Rotor state determination method and device, electronic equipment and computer storage medium

Abstract

Embodiments of the present application disclose a rotor state determination method and device, electronic equipment and computer storage medium. The rotor comprises N equivalent units. Each equivalent unit comprises a disc and a beam. At least one equivalent unit comprises a bearing. The method comprises: determining an i th disc matrix representing a relationship between state vectors at two ends of an i th disc according to a force condition of the i th disc; the force condition of the i th disc comprises a shear force, and elastic force and damping force generated by the bearing; N is greater than or equal to 2; N is greater than or equal to i and i is greater than or equal to 1; N and i are integers; determining an i th beam matrix representing a relationship between state vectors at two ends of an i th beam according to a bending deformation formula of the i th beam; determining a state relationship at two ends of the i th equivalent unit according to the i th disc matrix and the i th beam matrix; and determining state vectors of the N equivalent units representing a state of the rotor based on a Riccati transformation relationship and the state relationship at two ends of the i th equivalent unit.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a method, apparatus, electronic device, and computer storage medium for determining rotor state. Background Technology

[0002] To ensure the safe and reliable operation of high-speed motors, it is typically necessary to predict the vibration modes of the rotor system. Currently, due to the low damping of the roller bearings supporting the rotor, bearing damping is usually ignored in predictions. However, the increasing use of oil lubrication and electromagnetic damping devices to suppress rotor vibration in rotor systems makes it increasingly difficult to ignore the support damping of the rotor system. Therefore, ignoring support damping may lead to low accuracy in predicting the rotor's vibration modes. Summary of the Invention

[0003] This application provides a method, apparatus, electronic device, and computer storage medium for determining the overall rotor state, which takes into account the influence of support damping on the rotor and improves the accuracy of determining the rotor state.

[0004] The technical solution of this application is implemented as follows:

[0005] This application provides a method for determining the state of a rotor, wherein the rotor comprises N equivalent units; each equivalent unit comprises: a disk and a beam; at least one equivalent unit comprises a bearing; N ≥ 2; and N is a positive integer; the method includes:

[0006] Based on the force conditions of the i-th disk, determine the i-th disk matrix; the i-th disk matrix characterizes the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include shear force and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; based on the bending deformation formula of the i-th beam, determine the i-th beam matrix; the i-th beam matrix is ​​used to characterize the relationship between the state vectors at both ends of the i-th beam; based on the i-th disk matrix and the i-th beam matrix, determine the state relationship at both ends of the i-th equivalent unit; based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, determine the state vectors of the N equivalent units; the state vectors of the N equivalent units are used to characterize the rotor state.

[0007] This application provides a device for determining the state of a rotor, wherein the rotor comprises N equivalent units; each equivalent unit comprises: a disk and a beam; at least one equivalent unit comprises a bearing; N ≥ 2; and N is a positive integer; the device includes:

[0008] A determination module is used to determine the matrix of the i-th disk based on the force conditions of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include shear force and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; the i-th beam matrix is ​​determined according to the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; the state relationship at both ends of the i-th equivalent unit is determined according to the i-th disk matrix and the i-th beam matrix; the state vectors of the N equivalent units are determined based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state.

[0009] This application provides an electronic device, including:

[0010] Memory, used to store computer programs;

[0011] A processor is configured to execute the aforementioned method for determining the rotor state during the execution of the computer program.

[0012] This application provides a computer storage medium storing executable instructions for implementing the above-described method for determining the rotor state when executed by a processor.

[0013] The rotor state determination method, apparatus, electronic device, and computer storage medium provided in this application take into account the bearing force generated by the bearing for any disk in an equivalent unit. The bearing force includes the elastic force corresponding to the stiffness coefficient and the damping force corresponding to the damping coefficient. Thus, since the influence of the damping force on the rotor is considered when predicting the rotor state, the accuracy of determining the rotor state is improved. Attached Figure Description

[0014] Figure 1 A flowchart illustrating an optional method for determining rotor state provided in an embodiment of this application;

[0015] Figure 2 A schematic diagram of an optional rotor structure provided for an embodiment of this application;

[0016] Figure 3 A schematic diagram of an optional rotor assembly provided in an embodiment of this application;

[0017] Figure 4 A schematic diagram of the equivalent model of an optional rotor provided in an embodiment of this application;

[0018] Figure 5A schematic diagram of an optional equivalent unit provided in an embodiment of this application;

[0019] Figure 6a A schematic diagram of the forces and moments of an optional disk provided for an embodiment of this application;

[0020] Figure 6b A schematic diagram of the bending moment of an optional beam provided for an embodiment of this application;

[0021] Figure 7 A flowchart illustrating an optional method for determining rotor state provided in an embodiment of this application;

[0022] Figures 8a-8f A schematic diagram of an optional rotor array provided for an embodiment of this application;

[0023] Figure 9 A schematic diagram of the variation curve of an optional damping critical speed with damping, provided for an embodiment of this application;

[0024] Figure 10 A schematic diagram of the variation curve of the logarithmic decay rate with damping provided for an embodiment of this application;

[0025] Figure 11a and Figure 11b A schematic diagram illustrating the optional rotor displacement over time provided for embodiments of this application;

[0026] Figure 12 A schematic diagram of an optional rotor state determination device provided for an embodiment;

[0027] Figure 13 This is a schematic diagram of the hardware structure of an optional electronic device provided for an embodiment. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0030] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0032] To facilitate understanding of this solution, the application background of the embodiments of this application will be explained before describing the embodiments of this application.

