A method and system for actively suppressing electromagnetic vibration of a magnetic levitation motor

Abstract

The present invention discloses a method and system for actively suppressing electromagnetic vibration of a magnetic levitation motor, belonging to the technical field of magnetic levitation motors. The method comprises controlling the position of the magnetic levitation bearings so that the distances between the rotor and the geometric center of the magnetic levitation bearings are 0, X1=A1sin(α+δ1) and X2=A1sin(α+δ1+π), respectively, and obtaining the corresponding vibration acceleration amplitude of the rotational frequency. When the distance between the rotor and the geometric center of the magnetic bearings is 0, the eccentricity and phase difference between the motor rotor and the geometric center of the magnetic bearings are the intrinsic offset amplitude γ0 and the intrinsic phase difference δ generated due to machining errors. Based on this scenario, γ0, the amplitudes under different controls, and the resulting rotor position offset form a vector triangle. Combined with the vector relationship between the vibration acceleration amplitude of the rotational frequency and the rotor position offset, γ0 and δ can be solved. Then, by controlling the position of the magnetic levitation bearings so that the distance between the rotor and the geometric center of the magnetic levitation bearings is the target distance X'=γ0sin(α'+δ), active electromagnetic vibration suppression can be achieved, and the suppression effect of electromagnetic vibration caused by eccentricity can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of magnetic levitation motors, and more specifically, relates to a method and system for actively suppressing electromagnetic vibration of a magnetic levitation motor. Background Art

[0002] In the magnetic levitation motor system, active magnetic bearings (magnetic bearings) are an important component. They use controllable electromagnetic force to suspend the rotor in the center of the stator, fundamentally changing the rotor support method. The stator and rotor of the magnetic bearings are not in contact, solving the vibration and noise problems inherent in traditional mechanical bearings. It is one of the best solutions for rotating machinery support.

[0003] However, because the stiffness of electromagnetic supports is far less than that of mechanical supports, manufacturing errors in the motor body can cause the suspended rotor to exhibit eccentric motion during rotation. This distorts the air gap permeability of the motor, exacerbating the electromagnetic excitation force and causing vibration in the motor system. These issues are difficult to fully overcome during the forward motor design process and can significantly impact actual operating performance, restricting the application of magnetic levitation motors in high-end manufacturing. Consequently, research on active vibration reduction in magnetic levitation motors has garnered increasing attention in recent years.

[0004] Existing methods for suppressing electromagnetic vibration in motors primarily adjust the air gap magnetomotive force, ultimately optimizing the excitation force waves acting on the stator. A commonly used method for actively suppressing electromagnetic vibration is electromagnetic vibration reduction based on motor harmonic current injection. This method analyzes the relationship between the frequency, amplitude, and phase of the harmonic current and the vibration force waves, injecting corresponding current harmonics to cancel the original vibration force waves. However, this method's physical principle is to compensate for distortion in the air gap magnetic flux density, and eccentricity is caused by distortion in the air gap magnetic permeability. Therefore, its effectiveness in improving electromagnetic vibration caused by eccentricity is limited. Magnetic levitation motors, which rely on electromagnetic force for suspension, are sensitive to factors such as rotor mass imbalance and sensor sampling errors. Significant eccentricity during rotation can cause distortion in the air gap magnetic permeability at the motor, leading to unbalanced magnetic pull, which in turn exacerbates the electromagnetic vibration caused by eccentricity. Therefore, existing methods for suppressing electromagnetic vibration in motors are unable to effectively suppress electromagnetic vibration in magnetic levitation motors. Summary of the Invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a method and system for actively suppressing electromagnetic vibration of a magnetic levitation motor, the purpose of which is to improve the suppression effect of electromagnetic vibration caused by eccentricity.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for actively suppressing electromagnetic vibration of a magnetic levitation motor, comprising:

[0007] The rotor position angle α' of the magnetic levitation motor is acquired in real time, and a position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic levitation bearing is the target distance X' = γ0sin(α' + δ), thereby achieving active electromagnetic vibration suppression;

