced vibration, and ensures good robustness throughout the entire system operating bandwidth.

[0069] Optionally, in one embodiment of this application, the formula for calculating the initial iteration step size coefficient threshold at different rotational speeds is:

[0070]

[0071] Where χ0 is the initial iteration step size coefficient, Q x and These are the frequency response functions of the electromagnetic bearing closed-loop system. The amplitude and phase of Ω, where Ω is the rotor speed and j is the imaginary unit.

[0072] In actual implementation, the embodiments of this application can be expressed using the following formula:

[0073]

[0074] Calculate the stability threshold of the iteration step size coefficient corresponding to different rotational speeds to improve the accuracy of the calculation and ensure the stability of the electromagnetic bearing closed-loop system.

[0075] In step S102, the rotor speed and rotor rotation period are determined using a speed sensor, and the rotor phase within the corresponding rotation period is calculated based on the rotor speed and rotor rotation period.

[0076] It is understood that the rotor speed and rotor rotation period in the embodiments of this application can be determined by a speed sensor.

[0077] In actual implementation, the embodiments of this application can use a speed sensor to determine the rotor speed and rotor rotation period, and calculate the rotor phase within the corresponding rotation period based on the rotor speed and rotor rotation period, thereby effectively suppressing the unbalanced vibration of the electromagnetic bearing system.

[0078] Optionally, in one embodiment of this application, the formula for calculating the rotor speed using a speed sensor is as follows:

[0079]

[0080] Among them, T p The rotation period is p (p = 1, 2, 3, ...), which is the count of the rotor rotation period.

[0081] The formula for calculating the rotor phase within the corresponding rotation cycle is:

[0082] ψ p (k1)=ψ p (k1-1)+Ω p T s ,

[0083] Among them, T s Ω is the controller sampling period. p Here is the rotational speed value, k1 (k1 = 1, 2, ..., N). p N represents the discrete time within one rotation cycle of the rotor. p These are the sampling points within one rotation cycle of the rotor.

[0084] As one possible implementation, embodiments of this application can determine the rotor speed based on a speed sensor. Combined with... Figure 2 As shown, Figure 2 The schematic diagram illustrates the principle of calculating rotor phase using a speed sensor. When the speed sensor detects a mark (groove or reflective strip) on the rotor, it generates a high-level signal. The time difference between two consecutive rising edges of the speed sensor signal is one rotor rotation cycle, denoted by T. p This means that the rotational speed value can be obtained from this:

[0085]

[0086] Among them, T p The rotation period is determined by the time difference between adjacent rising edge signals, and p (p = 1, 2, 3, ...) is the count of the rotor rotation period.

[0087] The embodiments of this application can calculate the phase of the rotor within a corresponding rotation cycle. The phase within the p-th rotation cycle can be expressed as:

[0088] ψ p (k1)=ψ p (k1-1)+Ω p T s ,

[0089] Among them, T s The sampling period of the controller is k1 (k1 = 1, 2, ..., N). p N represents the discrete time within one rotation cycle of the rotor. p For sampling points within one rotation cycle of the rotor, when the speed sensor detects the rising edge, the initial phase is set to 0, i.e., ψ. p (0) = 0.

[0090] In step S103, based on the rotor phase, the iteration period coefficient is adaptively adjusted according to the rotor speed to determine the iteration period, and the synchronous DC component and synchronous energy within the iteration period are calculated. With the synchronous energy as the objective function, the Fourier coefficients of the feedforward compensation signal are iteratively updated until the synchronous energy converges to zero.

[0091] It is understood that the iteration period in the embodiments of this application is determined by the iteration period coefficient and the rotation speed.

[0092] In actual implementation, the embodiments of this application can determine the iteration period based on the rotor phase and the rotor speed by adaptively adjusting the iteration period coefficient, and calculate the synchronous DC component and synchronous energy within the iteration period. Using the synchronous energy as the objective function, the Fourier coefficients of the feedforward compensation signal are iteratively updated until the synchronous energy converges to zero. Figure 3 As shown, Figure 3 The schematic diagram of the variable period adaptive control algorithm is shown, where G c G w K se C and C are the controller transfer function matrix, power amplifier transfer function matrix, displacement sensor coefficient matrix, and coordinate transformation matrix, respectively. Figure 3It mainly consists of three modules: a rotor phase calculation module responsible for calculating the rotor phase based on the speed sensor; a synchronization energy extraction module responsible for calculating the energy of synchronous vibration; and an adaptive iteration module that uses synchronization energy as the objective function to adaptively update the Fourier coefficients of the feedforward compensation signal for the next iteration step. The above schematic diagram illustrates the process of the nth iteration, that is, the feedforward compensation signal r for the (n+1)th step is generated through iteration. n+1 The iteration period for this iteration is determined by the iteration period coefficient λ. n It is determined by the rotational speed.