[0033] In high-speed motors, oil cooling systems can be used to improve cooling efficiency and increase power density. These systems provide lubrication to the rotor bearings, improving lubrication conditions, and also provide damping to the rotor system, thus improving its dynamic characteristics. Furthermore, to suppress rotor vibration or achieve active vibration control in high-performance rotor systems, electromagnetic damping devices are required for high-speed rotor systems in special applications. These devices also provide damping to the rotor system. However, in related technologies, neglecting the influence of damping on the rotor state leads to inaccurate determination of the rotor state and low accuracy in predicting the critical speed of the rotor system.

[0034] This application provides a method, apparatus, electronic device, and computer storage medium for determining rotor state, taking into account the influence of support damping on rotor state and improving the accuracy of rotor state determination. The exemplary application of the rotor state determination apparatus provided in this application is described below. The rotor state determination apparatus provided in this application can be implemented as various types of user terminals such as laptops, tablets, desktop computers, set-top boxes, and mobile devices (e.g., mobile phones, portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices).

[0035] See Figure 1 , Figure 1 This application provides an optional method for determining the rotor state, which will be described in conjunction with S101-S104. The rotor includes N equivalent units; each equivalent unit includes a disk and a beam; at least one equivalent unit includes a bearing; N ≥ 2; and N is a positive integer.

[0036] S101. Determine the matrix of the i-th disk based on the force situation of the i-th disk; the matrix of the i-th disk represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include shear force and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer.

[0037] Figure 2 A schematic diagram of the structural composition of a rotor provided in an embodiment of this application is shown, as follows: Figure 2 The figure shows a cross-section of the rotor in the xz plane. The rotor includes a shaft 10 and a rotor assembly 20; the shaft 10 is parallel to the z-axis. Figure 3 This application provides a schematic diagram illustrating the structural composition of a rotor assembly according to an embodiment of the present application. Figure 3 As shown, rotor assembly 20 includes permanent magnet 201 and rotor assembly 202, etc. Based on the principle of invariant center of mass and considering the rotor's structure itself, the rotor can be equivalently represented as a rotor system model. The equivalent rotor includes: bearings, N disks, and N-1 elastic beams; N ≥ 2; and N is an integer; there is a massless elastic beam between any two adjacent disks, and the number of bearings is equal to the actual number of bearings in the rotor. Some disks near the center of the N disks and the elastic beams between these disks not only contain the shaft but also the rotor assembly 20; the positions of the disks containing the rotor assembly are determined based on the rotor's structure. It should be noted that the equivalent model of the rotor can be divided into N equivalent elements, each equivalent element including one disk and one beam; at least one equivalent element may also include one bearing.

[0038] For example, Figure 4 A schematic diagram of an equivalent model of a rotor is shown. (For example...) Figure 4 As shown, a rotor including two bearings can be equivalent to 40 disks a1-a40, 39 beams b1-b39, and 2 bearings c7 and c37. Bearing c7 is located at disk a7, and bearing c37 is located at disk a37; disks a15-a31 and beams b15-b30 contain the rotor assembly.

[0039] It should be noted that the acceleration of the disk's vibration at any given moment is determined by the forces acting on it at that moment, which include both force and torque. The forces acting on the disk include shear force and the supporting force generated by the bearings of the equivalent element to which the disk belongs; the supporting forces include elastic force and damping force.

[0040] In the embodiments of this application, the elastic force is generated based on the stiffness coefficient, and the damping force is generated based on the damping coefficient. If there is no bearing in an equivalent unit, its stiffness coefficient and damping coefficient are both 0, therefore the support force borne by the disk in the equivalent unit is 0.

[0041] For example, Figure 5A schematic diagram of an equivalent unit is shown. For example... Figure 5 As shown, the equivalent elements include: disk a, beam b, and bearing c.

[0042] In the embodiments of this application, the state of the equivalent unit can be represented by the state variable Z, see formula (1).

[0043] Z = |Z|e st Formula (1)

[0044] Where s is called the complex frequency of the rotor system, see formula (2).

[0045] s=σ+jω Formula (2)

[0046] Where ω (rad / s) is the natural frequency and σ (rad / s) is the damping exponent; the value of the damping exponent can represent the decay or increase of vibration; a damping exponent less than 0 indicates a decrease in vibration amplitude, and a damping exponent greater than 0 indicates an increase in vibration amplitude. It should be noted that when the damping exponent is less than 0, the vibration amplitude of the rotor decays exponentially with time, indicating that the rotor system is stable; when the damping exponent is greater than 0, it indicates that the rotor system is unstable.

[0047] In this embodiment of the application, in order to further quantify the stability of the system, the logarithmic decrease rate δ is used to represent the stability margin of the rotor system, see formula (3).

[0048]

[0049] In this system, a logarithmic decrease rate δ greater than 0 indicates a stable rotor system, while a logarithmic decrease rate δ less than 0 indicates an unstable rotor system. When the logarithmic decrease rate is greater than 0 and greater than 1, the rotor amplitude decays more rapidly, and the rotor's modes are significantly suppressed, resulting in stronger stability. Here, the velocity corresponding to a logarithmic decrease rate δ of 0 is the instability threshold velocity of the system.

[0050] In the embodiments of this application, the state variable Z includes the internal force parameter f and the deformation parameter ε, both of which change with time.

[0051] Z={f ε} Formula (4)

[0052] Among them, the internal force parameter f includes bending moment M and shear force Q, see formula (5); the deformation parameter ε includes linear displacement X and angular displacement θ, see formula (6).

[0053] f = {MQ} T Formula (5)

[0054] ε={X θ} T Formula (6)

[0055] In some embodiments of this application, the state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement, and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes a first disk state relationship and a second disk state relationship; the electronic device can determine the first disk state relationship based on the force on the i-th disk; the first disk state relationship characterizes the relationship between the disk linear displacement, the disk shear force at the first end, and the disk shear force at the second end.

