Online dynamic balance correction method and system for magnetic suspension bearing rotor

Abstract

The invention relates to the technical field of magnetic suspension bearings, in particular to an online dynamic balance correction method and system for a magnetic suspension bearing rotor. The method comprises the steps that the vibration state of a rotor is monitored in real time through a displacement sensor, vibration signal amplitude and phase information is accurately analyzed through a solver constructed based on ANF, the magnitude and position of the unbalance amount are calculated, an influence coefficient is obtained through trial weight, and the balance weight mass is accurately solved through the influence coefficient. According to the online dynamic balance correction method for the magnetic suspension bearing rotor, the displacement signal of the magnetic suspension bearing rotor is directly used as a basis, the operation stability and precision of the magnetic suspension bearing rotor system can be remarkably improved, the vibration and noise level is reduced, and the dynamic balance of the magnetic suspension bearing rotor system is effectively corrected. And the service life of equipment is prolonged, and wide application prospects and remarkable economic benefits are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic suspension bearings, and in particular to an online dynamic balancing correction method and a correction system for a magnetic suspension bearing rotor. Background Art

[0002] As a new type of high-performance bearing, magnetic bearings have the advantages of no contact, no friction, and no need for lubrication. They have been widely used in high-speed rotating machinery such as turbines, compressors, centrifuges, etc. However, due to factors such as manufacturing errors, installation deviations, and unbalanced mass, magnetic bearing rotor systems often vibrate during operation. This vibration will not only reduce the operating stability and reliability of the system, but may also cause system failures and affect the normal operation of the equipment.

[0003] The above analysis shows that the vibration of the magnetic bearing rotor system is unavoidable due to many factors. However, the vibration condition of the rotating equipment is an important parameter for evaluating the health of the equipment. When the vibration exceeds a certain level, it will not only seriously affect the smooth operation of the system, but also cause damage to the system's own components. For high-precision, high-speed magnetic bearing rotor systems, solving the bearing rotor vibration problem is the top priority.

[0004] In traditional rotating machinery, offline dynamic balancing is usually used to perform dynamic balance correction on the rotating parts of the machinery. Offline dynamic balancing is to disassemble the rotating parts from the working environment and place them on the dynamic balancing machine for imbalance detection and dynamic balance correction. Since the working environment is different from the dynamic balance correction environment, it has a certain impact on the dynamic balance accuracy. At the same time, the disassembly and transportation process of the rotating parts is time-consuming and labor-intensive, which invisibly increases the cost of the dynamic balance correction process. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, the present invention provides an online dynamic balancing correction method for a magnetic bearing rotor, which effectively reduces the vibration of the bearing rotor system and improves the rotation accuracy of the rotor.

[0007] According to an embodiment of the present invention, a method for online dynamic balancing of a magnetic bearing rotor comprises the following steps:

[0008] Step 1, constructing an amplitude and phase solver based on an adaptive notch filter;

[0009] Step 2: drive the rotor to a stable speed ω0, collect the displacement signal on the first measuring surface through the first displacement sensor, collect the displacement signal on the second measuring surface through the second displacement sensor, and collect the phase signal of the magnetic suspension bearing rotor through the phase sensor;

[0010] Step 3: The solver constructed based on the adaptive notch filter analyzes the displacement signal on the first measuring surface, the displacement signal on the second measuring surface, and the phase signal of the magnetic bearing rotor to obtain the initial vibration displacement vector D of the first measuring surface. 10 and the initial vibration displacement vector D of the second measuring surface 20 ;

[0011] Step 4: Add weight M to weight surface A A , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the first vibration displacement vector D of the first measuring surface under the first test weight. 11 and the second vibration displacement vector D of the second measuring surface 21 ;

[0012] Step 5: Add weight M to weight surface B B , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the second vibration displacement vector D of the first measuring surface under the second test weight. 12 and the second vibration displacement vector D of the second measuring surface 22 ;

[0013] Step 6, calculate the influence coefficient of the two counterweights on the displacement fluctuations at both ends;

[0014] Step 7: Based on the influence coefficient and the initial vibration displacement vector D of the first measuring surface 10 and the initial vibration displacement vector D of the second measuring surface 20 , calculate the counterweight mass M that needs to be added at the left end A and the right end B A0 and M B0 , based on the counterweight mass M A0 and M B0 The weight is counterweighted and the dynamic balance correction of the magnetic bearing rotor is performed online.