[0008] The position controller includes a PID controller; γ0 and δ are the intrinsic offset amplitude and intrinsic phase frequency shift of the geometric center of the rotor and the magnetic bearing due to machining errors, respectively, and are calculated as follows:

[0009] At any operating moment, the position angle α of the magnetic levitation motor is obtained, and the position controller is used to control the position of the magnetic levitation bearing so that the rotor is suspended at the geometric center of the magnetic levitation bearing, and the vibration acceleration amplitude V0 of the current rotation frequency is measured;

[0010] A position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X1 = A1sin(α + δ1), and the vibration acceleration amplitude V1 of the current rotational frequency is measured. The amplitude A1 is any value in the range (0, L); L is the protective bearing air gap of the magnetic levitation motor; and the phase offset δ1 is any value in the range (0, 2π).

[0011] A position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X2 = A1sin(α+δ1+π), and the vibration acceleration amplitude V2 of the current rotation frequency is measured;

[0012] Based on A1, δ1, V0, V1 and V2, we can calculate δ=π-θ+δ1; among them, θ satisfies:

[0013] Further preferably, the position controller is used to generate corresponding current instructions based on the difference between the actual distance between the rotor and the geometric center of the magnetic bearing and the target distance, and act on the magnetic bearing to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance.

[0014] Further preferably, the position controller further includes a PR controller connected in parallel with the PID controller.

[0015] Further preferably, the rotor position angle of the magnetic levitation motor is obtained by:

[0016] The current signal of the stator winding of the current magnetic levitation motor bearing is collected and input into the phase-locked loop to obtain the rotor position angle of the magnetic levitation motor.

[0017] Further preferably, the phase-locked loop is a second-order generalized integral phase-locked loop.

[0018] In a second aspect, the present invention provides a system for actively suppressing electromagnetic vibrations of a magnetic levitation motor, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for actively suppressing electromagnetic vibrations of a magnetic levitation motor provided in the first aspect of the present invention is executed.

[0019] In a third aspect, the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is executed by a processor, the device where the storage medium is located is controlled to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention.

[0020] In a fourth aspect, the invention further provides a computer program product, comprising a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the invention is implemented.

[0021] In a fifth aspect, the present invention provides a magnetic levitation motor system, comprising: a magnetic levitation bearing body, a motor body, and a controller;

[0022] The controller is used to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention.

[0023] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0024] 1. The present invention provides a method for actively suppressing electromagnetic vibration of a magnetic levitation motor, which controls the position of the magnetic levitation bearing so that the distance between the rotor and the geometric center of the magnetic levitation bearing is 0, X1=A1sin(α+δ1) and X2=A1sin(α+δ1+π), and obtains the vibration acceleration amplitudes V0, V1 and V2 of the corresponding rotational frequency; when the distance between the rotor and the geometric center of the magnetic bearing is 0, the eccentricity and phase difference between the motor rotor and the geometric center of the magnetic bearing are the intrinsic offset amplitude γ0 and the intrinsic phase difference δ caused by the processing error. Based on this scenario, γ0 and the amplitudes under different controls and the resulting rotor position offset form a vector triangle. Based on the geometric relationship, the vector triangle is formed. The vector relationship between the vibration acceleration amplitude of the combined frequency and the rotor position offset can be solved to obtain γ0 and δ, and then by controlling the position of the magnetic levitation bearing, the distance between the rotor and the geometric center of the magnetic levitation bearing is made to be the target distance X'=γ0sin(α'+δ). Compared with when the distance between the rotor and the geometric center of the magnetic levitation bearing is 0, the magnetic bearing and the motor rotor are not concentric due to the processing error, resulting in the motor still being in an eccentric state, and vibration still exists at this time. The provided method further utilizes the active control capability of the magnetic bearing to realize the rotation of the rotor around the geometric center of the motor rotor, which can eliminate the unbalanced magnetic pull, thereby realizing active suppression of electromagnetic vibration and improving the suppression effect of electromagnetic vibration caused by eccentricity.