[0056] In this embodiment, the first end of the disk along the bearing direction is subjected to a first disk shear force, i.e., the disk shear force at the first end; the second end is subjected to a second disk shear force, i.e., the disk shear force at the second end. Linear displacement in the bearing direction corresponds to elastic force, and velocity in this direction corresponds to damping force. According to Newton's second law, the resultant force of the first disk shear force, the second disk shear force, the elastic force, and the damping force can generate acceleration in this direction.

[0057] In this equation, the linear velocity of the disk vibration is the first derivative of the linear displacement, and the linear acceleration is the second derivative of the linear displacement. The angular velocity of the disk vibration is the first derivative of the angular displacement, and the angular acceleration is the second derivative of the angular displacement. Taking the first derivative of equation (2) yields equation (7), and taking the second derivative of equation (2) yields equation (8).

[0058]

[0059]

[0060] From formulas (7) and (8), it can be seen that the damping force and vibration acceleration of the disk can be determined based on the linear displacement in the disk's state variables. Thus, the shear force of the first disk... Second disk shear force The relationship between them can be determined by the mass m of the disk, the complex frequency s, the linear displacement X, the stiffness coefficient k, and the damping coefficient c, as shown in formula (9).

[0061]

[0062] In some embodiments of this application, the first disk state relationship includes the first disk state relationship in a first direction and the first disk state relationship in a second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the rotor bearing; the electronic device can characterize the first end disk shear force in the first direction using the second end disk shear force in the first direction, the disk mass, the first rigid parameter and the first damping parameter in the first direction affecting the first direction, the second rigid parameter and the second damping parameter in the first direction affecting the second direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor; and characterize the first end disk shear force in the second direction using the second end disk shear force in the second direction, the third rigid parameter and the third damping parameter in the second direction affecting the second direction, the fourth rigid parameter and the fourth damping parameter in the second direction affecting the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor; when the bearing is not included in the equivalent unit, the first rigid parameter, the second rigid parameter, the third rigid parameter, the fourth rigid parameter, the first damping parameter, the second damping parameter, the third damping parameter, and the fourth damping parameter are all 0.

[0063] In this embodiment, the bearing direction is the z-axis direction, the first direction is the x-axis direction, and the second direction is the y-axis direction. According to Newton's second law, the force on the i-th disk in the x-axis direction can be expressed by formula (10), and the force on the i-th disk in the y-axis direction can be expressed by formula (11).

[0064]

[0065]

[0066] Where x is the linear displacement along the x-axis, and y is the linear displacement along the x-axis; k xx c is the first rigid parameter affecting the x-axis direction. xx k is the first damping parameter affecting the x-axis direction. xy c is the second rigid parameter that affects the y-axis direction in the x-axis direction. xy This is the second damping parameter that affects the x-axis direction in the y-axis direction; The shear force of the first end disk in the x-axis direction. k represents the shear force of the second end disk in the x-axis direction. yy c is the third rigid parameter affecting the y-axis direction. yy k is the third damping parameter affecting the y-axis direction. yx c is the fourth rigid parameter that affects the x-axis direction in the y-axis direction. yx This is the fourth damping parameter that affects the x-axis direction in the y-axis direction; The shear force of the first end disk in the y-axis direction. The shear force of the second end disk in the y-axis direction is denoted as .

[0067] By expressing formula (10) in the form of formula (9), we can obtain formula (12); and by expressing formula (11) in the form of formula (9), we can obtain formula (13).

[0068]

[0069]

[0070] based on Figure 5 , Figure 6a A schematic diagram of the forces and moments acting on a disk in an equivalent element is shown in Figure 6. As shown, the first end of disk a along the x-axis is subjected to a shear force from the first end of the disk. The second end will be subjected to shear force from the second end disk. First end disc shear force The corresponding bending moment of the disk at the first end is the bending moment of the disk at the first end. Second end disc shear force The corresponding bending moment of the disk at the second end is k xx and k xy c is the rigidity parameter that generates elastic force in the x-axis direction. xx and c xy The damping parameter is the resistance parameter that generates resistance in the x-axis direction.

[0071] In some embodiments of this application, the electronic device can determine the state relationship of the second disk based on the torque of the i-th disk; the state relationship of the second disk characterizes the relationship between the disk angular displacement, the disk bending moment at the first end, and the disk bending moment at the second end.

[0072] In this embodiment, the torque of the disk includes: the disk bending moment at the first end, the disk bending moment at the second end, and the torque. The torque is determined by the disk's moment of inertia, angular acceleration, and angular velocity. From formulas (7) and (8), it can be seen that the disk's torque can be determined based on the angular displacement in the disk's state variables. Thus, the relationship between the disk bending moment at the first end and the disk bending moment at the second end can be determined by the disk's rotational speed Ω, complex frequency s, angular displacement θ, and moment of inertia J, as shown in formula (14). Here, the moment of inertia can include the diametrical moment of inertia and the polar moment of inertia.

[0073]

[0074] In some embodiments of this application, the second disk state relationship includes the second disk state relationship in the first direction and the second disk state relationship in the second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the rotor bearing; the electronic device can characterize the disk bending moment at the first end in the second direction using the disk bending moment at the second end in the second direction, based on the diametrical moment of inertia, the polar moment of inertia and the rotational speed, the disk angular displacement in the second direction, the disk angular displacement in the first direction and the complex frequency of the rotor; and, the disk bending moment at the first end in the first direction can be characterized using the disk bending moment at the second end in the first direction, the diametrical moment of inertia, the polar moment of inertia, the rotational speed, the disk angular displacement in the first direction, the disk angular displacement in the second direction and the complex frequency of the rotor.