[0015] The beneficial effects of the present invention are:

[0016] The magnetic bearing rotor online dynamic balancing correction method of the present invention takes the magnetic bearing displacement signal as the calculation basis, utilizes the online dynamic balancing method based on the influence coefficient method, identifies the linear relationship between the mass block and the rotor displacement response, can effectively solve the imbalance caused by the eccentric mass in the magnetic bearing rotor system, corrects the unbalanced rotor, thereby realizing efficient and high-precision dynamic balancing, fundamentally solving the vibration problem of the rotor system, and has a simple principle and is easy to implement.

[0017] 2 The present invention avoids the influence of off-line dynamic balancing due to disassembly and assembly deviation, and can achieve high-precision dynamic balancing.

[0018] 3. It can be applied to various types and specifications of magnetic bearing rotor systems, and has strong versatility. Whether it is a small precision instrument or a large industrial equipment, the rotor accuracy can be improved through dynamic balancing.

[0019] According to one embodiment of the present invention, the adaptive notch filter differential equation is expressed as:

[0020]

[0021] Where u(t) is the input signal, θ is the estimated frequency of u(t), To calculate the instantaneous value of u(t), ξ and γ are ANF system parameters.

[0022] The amplitude and phase of the input signal are solved by the adaptive notch filter; the calculation formula is:

[0023]

[0024] According to one embodiment of the present invention, the influence coefficient calculation formula is as follows:

[0025]

[0026] Among them, K A1 , K A2 , K B1 , K B2 The subscript A represents the weight surface A, B represents the weight surface B, 1 represents the first weight trial, and 2 represents the second weight trial.

[0027] According to one embodiment of the present invention, the counterweight mass M A0 and M B0 The calculation formula is:

[0028] K A1 M A0 +K B1 M B0 +D 10 =0

[0029] K A2 M A0 +K B2 M B0 +D 20 =0

[0030] Among them, M AO is the weight vector that needs to be added to the weight surface A, M BO is the weight vector that needs to be added to the weight surface A.

[0031] An online dynamic balancing correction system for a magnetic bearing rotor, the system comprising:

[0032] Two displacement sensors, namely a first displacement sensor and a second displacement sensor, wherein the first displacement sensor is installed close to the right magnetic bearing MB1, and the second displacement sensor is installed close to the left magnetic bearing MB2;

[0033] The phase detector is installed close to the magnetic bearing rotor;

[0034] A processor is configured to execute the above-mentioned method for online dynamic balancing correction of a magnetic bearing rotor.

[0035] A computer device comprising:

[0036] processor;

[0037] A memory for storing executable instructions;

[0038] Wherein, the processor is used to read the executable instructions from the memory, and execute the executable instructions to implement the online dynamic balancing correction method of the magnetic suspension bearing rotor as described above.

[0039] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the above-mentioned method for online dynamic balancing correction of a magnetic bearing rotor.

[0040] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0043] Figure 1 It is a schematic diagram of the method flow of embodiment 1 of the present invention.

[0044] Figure 2 1 is a schematic diagram of the displacement signal and amplitude phase information of the first test weight on the first measuring surface in the first embodiment of the present invention. Figure 2 (a) is the collected displacement signal; Figure 2 (b) is the frequency domain diagram after the displacement signal is processed. Figure 2 (c) is the phase diagram after the displacement signal is processed.

[0045] Figure 31 is a comparison diagram of displacement signals before and after adding counterweights in Example 1 of the present invention. Figure 3 (a) is the schematic diagram of the initial displacement signal. Figure 3 (b) is a schematic diagram of the displacement signal after dynamic balancing.

[0046] Figure 4 It is a partial structural diagram of the second embodiment of the present invention.

[0047] Figure 5 It is a schematic diagram of the computer device structure of the third embodiment of the present invention.

[0048] In the figure, 10 is a computer device; 1002 is a processor; 1004 is a memory; and 1006 is a transmission device. DETAILED DESCRIPTION

[0049] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Example 1

[0053] The present application embodiment provides a method for online dynamic balancing correction of a magnetic bearing rotor, such as Figure 1 As shown, the method comprises the following steps:

[0054] Step 1: construct an amplitude and phase solver based on the adaptive notch filter; the adaptive notch filter differential equation is expressed as:

[0055]

[0056] The solution to the equation is expressed as:

[0057]

[0058] Where u(t) is the input signal, θ is the estimated frequency of u(t), To calculate the instantaneous value of u(t), ξ and γ are ANF system parameters.

