Variable-speed rotor system, vibration control method, device, equipment and medium

Abstract

The invention discloses a variable-speed rotor system, a vibration control method, a vibration control device, vibration control equipment and a medium. The system comprises a vibration displacement sensor used for collecting a rotor vibration displacement signal in a current control period and sending the rotor vibration displacement signal to a controller; the rotating speed sensor is used for collecting rotating frequency signals in the current control period and sending the rotating frequency signals to the controller; the controller is used for generating a control signal of a next control period according to the rotor vibration displacement signal and the rotation frequency signal, and sending the control signal to the electromagnetic actuator; and the electromagnetic actuator is used for determining the electromagnetic control force of the next control period according to the control signal and applying the electromagnetic control force to the variable-speed rotor system. By the adoption of the technical scheme, active vibration control can be conducted on the rotor system when the rotor system is in different rotating speed working conditions, the stability of the rotor system is assisted to exceed the critical rotating speed, and meanwhile the safety and stability of the system are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of rotor system control, and in particular to a variable speed rotor system, a vibration control method, a device, equipment and a medium. Background Art

[0002] The rotor system is prone to high vibration when in operation, especially the flexible rotor, whose operating speed is often above the critical speed, which means that the rotor must go through the speed change process of increasing and decreasing speed and withstand the high amplitude resonance when passing the critical speed. In order to improve the performance of rotating machinery, the gap between the rotor and stator in the rotating machinery tends to be miniaturized, and the high amplitude resonance needs to be controlled to ensure the safe operation of the rotating machinery.

[0003] In the prior art, vibration is generally suppressed by relying on traditional bearings or passive damping, but the suppression effect on high-frequency vibration is limited.

[0004] However, the rotor often exhibits different vibration responses at different speeds. The vibration control methods in the prior art often ignore the vibration impact caused by speed changes and are not suitable for vibration control under various conditions such as different speeds, variable speeds, and over-critical speeds. Summary of the invention

[0005] The present invention provides a variable speed rotor system, a vibration control method, a device, an equipment and a medium, which can actively control the vibration of the rotor system when the rotor system is in different speed conditions, assist the rotor system to smoothly pass the critical speed while ensuring the safety and stability of the system.

[0006] According to one aspect of the present invention, there is provided a variable speed rotor system, comprising a vibration displacement sensor, a speed sensor, a controller and an electromagnetic actuator;

[0007] The vibration displacement sensor is used to collect the rotor vibration displacement signal in the current control cycle and send the rotor vibration displacement signal to the controller;

[0008] The rotation speed sensor is used to collect the rotation frequency signal in the current control cycle and send the rotation frequency signal to the controller;

[0009] The controller is used to generate a control signal for the next control cycle according to the rotor vibration displacement signal and the rotation frequency signal, and send the control signal to the electromagnetic actuator;

[0010] The electromagnetic actuator is used to determine the electromagnetic control force of the next control cycle according to the control signal, and apply the electromagnetic control force to the variable speed rotor system.

[0011] According to another aspect of the present invention, there is provided a vibration control method, which is executed by a controller in a variable speed rotor system according to any embodiment of the present invention, comprising:

[0012] Acquire a rotor vibration displacement signal and a rotation frequency signal in a current control cycle; wherein the rotor vibration displacement signal is sent by a vibration displacement sensor in a variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system;

[0013] Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal;

[0014] A control signal for the next control cycle is generated according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and the control signal is sent to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

[0015] According to another aspect of the present invention, there is provided a vibration control device, which is executed by a controller in a variable speed rotor system according to any embodiment of the present invention, comprising:

[0016] A signal acquisition module, used to acquire a rotor vibration displacement signal and a rotation frequency signal in a current control cycle; wherein the rotor vibration displacement signal is sent by a vibration displacement sensor in a variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system;

[0017] A control gain calculation module, used to determine a control gain corresponding to the frequency conversion signal according to the frequency conversion signal;

[0018] The control signal generating module is used to generate a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and send the control signal to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vibration control method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vibration control method described in any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention is to set a vibration displacement sensor in the variable speed rotor system to collect the rotor vibration displacement signal in the current control cycle and send the rotor vibration displacement signal to the controller; the speed sensor is used to collect the rotation frequency signal in the current control cycle and send the rotation frequency signal to the controller; the controller is used to generate a control signal for the next control cycle according to the rotor vibration displacement signal and the rotation frequency signal, and send the control signal to the electromagnetic actuator; the electromagnetic actuator is used to determine the electromagnetic control force of the next control cycle according to the control signal, and apply the electromagnetic control force to the variable speed rotor system. The electromagnetic control force can be updated by updating the control signal, thereby changing the stiffness of the rotor system, changing the original natural frequency by intervening in the stiffness polarity, avoiding the original natural frequency in the process of speed change, avoiding a large change in the vibration amplitude of the rotor system, and realizing active vibration control of the variable speed rotor system under different speed conditions, ensuring that the rotor system is always in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, and over-critical speeds.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a structural schematic diagram of a variable speed rotor system provided according to Embodiment 1 of the present invention;

[0028] Figure 2 is a flow chart of a vibration control method provided according to Embodiment 2 of the present invention;

[0029] Figure 3 is a structural schematic diagram of a vibration control device provided according to Embodiment 3 of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the vibration control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 FIG. 1 is a schematic diagram of a variable speed rotor system provided in Embodiment 1 of the present invention. Figure 1 As shown, the variable speed rotor system includes a vibration displacement sensor 110 , a speed sensor 120 , a controller 130 and an electromagnetic actuator 140 .

[0035] The vibration displacement sensor 110 is used to collect the rotor vibration displacement signal in the current control cycle and send the rotor vibration displacement signal to the controller 130 .