[0075] In this embodiment, the bearing direction is the z-axis direction, the first direction is the x-axis direction, and the second direction is the y-axis direction. According to the bending deformation formula, the torque of the i-th disk in the x-axis direction can be expressed by formula (15), and the torque of the i-th disk in the y-axis direction can be expressed by formula (16).

[0076]

[0077]

[0078] Among them, J d J is the moment of inertia of the diameter rotation. p θ is the polar moment of inertia. x Let θ be the angular displacement of the disk in the first direction. y This represents the angular displacement of the disk in the second direction.

[0079] based on Figure 5 , Figure 6b A schematic diagram of the torque of a beam in an equivalent element is shown; as follows: Figure 6b As shown, the disk bending moment at the first end of beam a along the x-axis is... The linear displacement is X 1d Angular displacement is The bending moment of the disk at the second end of beam b is The linear displacement is X 2d Angular displacement is

[0080] Expressing formula (15) in the form of formula (14) yields formula (17); and expressing formula (16) in the form of formula (14) yields formula (18).

[0081]

[0082]

[0083] According to formulas (12), (13), (17), and (18), the electronic device can pass through the i-th disk matrix D. i The relationship between the state vectors at both ends of the i-th disk is shown in formula (19).

[0084]

[0085] in,

[0086] D 11 =D 22 =I 4×4 Formula (20)

[0087] D 21 =O 4×4 Formula (21)

[0088]

[0089] S102. Determine the matrix of the i-th beam according to the bending deformation formula of the i-th beam; the matrix of the i-th beam is used to characterize the relationship between the state vectors at both ends of the i-th beam.

[0090] In this embodiment, when the rotor is in a vibration state, the equivalent beam can undergo bending deformation and displacement at a certain moment. The relationship between the state vectors at both ends of the i-th beam can be obtained according to the bending deformation formula.

[0091] In some embodiments of this application, the state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam; the electronic device can construct a bending deformation formula based on the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, the shear force of the beam, the equivalent elastic modulus, the moment of inertia, and the length of the beam to obtain the i-th beam matrix.

[0092] In this embodiment, the beam is perpendicular to the z-axis, and the linear displacement of the beam lies in the plane containing the x and y axes. The deformation and stress of the beam in the x-axis direction are the same as those in the y-axis direction, and the linear displacements in the x and y-axis directions can be represented by X.

[0093] Here, the relationship between the state vectors at both ends of the i-th beam includes the relationship between the internal force parameters f at both ends of the i-th beam and the relationship between the deformation parameters ε at both ends of the i-th beam. The relationship between the internal force parameters f at both ends of the i-th beam includes the relationship between the shear force Q at the first end of the i-th beam. 1d Second end shear force Q 2d The relationship between the two beams, and the bending moment M at the first end of the i-th beam. 1d Second end bending moment M 2dThe relationship between the deformation parameters ε at both ends of the i-th beam includes: the linear displacement X at the first end of the i-th beam. 1d Second end linear displacement X 2d The relationship between the two beams, and the angular displacement θ of the first end of the i-th beam. 1d Second end angular displacement θ 2d The relationship between them.

[0094] In some embodiments of this application, the relationship between the state vectors at both ends of the i-th beam includes: the shear force Q at the first end of the beam. 1d With the shear force Q at the second end of the beam 2d Same as above, see formula (23); the bending moment M at the first end of the beam 1d and the shear force Q at the first end of the beam 1d The sum of the products of the beam length l and the beam length l is equal to the bending moment M at the second end of the beam. 2d See formula (24); the first end linear displacement X of the beam 1d The displacement X at the second end of the beam 2d Angular displacement θ at the first end of the beam 1d The length l of the beam and the bending moment M at the second end of the beam. 2d The shear force Q at the second end of the beam 2d The equivalent elastic modulus E and moment of inertia I are characterized, see formula (25); the angular displacement θ at the first end of the beam 1d Through the angular displacement θ at the second end of the beam 2d The length l of the beam and the bending moment M at the second end of the beam. 2d The shear force Q at the second end of the beam 2d The equivalent elastic modulus E and moment of inertia I are characterized, see formula (26).

[0095] In the embodiments of this application,

[0096]

[0097]

[0098] M 2d =M 1d +Q 2d Formula (25)

[0099] Q 2d =Q 1d Formula (26)

[0100] Substituting formulas (25) and (26) into formula (23) yields formula (27); substituting formulas (25) and (26) into formula (24) yields formula (28).

[0101]

[0102]

[0103] Substituting formula (26) into formula (25), we can obtain formula (29).

[0104] M 2d =M 1d +Q 1d Formula (29)

[0105] According to formulas (27), (28), (29), and (26), the i-th beam matrix B can be used. i The relationship between the state vectors at both ends of the i-th beam is shown in formula (30).

[0106]

[0107] in,

[0108] B 12 =O 4×4 Formula (31)

[0109]

[0110]

[0111] S103. Determine the state relationship between the two ends of the i-th equivalent element based on the i-th disk matrix and the i-th beam matrix.

[0112] In this embodiment, the i-th equivalent element and the (i+1)-th equivalent element are connected; wherein, the second end of the i-th disk is connected to the first end of the i-th beam, and the second end of the i-th beam is connected to the first end of the (i+1)-th disk. According to the geometric compatibility and internal force equilibrium conditions, the state vector of the second end of the i-th beam is equal to the state vector of the first end of the (i+1)-th disk, see formula (34).

[0113]

[0114] In this embodiment of the application, the electronic device can use the product of the i-th disk matrix and the i-th beam matrix as the i-th two-end matrix U. i The i-th two-ended matrix U i The state relationship between the two ends of the i-th equivalent unit is represented; the two ends of the i-th equivalent unit include: the first end of the i-th equivalent unit and the second end of the i-th unit; the second end of the i-th equivalent unit is the first end of the (i+1)-th unit.