[0025] 2. The existing harmonic amplitude and phase based on the motor harmonic current injection method often require tedious traversal, and are likely to cause torque fluctuations, affecting the motor's load capacity. The active suppression method of electromagnetic vibration of the magnetic levitation motor provided by the present invention is simple to calculate, does not require trial and error control parameters, and can obtain the intrinsic offset amplitude γ0 and intrinsic phase frequency shift δ of the geometric center of the rotor and the magnetic levitation bearing due to machining errors in only three tests. It has certain generalization ability and robustness, will not cause torque fluctuations, and will not affect the motor's load capacity.

[0026] 3. Furthermore, in the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided by the present invention, the position controller adopted also includes a PR controller connected in parallel with the PID controller. The PR controller contains a mathematical model of the periodic signal. According to the internal model principle, it can achieve zero-error tracking of periodic position fluctuations, and can achieve precise control of the distance between the rotor and the geometric center of the magnetic levitation bearing, further improving the electromagnetic vibration suppression effect.

[0027] 4. Furthermore, the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided by the present invention uses a second-order generalized integral phase-locked loop to obtain the rotor position angle of the magnetic levitation motor, which has a small amount of calculation and improves the efficiency of actively suppressing electromagnetic vibration of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A flow chart of a method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided by an embodiment of the present invention;

[0029] Figure 2 A flow chart of a method for calculating an asymmetric air gap permeance position triangle provided by an embodiment of the present invention;

[0030] Figure 3 A vector triangle formed by γ0 provided in an embodiment of the present invention, position fluctuations generated by injected periodic position harmonics, and a new rotor position offset generated;

[0031] Figure 4 A block diagram of a magnetic bearing control system provided by an embodiment of the present invention;

[0032] Figure 5 A schematic diagram comparing position waveforms before and after the implementation of the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided by the present invention;

[0033] Figure 6 A schematic diagram comparing the vibration acceleration of multiple measuring points after the active suppression method for electromagnetic vibration of a magnetic levitation motor provided by the present invention is put into use and under normal rotation and zero displacement control of the magnetic bearing;

[0034] Figure 7 Schematic diagrams comparing vibration accelerations when the method for actively suppressing electromagnetic vibrations of a magnetic levitation motor provided by the present invention, the existing normal rotation control method, and the magnetic bearing zero-displacement control method are respectively adopted at different position harmonic amplitudes and phase shift angles; wherein, (a) is a schematic diagram comparing vibration accelerations when the method for actively suppressing electromagnetic vibrations of a magnetic levitation motor provided by the present invention is adopted at different position harmonic amplitudes and phase shift angles; (b) is a schematic diagram comparing vibration accelerations when the existing normal rotation control method is adopted at different position harmonic amplitudes and phase shift angles; (c) is a schematic diagram comparing vibration accelerations when the magnetic bearing zero-displacement control method is adopted at different position harmonic amplitudes and phase shift angles;

[0035] Figure 8 Schematic diagram of the comparison of vibration acceleration results when electromagnetic vibration suppression is performed with different values ​​near the obtained optimal γ0 and δ; wherein, (a) is a schematic diagram of the comparison of vibration acceleration results when electromagnetic vibration suppression is performed with different values ​​near the obtained optimal γ0; (b) is a schematic diagram of the comparison of vibration acceleration results when electromagnetic vibration suppression is performed with different values ​​near the obtained optimal δ. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0037] In order to achieve the above objectives, in a first aspect, the present invention provides a method for actively suppressing electromagnetic vibration of a magnetic levitation motor, such as Figure 1 Shown, including:

[0038] The rotor position angle α' of the magnetic levitation motor is acquired in real time, and a position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic levitation bearing is the target distance X' = γ0sin(α' + δ), thereby achieving active electromagnetic vibration suppression;

[0039] The position controller includes a PID controller; the position controller is configured to generate a corresponding current command based on the difference between the actual distance between the rotor and the geometric center of the magnetic bearing and the target distance, and apply the current command to the magnetic bearing, thereby controlling the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing reaches the target distance. Preferably, in an optional embodiment, the position controller further includes a PR controller connected in parallel with the PID controller.