[0093] The embodiments of this application can ensure a simple structure, strong practicality, no reliance on a precise mathematical model, adaptive adjustment of the iteration period, excellent convergence performance and control stability, and solve the problems of not being able to simultaneously guarantee excellent convergence effect and system stability in suppressing unbalanced vibration, as well as the inability to have good robustness throughout the entire system operating bandwidth.

[0094] Optionally, in one embodiment of this application, the formula for determining the iteration period coefficient is:

[0095]

[0096] Among them, t d 200T s ;

[0097] The formula for calculating the feedforward compensation signal is:

[0098]

[0099] Where A and B represent bearings at ends A and B respectively, n is the iteration step number, and k1 (k1 = 1, 2, ..., N) p () represents the discrete time within one rotation cycle of the rotor;

[0100] The formula for calculating the synchronous DC component within the iteration period is:

[0101]

[0102] Among them, e xAp (k1) and e xBp (k1) represents the error signals in the x-direction at ends A and B, respectively, where A and B represent the bearings at ends A and B, respectively, and n is the iteration step number, k1 (k1 = 1, 2, ..., N). p ) represents the discrete time within one rotation cycle of the rotor.

[0103] In actual execution, the iteration period of the nth step is λ times the rotor rotation period. n times, λ n To determine the iteration period coefficient, the iteration period coefficient for step n is first determined using the following formula:

[0104]

[0105] Among them, t d 200T s It will not affect the convergence performance of the algorithm or the dynamic performance of the system.

[0106] Then, the Fourier coefficients of the feedforward step size signal are updated adaptively and iteratively. Taking the nth step as an example, the Fourier coefficients of the nth step iteration are:

[0107] u A (n),v A (n),u B (n),v B (n),

[0108] The embodiments of this application can calculate the feedforward compensation signal for the current iteration:

[0109]

[0110] Next, the synchronous DC component within this iteration period is calculated:

[0111]

[0112] Among them, e xAp (k1) and e xBp (k1) represents the error signals in the x-direction at points A and B, respectively.

[0113] The embodiments of this application can calculate u A (n): If Then χ sA (n)=-χ sA (n-1); otherwise χ sA (n)=χ sA (n-1); Next u A (n)=u A (n-1)-χ sA (n)h sA (n).

[0114] The embodiments of this application can calculate v A (n): If Then χ cA (n)=-χ cA (n-1); otherwise χ cA (n)=χ cA (n-1); Next

[0115] The embodiments of this application can calculate u B (n): If Then χ sB (n)=-χ sB (n-1); otherwise χ sB (n)=χ sB (n-1); Next u B (n)=u B (n-1)-χ sB (n)h sB (n).

[0116] The embodiments of this application can calculate v B (n): If Then χ cB (n)=-χ cB (n-1); otherwise χ cB (n)=χ cB (n-1); Next v B (n)=v B (n-1)-χ cB (n)h cB (n).

[0117] The embodiments of this application can first determine the iteration period coefficient of the nth step, then calculate the feedforward compensation signal of this iteration, and then calculate the synchronous DC component in this iteration period. This further ensures that the structure is simple, practical, and does not rely on an accurate mathematical model. It can adaptively adjust the iteration period, has excellent convergence performance and control stability, and solves the problems that it is impossible to simultaneously ensure excellent convergence effect and system stability in suppressing unbalanced vibration, as well as the problem that it is impossible to have good robustness in the entire system operating bandwidth.

[0118] Optionally, in one embodiment of this application, the iteration period is determined by adaptively adjusting the iteration period coefficient according to the rotor speed based on the rotor phase, including: obtaining the initial value of the algorithm parameters, incrementing the iteration step number by one to calculate the iteration period coefficient, and adaptively adjusting the iteration period coefficient according to the rotor speed to determine the iteration period.

[0119] Specifically, in this embodiment of the application, the algorithm parameters can be initialized first, with n = 0.

[0120] [u A (0),v A (0),u B (0),v B [0] = [0,0,0,0]

[0121] [h sA (0),h cA (0),h sB (0),h cB [0] = [0,0,0,0]

[0122] The following information can be obtained by looking up the rotational speed in the table:

[0123] [χ sA (0),χ cA (0),χ dB (0),χ cB [0)] = [χ0,χ0,χ0,χ0],

[0124] Among them, [h sA (0),h cA (0),h sB (0),h cB [0] represents the initial DC component.