[0115] According to formulas (19), (30) and (34), the state relationship between the first end of the i-th disk and the first end of the (i+1)-th disk can be determined, that is, the state relationship between the first end of the i-th equivalent unit and the first end of the (i+1)-th equivalent unit, that is, the state relationship between the two ends of the i-th equivalent unit, see formula (35).

[0116]

[0117] in,

[0118]

[0119] S104. Based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, determine the state vectors of N equivalent units; the state vectors of N equivalent units are used to characterize the rotor state.

[0120] In this embodiment, the electronic device can introduce a Riccati transformation relationship at the i-th equivalent unit. Based on the Riccati transformation relationship and the i-th two-terminal matrix, the relationship between the i-th transfer matrix and the (i+1)-th transfer matrix is ​​determined. Here, the transfer matrix is ​​a function of the complex frequency. In this way, the electronic device can solve for each transfer matrix and then determine the complex frequency corresponding to each transfer matrix, thereby determining the state of the rotor.

[0121] In some embodiments of this application, in S104, the state vectors of N equivalent units are determined based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, such as... Figure 7 As shown, it may include: S201-S203.

[0122] S201. Based on the Riccati transform relation and the i-th two-terminal matrix, determine the transfer relationship between the (i+1)-th transfer matrix and the i-th transfer matrix; the transfer matrix is ​​a function of complex frequency.

[0123] In the embodiments of this application, the Riccati transformation relation is introduced at the i-th equivalent unit, and formula (37) can be obtained.

[0124] f i =S i ε i Formula (37)

[0125] Among them, S i It is a function of the complex number s, representing a 4×4 matrix.

[0126] Substituting formula (37) into formula (35), we obtain formula (38). Formula (38) eliminates the internal force parameter f of the i-th equivalent element. iand deformation parameter ε i .

[0127]

[0128] Based on formulas (38) and (37), we can obtain the recursive formula (39) for the transfer matrix. The recursive formula is used to characterize the transfer relationship between the (i+1)th transfer matrix and the ith transfer matrix.

[0129]

[0130] S202. Based on the boundary conditions and transmission relationships of the rotor, N complex frequencies are obtained; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

[0131] In this embodiment of the application, the first transfer matrix is ​​0. The electronic device can determine the N transfer matrices after the first transfer matrix in sequence according to the first transfer matrix, the transfer relationship and the boundary conditions.

[0132] In this embodiment, the rotor's boundary conditions include a first end boundary condition and a second end boundary condition; wherein, the first end of the rotor is the first end of the first equivalent element, and the second end of the rotor is the second end of the Nth equivalent element. The left end boundary condition includes: the internal force parameter of the first equivalent element is 0, and the deformation parameter is not 0. The right end boundary condition includes: the internal force parameter of the (N+1)th equivalent element is 0, and the deformation parameter is not 0.

[0133] In this embodiment of the application, based on the boundary conditions and the fact that the first transfer matrix is ​​0, the nontrivial solution of formula (39) should satisfy S. N+1 For the condition that the determinant of the matrix is ​​0, see formula (40).

[0134] Δ1=|S| N+1 =0 Formula (40)

[0135] In the embodiments of this application, there are many infinite singularities with opposite signs in the residual curve. These singularities will cause the intervals with opposite signs and the intervals where the roots exist to not correspond one-to-one, that is, to produce wrong roots or missing roots. Therefore, it is necessary to transform the infinite singularities with opposite signs in the residual curve into infinite singularities with the same sign.

[0136] In some embodiments of this application, the product of the modulus of the transfer matrix of the (N+1)th unit and the screening formula is 0; the screening formula is the result of multiplying N sub-screening formulas; the i-th sub-screening formula among the N sub-screening formulas is the u of the i-th two-sided matrix. 21 Multiply by the i-th transfer matrix, then multiply by u 22 The modulus of the sum. Thus, the dynamic equation of the rotor can be obtained, as shown in formula (41).

[0137]

[0138] Where sign is the sign function. Formula (41) represents a complex polynomial, which can be solved by finding the roots of the polynomial.

[0139] In this embodiment, the process of obtaining formula (41) can be implemented through programming. In some embodiments, programming can be performed using the parabolic method and in the form of complex variables.

[0140] In this embodiment, the electronic device determines each root through multiple iterations based on formula (41). The continuous iteration for a specific root can be performed by finding the closest solution to the quadratic curve of the last three points of the residual curve. If the difference between two consecutive values ​​of the root is less than or equal to a preset convergence error, the root can converge to a certain value, which is the solution.

[0141] In this embodiment of the application, the electronic device can extract the found conjugate complex roots from the polynomial before each search for roots, thereby reducing search time and improving search efficiency.

[0142] In this embodiment of the application, according to formula (1), the complex frequency corresponding to each transfer matrix can determine the state vector of an equivalent unit, thereby determining the state of the rotor.

[0143] The embodiments of this application take into account the influence of rotor support damping and support anisotropy on rotor dynamic characteristics; thus, the accuracy of prediction can be improved when predicting rotor state.

[0144] In the embodiments of this application, since the dimension of the system matrix does not increase with the number of rotor degrees of freedom, the prediction process is simplified, thereby increasing the efficiency of predicting rotor state.

[0145] In this embodiment of the application, after determining the solution of formula (41), i.e. the complex frequency, the electronic device can determine the natural frequency ω and damping index σ of the rotor according to formula (2).