[0040] γ0 and δ are the intrinsic offset amplitude and intrinsic phase frequency shift of the geometric center of the rotor and the magnetic bearing due to machining errors, respectively, and are calculated as follows:

[0041] At any operating moment of the magnetic levitation motor, the position angle α of the magnetic levitation motor is obtained, and the position controller is used to control the position of the magnetic levitation bearing so that the rotor is suspended at the geometric center position of the magnetic levitation bearing, and the vibration acceleration amplitude V0 of the current rotation frequency is measured;

[0042] A position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X1 = A1sin(α + δ1), and the vibration acceleration amplitude V1 of the current rotational frequency is measured. The amplitude A1 is any value in the range (0, L); L is the protective bearing air gap of the magnetic levitation motor; and the phase offset δ1 is any value in the range (0, 2π).

[0043] A position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X2 = A1sin(α+δ1+π), and the vibration acceleration amplitude V2 of the current rotation frequency is measured;

[0044] Based on A1, δ1, V0, V1 and V2, we can calculate δ=π-θ+δ1; among them, θ satisfies:

[0045] It should be noted that there are multiple ways to obtain the rotor position angle of the magnetic levitation motor mentioned above;

[0046] In one optional implementation, the current signal from the stator winding of the magnetic levitation motor bearing is collected and input into a phase-locked loop (PLL) to obtain the rotor position angle of the magnetic levitation motor. The PLL can be a second-order generalized integral phase-locked loop (SOGI-PLL) or a synchronous rotating reference frame phase-locked loop (SRF-PLL), with the second-order generalized integral phase-locked loop (SOGI-PLL) being preferred due to its low computational complexity.

[0047] In another optional implementation, the rotor position angle of the magnetic levitation motor is directly detected by a sensor.

[0048] In order to further illustrate the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided by the present invention, a specific embodiment is described in detail below:

[0049] In this embodiment, active suppression of electromagnetic vibration begins from the start-up phase of the magnetic levitation motor.

[0050] The starting process of the magnetic levitation motor includes:

[0051] Start the magnetic bearing AMB, and the rotor is suspended at the position of the protective bearing by the electromagnetic force of the magnetic bearing.

[0052] Start the variable frequency motor, and use the frequency converter to make the suspended rotor rotate under the tangential force.

[0053] During rotor rotation, manufacturing errors can lead to an imbalance in rotor mass distribution. This imbalance, during rotation, subjects the rotor to a centrifugal force that is related to the rotational frequency. The magnitude of this perturbation force depends on the speed, rotor mass, and mass distribution, making it difficult to accurately describe. Its characteristics are: 1) The output signal of the displacement sensor at the magnetic bearing contains significant rotational frequency fluctuations. 2) The system's vibration acceleration spectrum has a distinct rotational frequency characteristic line spectrum.

[0054] After the magnetic levitation motor starts, the current signal of the stator winding of the magnetic levitation motor bearing is used as input to calculate the rotor speed Ω0 and position angle α using SOGI-PLL. The method mainly consists of three parts: 1. characteristic signal extraction; 2. characteristic frequency extraction; 3. position angle calculation.

[0055] Specifically, SOGI-PLL can extract the input signal v in There are two frequency components, among which v d In phase with the input signal, v qLagging the input signal by 90°, the transfer function is:

[0056]

[0057] Where ξ is the gain of the SOGI, which determines the bandwidth of the bandpass filter used to extract the rotational frequency component; ω is the motor speed extracted by the PLL, which can be calculated in the time domain using the extracted signal:

[0058]

[0059] When the real-time rotor speed is obtained, the real-time rotor position angle can be obtained by integration. In order to avoid the real-time integration causing the value to be too large, the control system is limited. When the integral value reaches 2π, the integral is cleared to zero. In this way, the real-time phase angle change range is one cycle T. s , specifically:

[0060]

[0061] The position angle α reflects the position of the unbalanced mass of the rotor.