[0125] In this embodiment of the application, the iteration step number can be increased by one:

[0126] n = n + 1,

[0127] The Fourier coefficients of the feedforward compensation signal applied in the nth iteration are obtained from the (n-1)th step, and the form of the feedforward compensation signal is:

[0128]

[0129] The iteration period coefficient for step n is determined using the following formula:

[0130]

[0131] The embodiments of this application can calculate the iteration period coefficient and adaptively adjust the iteration period coefficient according to the rotor speed to determine the iteration period, which further solves the problems that it is impossible to simultaneously ensure excellent convergence effect and system stability in suppressing unbalanced vibration, and that it is impossible to have good robustness throughout the entire system operating bandwidth.

[0132] Next, we can combine Figure 4 As shown, the working principle of the variable-period adaptive control method for synchronous vibration of the electromagnetic bearing system in this application is explained in detail with a specific embodiment.

[0133] like Figure 4 As shown, this embodiment of the application takes end A as an example. Updating the Fourier coefficients of the feedforward compensation signal at end A may include the following steps:

[0134] Step S401: [u A (0),v A [0] = [0,0], χ sA (0)=χ cA (0)=χ0,[h sA (0),h cA [0)] = [0,0].

[0135] Step S402: n = 1

[0136] Step S403: Calculate λ n .

[0137] Step S404: Determine the iteration period for this iteration.

[0138] Step S405: Generate the feedforward compensation signal r for this iteration. n .

[0139] Step S406: Calculate the rotor phase.

[0140] Step S407: Calculate the synchronous DC component h sA (n) and h cA (n).

[0141] Step S408: Determine Is it greater than or equal to? If yes, proceed to step S409; otherwise, proceed to step S410.

[0142] Step S409: χ sA (n)=-χ sA (n-1).

[0143] Step S410: χ sA (n)=χ sA (n-1).

[0144] Step S411: Determine Is it greater than or equal to? If yes, proceed to step S412; otherwise, proceed to step S413.

[0145] Step S412: χ cA (n)=-χ cA (n-1).

[0146] Step S413: χ cA (n)=χ cA (n-1).

[0147] Step S414: u A (n)=u A (n-1)-χ sA (n)h sA (n), v A (n)=v A (n-1)-χ cA (n)h cA (n).

[0148] Step S415: n = n + 1.

[0149] The variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system proposed in this application calculates the optimal initial iteration step size coefficient within different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system. It uses a speed sensor to calculate the rotor phase and adaptively adjusts the iteration period coefficient based on the speed, thereby adaptively adjusting the iteration period and iteratively updating the Fourier coefficients of the feedforward compensation signal. This suppresses unbalanced vibration while ensuring excellent convergence and system stability, guaranteeing good robustness across the entire system operating bandwidth. Therefore, this method solves the problems in related technologies, such as the dynamic balancing method requiring repeated shutdowns and restarts, which is complex, time-consuming, costly, and uneconomical; and the algorithm based on the iterative feedforward compensation strategy, which cannot adaptively adjust the iteration period, failing to simultaneously achieve excellent convergence performance and control stability, and failing to guarantee good robustness across the entire system operating bandwidth, potentially posing a safety hazard to the reliable operation of the electromagnetic bearing system.

[0150] Next, referring to the accompanying drawings, a variable-period adaptive control device for synchronous vibration of an electromagnetic bearing system according to an embodiment of this application is described.

[0151] Figure 5 This is a schematic diagram of the structure of the variable-period adaptive control device for synchronous vibration of the electromagnetic bearing system according to an embodiment of this application.

[0152] like Figure 5 As shown, the variable-period adaptive control device 10 for synchronous vibration of the electromagnetic bearing system includes: a calculation module 100, an acquisition module 200, and a control module 300.

[0153] Specifically, the calculation module 100 is used to calculate the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, and store the optimal initial iteration step size coefficient in a lookup table.

[0154] The acquisition module 200 is used to determine the rotor speed and rotor rotation period using a speed sensor, and to calculate the rotor phase within the corresponding rotation period based on the rotor speed and rotor rotation period.

[0155] The control module 300 is used to adaptively adjust the iteration period coefficient based on the rotor speed according to the final rotor phase to determine the iteration period, and calculate the synchronous DC component and synchronous energy within the iteration period. With the synchronous energy as the objective function, it iteratively updates the Fourier coefficients of the feedforward compensation signal until the synchronous energy converges to zero.

[0156] Optionally, in one embodiment of this application, the calculation module 100 includes a calculation unit and a selection unit.