[0146] It is understandable that, since the bearing force is taken into account for the disk in any equivalent unit, the bearing force includes the elastic force corresponding to the stiffness coefficient and the damping force corresponding to the damping coefficient; thus, the influence of the damping force on the rotor is taken into account, thereby improving the accuracy of determining the rotor state.

[0147] For example, the bearing support stiffness is 1×107 N / m and the damping is 50 Ns / m; the first three bending natural frequencies of the high-speed motor rotor system calculated by finite element method and the first three bending natural frequencies of the high-speed motor rotor system obtained by the method in the embodiments of this application are shown in Table 1.

[0148] Table 1

[0149]

[0150] As can be seen from Table 1, the relative error between the third-order natural frequency calculated in the embodiments of this application and that calculated by the finite element method is less than 4%.

[0151] Figure 8a , Figure 8b and Figure 8c The diagrams show the array configurations at three time points obtained using the finite element method. Figure 8d , Figure 8e and Figure 8f These are the array diagrams at three different moments obtained from embodiments of this application. Figure 8d , Figure 8e and Figure 8f The curve showing the relationship between dimensionless displacement and axial length is displayed. Figure 8d To and Figure 8a The array diagram obtained from the embodiments of this application at the same time, Figure 8e To and Figure 8b The array diagram obtained from the embodiments of this application at the same time, Figure 8f To and Figure 8c The array diagram obtained at the same time in the embodiment of this application. As can be seen from the figure, the rotor shape in the array diagram obtained in the embodiment of this application is basically the same as the rotor shape in the array diagram obtained by the finite element method.

[0152] When the bearing stiffness is 1×10 7 At N / m, the curves showing the variation of the critical speeds of the first two damped stages of the rotor system with damping are as follows: Figure 9 As shown. From Figure 9 As can be seen, when the damping is small, the critical speed of the first-order damping remains almost constant as the damping increases, while the critical speed of the second-order damping gradually decreases; when the damping is large, the critical speed of the first-order damping decreases slowly as the damping increases, while the critical speed of the second-order damping decreases rapidly. When the bearing stiffness is 1×10⁻⁶... 7 At N / m, the logarithmic decay rate corresponding to the critical speeds of the first two damping orders of the rotor system as a function of damping is shown in the curve. Figure 10 As shown. From Figure 10As can be seen, the first-order logarithmic decay rate increases slowly with damping, while the second-order logarithmic decay rate increases slowly at first and then sharply with damping. This indicates that bearing damping has a strong suppressive effect on the system's second-order damping critical speed, eventually causing it to disappear. Compared to the second-order damping critical speed, the suppressive effect of bearing damping on the system's first-order damping critical speed is weaker.

[0153] To verify the correctness of the damping critical speed characteristic analysis, the transient response of the rotor system was studied under two different bearing damping conditions. When the bearing stiffness is 1×10⁻⁶... 7 At N / m, apply 1×10 at the midpoint of the rotor assembly along the axial direction. -5 Table 2 shows the critical speeds and logarithmic decay rates of the first two damping orders for the unbalance of Kgm under two bearing damping conditions: 50 Ns / m and 8200 Ns / m.

[0154] Table 2

[0155]

[0156] For these two different damping conditions, the rotor is accelerated from zero to 30000 r / min according to the exponential law shown in formula (42). The transient response of the rotor at the location of the imbalance during the first second of acceleration is shown in Figure 11. Figure 11a The figure shows the trend of vertical displacement of a rotor with a damping of 50 Ns / m over time; Figure 11b The figure shows the trend of vertical displacement of a rotor with a damping of 8200 Ns / m over time.

[0157] Ω(t)=30000(1-e -1.5t ) Formula (42)

[0158] As shown in Table 2, when the damping is 50 Ns / m, the rotor system only exhibits a first-order damping critical speed of 12723 r / min within the 30000 r / min range. The corresponding logarithmic decay rate is very low, resulting in relatively severe rotor vibration. This is evident from… Figure 11a Only one significant peak can be verified in the rotor response, and the speed corresponding to this peak is the first-order damping critical speed of the rotor system. When the damping is 8200 Ns / m, the rotor system has two first-order damping critical speeds within the range of 30000 r / min, and their corresponding logarithmic decay rates are 4.085 and 28.971, respectively, both of which are much greater than 1. This indicates that the vibration of the rotor system can be well suppressed at this time. Therefore, no significant peak appears in the rotor response during acceleration. Figure 11b As shown.

[0159] Based on the above embodiments, this application also provides a rotor state determination device, such as... Figure 12 As shown, the device 100 may include:

[0160] The determination module 1001 is used to determine the matrix of the i-th disk based on the force condition of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include shear force and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; the i-th beam matrix is ​​determined according to the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; the state relationship at both ends of the i-th equivalent unit is determined according to the i-th disk matrix and the i-th beam matrix; the state vectors of the N equivalent units are determined based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state.

[0161] In some embodiments, the state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement, and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes a first disk state relationship and a second disk state relationship; the determining module 1001 is further configured to determine the first disk state relationship based on the forces acting on the i-th disk; the first disk state relationship characterizes the relationship between the disk linear displacement, the disk shear force at the first end, and the disk shear force at the second end; and determine the second disk state relationship based on the moment of the i-th disk; the second disk state relationship characterizes the relationship between the disk angular displacement, the disk bending moment at the first end, and the disk bending moment at the second end.