[0062] Now we enter the stage of obtaining position harmonics:

[0063] The present invention provides a method for calculating the asymmetric air gap permeability position triangle to calculate the intrinsic offset amplitude γ0 and intrinsic phase frequency shift δ caused by machining errors between the rotor and the magnetic bearing. The overall process is as follows: Figure 2 As shown, specifically:

[0064] A position controller is used to control the position of the magnetic bearing so that the rotor is suspended at the geometric center of the magnetic bearing (i.e., the distance between the rotor and the geometric center of the magnetic bearing is 0). At this time, the injected position harmonic is 0, and a vibration accelerometer is used to measure the vibration acceleration amplitude V0 of the current rotational frequency.

[0065] Based on the position angle α, a phase shift of δ1 is performed to obtain the phase angle of the position harmonic, and then multiplied by the amplitude A1 to obtain the first period position harmonic A1cos(Ω0t+α+δ1) with an amplitude of A1 and a phase shift angle of δ1. The amplitude A1 is an arbitrary value in the range of (0, L); L is the protective bearing air gap of the magnetic levitation motor; and the phase offset δ1 is an arbitrary value in the range of (0, 2π).

[0066] Inject the periodic position harmonic A1cos(Ω0t+α+δ1) (position reference value) into the position controller, and measure the vibration acceleration amplitude V1 of the current rotation frequency. That is, use the position controller to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X1=A1sin(α+δ1), and measure the vibration acceleration amplitude V1 of the current rotation frequency;

[0067] Keeping the amplitude A1 unchanged, setting the phase shift angle to δ1+π, obtaining the second period position harmonic A1cos(Ω0t+α+δ1+π) (position reference value) with an amplitude of A1 and a phase shift angle of δ1+π, injecting it into the position controller, and measuring the vibration acceleration amplitude V2 of the current rotation frequency, that is, using the position controller to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X2=A1sin(α+δ1+π), and measuring the vibration acceleration amplitude V2 of the current rotation frequency;

[0068] Considering that the vibration source is the unbalanced magnetic pull on the motor side, the magnitude of the force is approximately linearly related to the fluctuation of the air gap magnetic permeance, and the position of the rotor of the magnetic bearing and the fluctuation of the air gap magnetic permeance can be approximately considered as:

[0069] g(t,θ)=g0-γ0cos(θ-Ω0t+α+δ)

[0070] Among them, γ0 and δ are the intrinsic offset amplitude and intrinsic phase frequency shift of the geometric center of the rotor and the magnetic bearing caused by the machining error, respectively.

[0071] Based on the intrinsic offset amplitude γ0 caused by the machining error between the geometric center of the rotor and the magnetic bearing, the new rotor position offsets after injecting the first period position harmonic and the second period position harmonic are recorded as γ1 and γ2 respectively; Figure 3 As shown, γ0, the position fluctuation generated by the injected periodic position harmonics and the new rotor position offset form a vector triangle. Based on the geometric relationship, according to the cosine theorem:

[0072]

[0073] The position offset and the corresponding vibration acceleration amplitude of the rotation frequency approximately satisfy:

[0074]

[0075] According to the above formula, the intrinsic offset amplitude (i.e., the amplitude of the asymmetric permeability change) γ0 and the intrinsic phase frequency shift (i.e., the angle between the rotor asymmetric permeability and the unbalanced mass position) δ of the geometric center of the rotor and the magnetic bearing caused by the machining error are obtained respectively:

[0076] δ=π-θ+δ1

[0077] Active electromagnetic vibration suppression can thus be achieved by injecting periodic position harmonics with an amplitude of γ0 and a phase shift of δ. Specifically, the rotor position angle α' of the magnetic levitation motor is acquired in real time, and a position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic levitation bearing is the target distance X' = γ0 sin (α' + δ), thus achieving active electromagnetic vibration suppression.