[0157] The calculation unit is used to calculate the initial iteration step size coefficient threshold at different rotation speeds.

[0158] The selection unit is used to divide the operating speed range of the electromagnetic bearing closed-loop system into multiple speed segments, select the optimal initial iteration step size coefficient according to the multiple speed segments, make the optimal initial iteration step size coefficient a target multiple of the stability threshold, and store the optimal initial iteration step size coefficient in the lookup table.

[0159] Optionally, in one embodiment of this application, the formula for calculating the initial iteration step size coefficient threshold at different rotational speeds is:

[0160]

[0161] Where χ0 is the initial iteration step size coefficient, Q x and The frequency response functions of the electromagnetic bearing closed-loop system are respectively The amplitude and phase of Ω, where Ω is the rotor speed and j is the imaginary unit.

[0162] Optionally, in one embodiment of this application, the calculation formula for determining the rotor speed using a speed sensor is as follows:

[0163]

[0164] Among them, T p The rotation period is p (p = 1, 2, 3, ...) which is the count of the rotor rotation period;

[0165] The formula for calculating the rotor phase within the corresponding rotation cycle is as follows:

[0166] ψ p (k1)=ψ p (k1-1)+Ω p T s ,

[0167] Among them, T s Ω is the controller sampling period. p Here is the rotational speed value, k1 (k1 = 1, 2, ..., N). p N represents the discrete time within one rotation cycle of the rotor. p These are the sampling points within one rotation cycle of the rotor.

[0168] Optionally, in one embodiment of this application, the formula for calculating the iteration period coefficient is:

[0169]

[0170] Among them, t d 200T s;

[0171] The formula for calculating the feedforward compensation signal is as follows:

[0172]

[0173] Where A and B represent bearings at ends A and B respectively, n is the iteration step number, and k1 (k1 = 1, 2, ..., N) p () represents the discrete time within one rotation cycle of the rotor;

[0174] The formula for calculating the synchronous DC component within the iteration period is:

[0175]

[0176] Among them, e xAp (k1) and e xBp (k1) represents the error signals in the x-direction at ends A and B, respectively, where A and B represent the bearings at ends A and B, respectively, and n is the iteration step number, k1 (k1 = 1, 2, ..., N). p ) represents the discrete time within one rotation cycle of the rotor.

[0177] Optionally, in one embodiment of this application, the control module 300 includes a determination unit.

[0178] The determining unit is used to obtain the initial values ​​of the algorithm parameters, increment the iteration step number by one to calculate the iteration period coefficient, and adaptively adjust the iteration period coefficient according to the rotor speed to determine the iteration period.

[0179] It should be noted that the explanation of the aforementioned embodiment of the variable period adaptive control method for synchronous vibration of electromagnetic bearing system also applies to the variable period adaptive control device for synchronous vibration of electromagnetic bearing system in this embodiment, and will not be repeated here.

[0180] The variable-period adaptive control device for synchronous vibration of an electromagnetic bearing system proposed in this application can calculate the optimal initial iteration step size coefficient within different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, calculate the rotor phase using a speed sensor, and adaptively adjust the iteration period coefficient based on the speed, thereby adaptively adjusting the iteration period and adaptively updating the Fourier coefficients of the feedforward compensation signal. This ensures excellent convergence and system stability while suppressing unbalanced vibration, guaranteeing good robustness across the entire system operating bandwidth. Therefore, it solves the problems in related technologies, such as the dynamic balancing method requiring repeated shutdowns and restarts, which is complex, time-consuming, costly, and uneconomical; and the algorithm based on the iterative feedforward compensation strategy, which cannot adaptively adjust the iteration period, failing to simultaneously achieve excellent convergence performance and control stability, and failing to guarantee good robustness across the entire system operating bandwidth, potentially posing a safety hazard to the reliable operation of the electromagnetic bearing system.

[0181] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0182] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0183] When the processor 602 executes the program, it implements the variable-period adaptive control method for synchronous vibration of the electromagnetic bearing system provided in the above embodiments.

[0184] Furthermore, electronic devices also include:

[0185] Communication interface 603 is used for communication between memory 601 and processor 602.

[0186] The memory 601 is used to store computer programs that can run on the processor 602.

[0187] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0188] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0189] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0190] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0191] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the variable-period adaptive control method for synchronous vibration of the electromagnetic bearing system as described above.