[0162] In some embodiments, the first disk state relationship includes a first disk state relationship in a first direction and a first disk state relationship in a second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the bearing of the rotor; the determining module 1001 is further configured to consider the shear force of the first end of the disk in the first direction, the shear force of the second end of the disk in the first direction, the mass of the disk, the first rigidity parameter and the first damping parameter affecting the first direction in the first direction, the second rigidity parameter and the second damping parameter affecting the second direction in the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the... The complex frequency of the rotor is characterized by: the shear force of the first end disk in the second direction, the shear force of the second end disk in the second direction, the third rigid parameter and the third damping parameter affecting the second direction in the second direction, the fourth rigid parameter and the fourth damping parameter affecting the first direction in the second direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor; when the bearing is not included in the equivalent unit, the first rigid parameter, the second rigid parameter, the third rigid parameter, the fourth rigid parameter, the first damping parameter, the second damping parameter, the third damping parameter, and the fourth damping parameter are all 0.

[0163] In some embodiments, the second disk state relationship includes a second disk state relationship in a first direction and a second disk state relationship in a second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the rotor bearing; the determining module 1001 is further configured to characterize the first end disk bending moment in the second direction using the second end disk bending moment in the second direction, the moment of inertia based on the diameter, the moment of inertia based on the polarity, the rotational speed based on ...

[0164] In some embodiments, the state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam; the determining module 1001 is further configured to construct the bending deformation formula based on the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, the shear force of the beam, the equivalent elastic modulus, the moment of inertia, and the length of the beam, to obtain the i-th beam matrix.

[0165] In some embodiments, the relationship between the state vectors at both ends of the i-th beam includes: the shear force at the first end of the beam is the same as the shear force at the second end of the beam; the bending moment at the first end of the beam, and the sum of the products of the shear force at the first end of the beam and the length of the beam, are equal to the bending moment at the second end of the beam; the linear displacement at the first end of the beam is characterized by the linear displacement at the second end of the beam, the angular displacement at the first end of the beam, the length of the beam, the bending moment at the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus, and the moment of inertia; the angular displacement at the first end of the beam is characterized by the angular displacement at the second end of the beam, the length of the beam, the bending moment at the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus, and the moment of inertia.

[0166] In some embodiments, the determining module 1001 is further configured to use the product of the i-th disk matrix and the i-th beam matrix as the i-th two-end matrix; the i-th two-end matrix characterizes the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th unit and the second end of the i-th equivalent unit; the second end of the i-th equivalent unit is the first end of the (i+1)-th equivalent unit.

[0167] In some embodiments, the determining module 1001 is further configured to determine the transfer relationship between the (i+1)th transfer matrix and the ith transfer matrix based on the Riccati transform relationship and the ith two-terminal matrix; the transfer matrix is ​​a function of the complex frequency;

[0168] Based on the rotor boundary conditions and the transmission relationship, N complex frequencies are obtained; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

[0169] In some embodiments, the determinant of the transfer matrix of the (N+1)th unit is 0.

[0170] In some embodiments, the two-end matrix is ​​a 2-order matrix U; the product of the modulus of the transfer matrix of the (N+1)th unit and the screening formula is 0; the screening formula is the result of multiplying N sub-screening formulas; the i-th sub-screening formula among the N sub-screening formulas is the modulus of the sum of the product of u21 of the i-th two-end matrix and the i-th transfer matrix, and then added to u22.

[0171] Figure 13 This is a schematic diagram of an optional electronic device provided in an embodiment of this application. The electronic device 1200 includes: a memory 1207, a processor 1208, and a computer program stored in the memory 1207 and executable on the processor 1208; wherein, when the processor 1208 runs the computer program, it executes the bus arbitration method as described in the foregoing embodiment.

[0172] It is understood that the slave node 1200 also includes a bus system 1209; the various components in the slave node 1200 are coupled together through the bus system 1209. It is understood that the bus system 1209 is used to implement communication between these components. In addition to a data bus, the bus system 1209 also includes a power bus, a control bus, and a status signal bus.

[0173] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM). Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0174] The methods disclosed in the embodiments of this application can be applied to a processor or implemented by a processor. A processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above methods can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory. The processor reads information from the memory and, in conjunction with its hardware, completes the steps of the aforementioned methods.

[0175] This application provides a computer-readable storage medium storing a computer program thereon. When executed by a first processor, the computer program implements the steps in the communication method on the slave node side described above. When executed by a second processor, the computer program implements the steps in the communication method on the master node side described above.

[0176] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0177] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A method for determining the state of a rotor, characterized in that, The rotor comprises N equivalent units; each equivalent unit comprises: a disk and a beam; at least one equivalent unit comprises a bearing; N ≥ 2; and N is a positive integer; the method comprises: Based on the force conditions of the i-th disk, determine the matrix of the i-th disk; the matrix of the i-th disk represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include: shear force, and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; The i-th beam matrix is ​​determined based on the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to characterize the relationship between the state vectors at both ends of the i-th beam. Based on the i-th disk matrix and the i-th beam matrix, determine the state relationship between the two ends of the i-th equivalent element; Based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, the state vectors of the N equivalent units are determined; the state vectors of the N equivalent units are used to characterize the rotor state. Specifically, determining the state relationship between the two ends of the i-th equivalent unit based on the i-th disk matrix and the i-th beam matrix includes: using the product of the i-th disk matrix and the i-th beam matrix as the i-th end matrix; the i-th end matrix characterizes the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th unit and the second end of the i-th equivalent unit; the second end of the i-th equivalent unit is the first end of the (i+1)-th equivalent unit; The step of determining the state vectors of the N units based on the Riccati transformation relationship and the i-th transfer state relationship includes: determining the transfer relationship between the (i+1)-th transfer matrix and the i-th transfer matrix based on the Riccati transformation relationship and the i-th two-end matrix; the transfer matrix is ​​a function of complex frequency; N complex frequencies are obtained according to the rotor boundary conditions and the transfer relationship; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

2. The method according to claim 1, characterized in that, The state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement, and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes the state relationship of the first disk and the state relationship of the second disk. The process of determining the matrix of the i-th disk based on the force distribution on the i-th disk includes: Based on the forces acting on the i-th disk, the state relationship of the first disk is determined; the state relationship of the first disk represents the relationship between the linear displacement of the disk, the shear force at the first end of the disk, and the shear force at the second end of the disk. The state relationship of the second disk is determined based on the torque of the i-th disk; the state relationship of the second disk represents the relationship between the angular displacement of the disk, the bending moment of the disk at the first end, and the bending moment of the disk at the second end.