[0078] The position controller used in this embodiment is a PID controller and a PR controller in parallel, specifically, Figure 4 As shown, the center frequency of the PR controller is

[0079] The PID controller is used to generate a corresponding current command based on the difference between the actual distance between the rotor and the geometric center of the magnetic bearing and the target distance. This command realizes the rotor suspension and translation position control.

[0080] The PR controller generates a corresponding current command based on the difference between the actual distance and the target distance between the rotor and the geometric center of the magnetic bearing and the rotor speed Ω0. This command controls the rotor's periodic position fluctuation.

[0081] The current command generated by the PID controller is added to the current command generated by the PR controller, amplified by the power circuit AMP, and then acts on the magnetic bearing, thereby controlling the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance.

[0082] It should be noted that the above method is only one of the implementation methods of the position controller, and is not the only method. The PR controller can also be connected in parallel to the gain module K, which is not limited here.

[0083] After calculation, we get γ0 = 14um, δ = 120°. After injecting position harmonics, the rotor displacement waveform is as follows Figure 5 As shown in the figure, the displacement fluctuation of the rotor is about 14.5 μm, which shows that the control algorithm can effectively control the displacement trajectory of the magnetic bearing.

[0084] Furthermore, LMS SCADAS XS was used to obtain the vibration acceleration information of the motor foot and compared it with three working conditions: normal rotation, γ0 = 0 (zero displacement control), and γ0 = 14 μm, δ = 120° (electromagnetic vibration suppression). Figure 6 As shown, taking the machine foot 1 as an example, when the motor rotates normally, the vibration acceleration of the machine foot is 1.05m / s 2 When zero displacement control is used, the vibration acceleration is 0.19m / s 2 When the electromagnetic vibration suppression algorithm is put into use, the vibration acceleration is reduced to 0.03m / s 2, it can be seen that the experimental phenomenon is consistent with the theory, and the vibration acceleration of the system can be reduced by more than 97%.

[0085] The electromagnetic vibration suppression effect at different speeds is as follows Figure 7 As shown in the table below, it can be seen that at different speeds, the electromagnetic vibration suppression method can achieve lower vibration acceleration values ​​compared to normal rotation and zero displacement control. The specific reduction ratios are shown in the table below, all exceeding 85%.

[0086] Table 1 Electromagnetic vibration suppression effect at different rotation frequencies

[0087]

[0088]

[0089] In order to prove the superiority of γ0 and δ calculated by the present invention, different values ​​of γ0 and δ were taken near the obtained optimal values ​​to conduct experiments, and the vibration acceleration at this time was collected, as shown in FIG. Figure 8 As shown, when the system is far away from the optimal value, the vibration acceleration of the system also increases, and is positively correlated with the degree of deviation of γ0 and δ calculated by the present invention.

[0090] In summary, the present invention can reduce the rotor displacement fluctuation, and can also suppress the electromagnetic vibration caused by dynamic eccentricity by adjusting the air gap distribution of the permanent magnet synchronous motor. Specifically, 1) compared with the traditional magnetic levitation motor control scheme, the present invention can reduce the rotor position fluctuation and improve the rotation accuracy. At the same time, it can realize the adjustable rotor fluctuation position and increase the flexibility of the magnetic levitation motor. 2) The present invention can effectively reduce the vibration of the system at the speed frequency through the calculated position control instructions, and is applicable to working conditions of different speeds and has a certain generalization ability. 3) The asymmetric air gap magnetic permeability calculation method proposed in the present invention is used to calculate the intrinsic offset amplitude γ0 and the intrinsic phase frequency shift δ caused by the machining error of the geometric center of the rotor and the magnetic levitation bearing. The amplitude and air gap can be obtained with only three tests, and the test process does not require shutdown, which can provide a feasible reference scheme for the rotor dynamic balancing test.