[0192] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0193] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0194] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0195] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0196] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0197] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0198] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0199] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system, characterized in that, Includes the following steps: Based on the frequency sweep results of the electromagnetic bearing closed-loop system, the optimal initial iteration step size coefficient for different speed ranges is calculated, and the optimal initial iteration step size coefficient is stored in a lookup table; The rotor speed and rotor rotation period are determined using a speed sensor, and the rotor phase within the corresponding rotation period is calculated based on the rotor speed and rotor rotation period. as well as Based on the rotor phase, the iteration period coefficient is adaptively adjusted according to the rotor speed to determine the iteration period, and the synchronous DC component and synchronous energy within the iteration period are calculated. The Fourier coefficients of the feedforward compensation signal are iteratively updated with the synchronous energy as the objective function until the synchronous energy converges to zero. The step of calculating the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system and storing the optimal initial iteration step size coefficient in a lookup table includes: calculating the threshold of the initial iteration step size coefficient at different speeds; dividing the operating speed range of the electromagnetic bearing closed-loop system into multiple speed ranges; selecting the optimal initial iteration step size coefficient according to the multiple speed ranges, making the optimal initial iteration step size coefficient a target multiple of the stable threshold; and storing the optimal initial iteration step size coefficient in the lookup table. The formula for calculating the threshold of the initial iteration step size coefficient at different rotational speeds is as follows: ， in, The initial iteration step size coefficient, and The frequency response functions of the electromagnetic bearing closed-loop system are respectively The amplitude and phase, The rotor speed is... The imaginary unit; This also includes: for each speed range, selecting a corresponding initial iteration step size coefficient, and making the initial iteration step size coefficient 0.5-0.6 times the initial iteration step size coefficient threshold, so as to obtain the optimal initial iteration step size coefficient.

2. The method according to claim 1, characterized in that, The formula for determining the rotor speed using a speed sensor is as follows: ， in, For the rotation period, ( ) represents the count of the rotor's rotation cycles; The formula for calculating the rotor phase within the corresponding rotation cycle is as follows: ， in, For the controller sampling period, This is the rotational speed value. The discrete time within one rotation cycle of the rotor. These are the sampling points within one rotation cycle of the rotor.

3. The method according to claim 1, characterized in that, The formula for determining the iteration period coefficient is as follows: ， in, For 200 ; The formula for calculating the feedforward compensation signal is as follows: ， in, and They represent end bearings and End bearing, The number of iterations. The discrete time within one rotation cycle of the rotor; The formula for calculating the synchronous DC component within the iteration period is: ， in, and They are respectively A End and B end x Directional error signal, and They represent end bearings and End bearing, The number of iterations. The discrete time is the time within one rotation cycle of the rotor.

4. The method according to claim 1, characterized in that, The step of adaptively adjusting the iteration period coefficient based on the rotor phase and the rotor speed to determine the iteration period includes: Obtain the initial values ​​of the algorithm parameters, increment the iteration step number by one to calculate the iteration period coefficient, and adaptively adjust the iteration period coefficient according to the rotor speed to determine the iteration period.

5. A variable-period adaptive control device for synchronous vibration of an electromagnetic bearing system, characterized in that, include: The calculation module is used to calculate the optimal initial iteration step size coefficient for different speed ranges based on the frequency sweep results of the electromagnetic bearing closed-loop system, and store the optimal initial iteration step size coefficient in a lookup table; The acquisition module is used to determine the rotor speed and rotor rotation period using a speed sensor, and to calculate the rotor phase within the corresponding rotation period based on the rotor speed and rotor rotation period; as well as The control module is used to adaptively adjust the iteration period coefficient based on the rotor phase and the rotor speed to determine the iteration period, calculate the synchronous DC component and synchronous energy within the iteration period, and iteratively update the Fourier coefficients of the feedforward compensation signal with the synchronous energy as the objective function until the synchronous energy converges to zero. The calculation module includes: a calculation unit for calculating the initial iteration step size coefficient threshold at different speeds; and a selection unit for dividing the operating speed range of the electromagnetic bearing closed-loop system into multiple speed segments, selecting the optimal initial iteration step size coefficient according to the multiple speed segments, making the optimal initial iteration step size coefficient a target multiple of the stable threshold, and storing the optimal initial iteration step size coefficient in the lookup table. The formula for calculating the threshold of the initial iteration step size coefficient at different rotational speeds is as follows: ， in, The initial iteration step size coefficient, and The frequency response functions of the electromagnetic bearing closed-loop system are respectively The amplitude and phase, The rotor speed is... It is the imaginary unit.

6. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the variable-period adaptive control method for synchronous vibration of an electromagnetic bearing system as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the variable-period adaptive control method for synchronous vibration of the electromagnetic bearing system as described in any one of claims 1-4.

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