3. The method according to claim 2, characterized in that, The first disk state relationship includes the first disk state relationship in a first direction and the first disk state relationship in a second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the bearing of the rotor; The step of determining the state relationship of the first disk based on the force on the i-th disk includes: The shear force of the disk at the first end in the first direction is characterized by the shear force of the disk at the second end in the first direction, the mass of the disk, the first rigidity parameter and the first damping parameter affecting the first direction in the first direction, the second rigidity parameter and the second damping parameter affecting the second direction in the first direction, the linear displacement of the disk in the first direction, the linear displacement of the disk in the second direction, and the complex frequency of the rotor. The shear force of the first end of the disk in the second direction is characterized by the shear force of the second end of the disk in the second direction, the third rigidity parameter and the third damping parameter in the second direction affecting the second direction, the fourth rigidity parameter and the fourth damping parameter in the second direction affecting the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor. When the bearing is not included in the equivalent unit, the first rigidity parameter, the second rigidity parameter, the third rigidity parameter, the fourth rigidity parameter, the first damping parameter, the second damping parameter, the third damping parameter, and the fourth damping parameter are all 0.

4. The method according to claim 2, characterized in that, The second disk state relationship includes the second disk state relationship in the first direction and the second disk state relationship in the second direction; the first direction and the second direction are perpendicular, and both the first direction and the second direction are perpendicular to the bearing of the rotor; The step of determining the state relationship of the second disk based on the torque of the i-th disk includes: The disk bending moment at the first end in the second direction is characterized by the disk bending moment at the second end in the second direction, the diametrical moment of inertia, the polar moment of inertia and the self-rotation speed, the disk angular displacement in the second direction, the disk angular displacement in the first direction and the complex frequency of the rotor. The disk bending moment at the first end in the first direction is characterized by the disk bending moment at the second end in the first direction, the diametrical moment of inertia, the polar moment of inertia, the rotational speed, the disk angular displacement in the first direction, the disk angular displacement in the second direction, and the complex frequency of the rotor.

5. The method according to claim 1, characterized in that, The state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam. The step of determining the i-th beam matrix based on the bending deformation formula of the i-th massless beam includes: Based on the beam's angular displacement, bending moment, linear displacement, shear force, equivalent elastic modulus, moment of inertia, and length, the bending deformation formula is constructed to obtain the i-th beam matrix.

6. The method according to claim 5, characterized in that, The relationship between the state vectors at both ends of the i-th beam includes: The shear force at the first end of the beam is the same as the shear force at the second end of the beam; The sum of the product of the first end bending moment of the beam and the first end shear force of the beam and the length of the beam is equal to the second end bending moment of the beam. The linear displacement of the first end of the beam is characterized by the linear displacement of the second end of the beam, the angular displacement of the first end of the beam, the length of the beam, the bending moment of the second end of the beam, the shear force of the second end of the beam, the equivalent elastic modulus, and the moment of inertia. The first end angular displacement of the beam is characterized by the second end angular displacement of the beam, the length of the beam, the second end bending moment of the beam, the second end shear force of the beam, the equivalent elastic modulus, and the moment of inertia.

7. The method according to claim 1, characterized in that, The determinant of the transfer matrix of the (N+1)th unit is 0.

8. The method according to claim 1, characterized in that, The two-end matrix is ​​a 2-order matrix U; the product of the modulus of the transfer matrix of the (N+1)th unit and the screening formula is 0; the screening formula is the result of multiplying N sub-screening formulas; the i-th sub-screening formula among the N sub-screening formulas is the modulus of the sum of the product of u21 of the i-th two-end matrix and the i-th transfer matrix, and then added to u22.

9. A device for determining the state of a rotor, characterized in that, The rotor comprises N equivalent units; each equivalent unit comprises: a disk and a beam; at least one equivalent unit comprises a bearing; N ≥ 2; and N is a positive integer; the device comprises: A determination module is used to determine the matrix of the i-th disk based on the force conditions of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include shear force and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; the i-th beam matrix is ​​determined according to the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; the state relationship at both ends of the i-th equivalent unit is determined according to the i-th disk matrix and the i-th beam matrix; the state vectors of the N equivalent units are determined based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state; Specifically, determining the state relationship between the two ends of the i-th equivalent unit based on the i-th disk matrix and the i-th beam matrix includes: using the product of the i-th disk matrix and the i-th beam matrix as the i-th end matrix; the i-th end matrix characterizes the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th unit and the second end of the i-th equivalent unit; the second end of the i-th equivalent unit is the first end of the (i+1)-th equivalent unit; The step of determining the state vectors of the N units based on the Riccati transformation relationship and the i-th transfer state relationship includes: determining the transfer relationship between the (i+1)-th transfer matrix and the i-th transfer matrix based on the Riccati transformation relationship and the i-th two-end matrix; the transfer matrix is ​​a function of complex frequency; N complex frequencies are obtained according to the rotor boundary conditions and the transfer relationship; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor configured to, during the execution of the computer program, perform the method for determining the rotor state as described in any one of claims 1-8.

11. A computer storage medium, characterized in that, It stores executable instructions that, when executed by a processor, implement the method for determining the rotor state as described in any one of claims 1-8.

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