[0059] The amplitude and phase of the input signal are solved by the adaptive notch filter; the calculation formula is:

[0060]

[0061] Step 2: Drive the rotor to a stable speed ω0, collect the displacement signal on the first measuring surface through the first displacement sensor, collect the displacement signal on the second measuring surface through the second displacement sensor, and collect the phase signal of the magnetic bearing rotor through the phase sensor; ω0 is any speed lower than the first-order critical speed

[0062] Step 3: The solver constructed based on the adaptive notch filter analyzes the displacement signal on the first measuring surface, the displacement signal on the second measuring surface, and the phase signal of the magnetic bearing rotor to obtain the initial vibration displacement vector D of the first measuring surface. 10 and the initial vibration displacement vector D of the second measuring surface 20 ;

[0063] Step 4: Add weight M to weight surface A A , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the first vibration displacement vector D of the first measuring surface under the first test weight. 11 and the second vibration displacement vector D of the second measuring surface 21 ;

[0064] Step 5: Add weight M to weight surface B B , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the second vibration displacement vector D of the first measuring surface under the second test weight. 12 and the second vibration displacement vector D of the second measuring surface 22 ;

[0065] Step 6: Calculate the influence coefficient of the two counterweights on the displacement fluctuations at both ends. The influence coefficient calculation formula is as follows:

[0066]

[0067] Among them, K A1 , K A2 , K B1 , K B2 The subscript A indicates the weight surface A, B indicates the weight surface B, 1 indicates the first test weight, and 2 indicates the second test weight;

[0068] Step 7: Based on the influence coefficient and the initial vibration displacement vector D of the first measuring surface 10 and the initial vibration displacement vector D of the second measuring surface 20 , calculate the counterweight mass M that needs to be added at the left end A and the right end B A0 and M B0 , based on the counterweight mass M A0 and M B0 The weight is counterweighted and the dynamic balance correction of the magnetic bearing rotor is performed online.

[0069] Counterweight mass M A0 and M B0 The calculation formula is:

[0070] K A1 M A0 +K B1 M B0 +D 10 =0

[0071] K A2 M A0 +K B2 M B0 +D 20 =0

[0072] Among them, M AO is the weight vector that needs to be added to the weight surface A, M BO is the weight vector that needs to be added on the weight surface A;

[0073] It should be noted that all weights and influence coefficients are vectors, containing amplitude and phase information.

[0074] See also Figure 2 As shown, Figure 2 (a) is the collected displacement signal; Figure 2 (b) is the frequency domain diagram after the displacement signal is processed, and the amplitude at the corresponding frequency can be read out; Figure 2 (c) is the phase diagram after the displacement signal is processed, from which the phase information can be read. Figure 2It is the displacement signal and amplitude-phase information of the first test weight on the first measuring surface. The base frequency of the displacement signal is 50 Hz, the amplitude is 0.18×10-3, and the phase is -128.84°. The obtained vector D11=0.18×10-3kg∠-128.84°.

[0075] Figure 3 The displacement signal comparison diagram before and after adding the counterweight is shown. Figure 3 (b) It can be seen that after dynamic balancing, the vibration displacement of the magnetic bearing rotor is reduced by about 70%.

[0076] In summary, the magnetic bearing rotor online dynamic balancing correction method of the present invention uses the magnetic bearing displacement signal as the calculation basis, and utilizes the online dynamic balancing method based on the influence coefficient method to identify the linear relationship between the mass block and the rotor displacement response, which can effectively solve the imbalance caused by the eccentric mass in the magnetic bearing rotor system, and correct the unbalanced rotor, thereby achieving efficient and high-precision dynamic balancing, fundamentally solving the vibration problem of the rotor system, and the principle is simple and easy to implement; the present invention avoids the influence of offline dynamic balancing caused by disassembly and assembly deviation, and can achieve high-precision dynamic balancing; it can be applied to magnetic bearing rotor systems of various types and specifications, and has strong versatility. Whether it is a small precision instrument or a large industrial equipment, the rotor accuracy can be improved by dynamic balancing.

[0077] Example 2

[0078] The present application embodiment provides an online dynamic balancing correction system for a magnetic bearing rotor, such as Figure 4 As shown, the system includes:

[0079] Two displacement sensors, namely a first displacement sensor and a second displacement sensor, the first displacement sensor is installed close to the right magnetic bearing MB1, and the second displacement sensor is installed close to the left magnetic bearing MB2;

[0080] The phase detector is installed close to the magnetic bearing rotor;

[0081] A processor is configured to execute the above-mentioned online dynamic balancing correction method for a magnetic bearing rotor.

[0082] The foregoing Figure 1 The various variations and specific examples of the online dynamic balancing correction method for a magnetic bearing rotor in Example 1 are also applicable to an online dynamic balancing correction system for a magnetic bearing rotor in this embodiment. Through the above detailed description of the online dynamic balancing correction method for a magnetic bearing rotor, technical personnel in this field can clearly know the implementation method of the online dynamic balancing correction system for a magnetic bearing rotor in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0083] Example 3

[0084] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a method for online dynamic balancing correction of a magnetic bearing rotor as provided in the above method embodiment.