[0091] In a second aspect, the present invention provides a system for actively suppressing electromagnetic vibrations of a magnetic levitation motor, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for actively suppressing electromagnetic vibrations of a magnetic levitation motor provided in the first aspect of the present invention is executed.

[0092] The related technical solution is the same as the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention, and will not be described in detail here.

[0093] In a third aspect, the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is executed by a processor, the device where the storage medium is located is controlled to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention.

[0094] The related technical solution is the same as the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention, and will not be described in detail here.

[0095] In a fourth aspect, the invention further provides a computer program product, comprising a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the invention is implemented.

[0096] The related technical solution is the same as the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention, and will not be described in detail here.

[0097] In a fifth aspect, the present invention provides a magnetic levitation motor system, comprising: a magnetic levitation bearing body, a motor body, and a controller;

[0098] The controller is used to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention.

[0099] The related technical solution is the same as the method for actively suppressing electromagnetic vibration of a magnetic levitation motor provided in the first aspect of the present invention, and will not be described in detail here.

[0100] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for actively suppressing electromagnetic vibration of a magnetic levitation motor, characterized in that: include: The rotor position angle α' of the magnetic levitation motor is acquired in real time, and a position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic levitation bearing is the target distance X' = γ0sin(α' + δ), thereby achieving active electromagnetic vibration suppression; Wherein, the position controller includes a PID controller; γ0 and δ are the intrinsic offset amplitude and intrinsic phase frequency shift of the geometric center of the rotor and the magnetic bearing due to machining errors, respectively, and are calculated as follows: At any operating moment, the position angle α of the magnetic levitation motor is obtained, and the position controller is used to control the position of the magnetic levitation bearing so that the rotor is suspended at the geometric center position of the magnetic levitation bearing, and the vibration acceleration amplitude V0 of the current rotation frequency is measured; The position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X1 = A1sin(α+δ1), and the vibration acceleration amplitude V1 of the current rotation frequency is measured; the amplitude A1 is any value in the range of (0, L); L is the protective bearing air gap of the magnetic levitation motor; the phase offset δ1 is any value in the range of (0, 2π); The position controller is used to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance X2 = A1sin(α+δ1+π), and the vibration acceleration amplitude V2 of the current rotation frequency is measured; Based on A1, δ1, V0, V1 and V2, we can calculate δ=π-θ+δ1; θ satisfies:

2. The method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to claim 1, characterized in that: The position controller is used to generate a corresponding current instruction based on the difference between the actual distance between the rotor and the geometric center of the magnetic bearing and the target distance, and act on the magnetic bearing to control the position of the magnetic bearing so that the distance between the rotor and the geometric center of the magnetic bearing is the target distance.

3. The method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to claim 1, characterized in that: The position controller further includes a PR controller connected in parallel with the PID controller.

4. The method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to any one of claims 1 to 3, characterized in that: The rotor position angle of the magnetic levitation motor is obtained by the following method: The current signal of the stator winding of the current magnetic levitation motor bearing is collected and input into the phase-locked loop to obtain the rotor position angle of the magnetic levitation motor.

5. The method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to claim 4, characterized in that: The phase-locked loop is a second-order generalized integral phase-locked loop.

6. A magnetic levitation motor electromagnetic vibration active suppression system, characterized in that: include: A memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to any one of claims 1 to 5 is executed.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed by a processor, the device where the storage medium is located is controlled to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to any one of claims 1 to 5.

8. A computer program product, characterized in that The method comprises a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to any one of claims 1 to 5 is implemented.

9. A magnetic levitation motor system, characterized in that: include: Magnetic bearing body, motor body and controller; The controller is used to execute the method for actively suppressing electromagnetic vibration of a magnetic levitation motor according to any one of claims 1 to 5.

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