[0085] Figure 5 The hardware structure diagram of a device for implementing a magnetic bearing rotor online dynamic balancing correction method provided in an embodiment of the present application is shown. The device may participate in or include the device or system provided in an embodiment of the present application. Figure 5 As shown, the computer device 10 may include one or more processors 1002 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown.

[0086] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer device 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0087] The memory 1004 can be used to store software programs and modules of application software, such as a program instruction / data storage device corresponding to a method for online dynamic balancing correction of a magnetic bearing rotor in an embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, implementing the above-mentioned method. The memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0088] The transmission device 1006 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer device 10. In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0089] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer device 10 (or mobile device).

[0090] Example 4

[0091] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to an online dynamic balancing correction method for a magnetic bearing rotor in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement an online dynamic balancing correction method for a magnetic bearing rotor provided in the above method embodiment.

[0092] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0093] Example 5

[0094] The embodiment of the present invention further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a method for online dynamic balancing correction of a magnetic bearing rotor provided in the above-mentioned various optional embodiments.

[0095] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0096] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0097] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0098] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for online dynamic balancing of a magnetic bearing rotor, characterized in that: The method comprises the following steps: Step 1, constructing an amplitude and phase solver based on an adaptive notch filter; Step 2: drive the rotor to a stable speed ω0, collect the displacement signal on the first measuring surface through the first displacement sensor, collect the displacement signal on the second measuring surface through the second displacement sensor, and collect the phase signal of the magnetic suspension bearing rotor through the phase sensor; Step 3: The solver constructed based on the adaptive notch filter analyzes the displacement signal on the first measuring surface, the displacement signal on the second measuring surface, and the phase signal of the magnetic bearing rotor to obtain the initial vibration displacement vector D of the first measuring surface. 10 and the initial vibration displacement vector D of the second measuring surface 20 ; Step 4: Add weight M to weight surface A A , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the first vibration displacement vector D of the first measuring surface under the first test weight. 11 and the second vibration displacement vector D of the second measuring surface 21 ; Step 5: Add weight M to weight surface B B , and drive the rotor to the stable rotation speed ω0 again, repeat steps 2-3, and obtain the second vibration displacement vector D of the first measuring surface under the second test weight. 12 and the second vibration displacement vector D of the second measuring surface 22 ; Step 6, calculate the influence coefficient of the two counterweights on the displacement fluctuations at both ends; Step 7: Based on the influence coefficient and the initial vibration displacement vector D of the first measuring surface 10 and the initial vibration displacement vector D of the second measuring surface 20 , calculate the counterweight mass M that needs to be added at the left end A and the right end B A0 and M B0 , based on the counterweight mass M A0 and M B0 The weight is counterweighted and the dynamic balance correction of the magnetic bearing rotor is performed online.

2. The method for online dynamic balancing of a magnetic bearing rotor according to claim 1, characterized in that: The adaptive notch filter differential equation is expressed as: Where u(t) is the input signal, θ is the estimated frequency of u(t), To calculate the instantaneous value of u(t), ξ and γ are the ANF system parameters. The amplitude and phase of the input signal are solved by the adaptive notch filter; the calculation formula is:

3. The method for online dynamic balancing of a magnetic bearing rotor according to claim 1, characterized in that: The influence coefficient calculation formula is as follows: Among them, K A1 , K A2 , K B1 , K B2 The subscript A represents the weight surface A, B represents the weight surface B, 1 represents the first weight trial, and 2 represents the second weight trial.

4. The method for online dynamic balancing of a magnetic bearing rotor according to claim 3, characterized in that: The weight mass M A0 and M B0 The calculation formula is: K A1 M A0 +K B1 M B0 +D 10 =0 K A2 M A0 +K B2 M B0 +D 20 =0 Among them, M AO is the weight vector that needs to be added to the weight surface A, M BO is the weight vector that needs to be added to the weight surface A.

5. An online dynamic balancing correction system for a magnetic bearing rotor, characterized in that: The system comprises: Two displacement sensors, namely a first displacement sensor and a second displacement sensor, wherein the first displacement sensor is installed close to the right magnetic bearing MB1, and the second displacement sensor is installed close to the left magnetic bearing MB2; The phase detector is installed close to the magnetic bearing rotor; A processor, wherein the processor is configured to execute the online dynamic balancing correction method for a magnetic bearing rotor according to any one of claims 1 to 4.

6. A computer device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the online dynamic balancing correction method for a magnetic bearing rotor as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method for online dynamic balancing correction of a magnetic bearing rotor according to any one of claims 1 to 4.

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