[0036] The rotation speed sensor 120 is used to collect the rotation frequency signal in the current control cycle and send the rotation frequency signal to the controller 130 .

[0037] The controller 130 is used to generate a control signal for the next control cycle according to the rotor vibration displacement signal and the rotation frequency signal, and send the control signal to the electromagnetic actuator 140 .

[0038] The electromagnetic actuator 140 is used to determine the electromagnetic control force of the next control cycle according to the control signal, and apply the electromagnetic control force to the variable speed rotor system.

[0039] Optionally, the vibration displacement sensor 110 and the speed sensor 120 can be electrically connected to the controller 130 via signal lines respectively. The signal line connection method can effectively ensure the signal transmission speed between the sensor and the controller, thereby improving the response speed of the variable speed rotor system to vibration control.

[0040] Optionally, the controller 130 and the electromagnetic actuator 140 may also be electrically connected via a signal line.

[0041] Optionally, the vibration displacement sensor 110 may be an eddy current sensor, a capacitive sensor, a laser displacement sensor or an inductive sensor, but is not limited to the above sensor forms. The vibration displacement of the rotor may refer to the deviation of a point on its surface relative to its ideal static position or average position during the rotation of the rotor.

[0042] Optionally, the vibration displacement sensor 110 periodically collects the vibration displacement of the rotor according to the control cycle of the controller 130. Since the controller 130 continuously sends a control signal to the electromagnetic actuator 140, each control cycle is a small time period, and the rotor needs a certain amount of time to change its position during vibration. Therefore, the vibration displacement collected by the vibration displacement sensor 110 can be the rotor vibration displacement value at any time point or a specified time point within the control cycle.

[0043] Optionally, the speed sensor 120 may be a magnetoelectric speed sensor, a photoelectric speed sensor or a Hall speed sensor, but is not limited to the above sensor types. The rotor rotation frequency may refer to the frequency corresponding to the number of rotations completed by the rotor per unit time during the rotation process.

[0044] Optionally, the rotation frequency f=n / 60, where n is the rotation speed of the rotor. Therefore, after the rotation speed sensor 120 determines the rotation speed of the rotor, the rotation frequency can be directly determined according to the rotation frequency formula, and the rotation frequency signal includes the rotation frequency value of the rotor in the previous control cycle.

[0045] It can be understood that the rotor frequency and speed can be understood as having the same impact on the rotor system. Adjusting the frequency can adjust the speed, and vice versa. The control strategy generated by the present invention fully takes into account the impact of the frequency, that is, the impact of the speed is fully taken into account, so that the rotor system can always be in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, over-critical speeds, etc.

[0046] Similarly, the speed sensor 120 periodically collects the rotor's rotational frequency signal according to the control cycle of the controller 130. Since the controller 130 continuously sends control signals to the electromagnetic actuator 140, each control cycle is a smaller time period, and the rotor speed also requires a certain amount of time to increase or decrease. Therefore, the rotational frequency signal collected by the speed sensor 120 can be the rotational frequency value at any time point or a specified time point within the control cycle.

[0047] The controller 130 may be specifically used for:

[0048] Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal;

[0049] A control signal for the next control cycle is generated according to the control gain, the rotor vibration displacement signal and a preset linearization parameter of the electromagnetic actuator.

[0050] The controller 130 may be further specifically used for:

[0051] According to the frequency conversion signal and the configuration control gain calculation formula, the control gain corresponding to the frequency conversion signal is determined; wherein the configuration control gain calculation formula is:

[0052] ;

[0053] in, is the configuration control gain, a is the preset configuration constant, is the first-order natural frequency of the variable speed rotor system, is the frequency conversion signal;

[0054] According to the following control signal calculation formula, the control signal for the next control cycle is generated:

[0055] ;

[0056] Where U is the control signal, is the configuration control gain, x is the rotor vibration displacement signal, k s and k i are the linearization parameters of the electromagnetic actuator.

[0057] Optionally, the rotor vibration displacement signal collected by the displacement sensor 120 can be positive or negative. For example, the offset in a certain direction can be specified as a positive value, and the offset in the opposite direction can be specified as a negative value. Then, the x value in the control signal calculation formula can be positive or negative, so that when the offset direction changes, the positive or negative value of the control signal U changes.

[0058] Optionally, the first-order natural frequency of the rotor system is the lowest frequency of the rotor system during free vibration, which can be determined by theoretical calculation, experimental determination and numerical calculation, and the configuration constant a and the linearization parameter k of the electromagnetic actuator s , k i The value of is determined by the structure of the electromagnetic actuator 140 .

[0059] Optionally, the controller 130 determines a control signal U of the next cycle according to the rotor vibration displacement signal and the rotation frequency signal of the current control cycle, where the control signal U may be a specific value, and sends the control signal U to the electromagnetic actuator 140 .

[0060] The electromagnetic actuator 140 can be specifically used for:

[0061] According to the control signal and the electromagnetic control force calculation formula, the electromagnetic control force of the next control cycle is determined; wherein the electromagnetic control force calculation formula is:

[0062] ;

[0063] Wherein, f is the electromagnetic control force, b is a preset proportional gain, and U is the control signal sent by the controller.

[0064] Optionally, the variable speed rotor system may further include a rotor, which is generally connected to a rotating shaft in the rotor system. The electromagnetic actuator 140 is specifically used to apply an electromagnetic control force to the rotor in the variable speed rotor system to control and adjust the rotor vibration.

[0065] Optionally, the electromagnetic control force generated by the electromagnetic actuator 140 usually acts on a specific part of the rotor, such as the rotor shaft or a specific structure installed on the rotor. By adjusting the electromagnetic control force, functions such as radial or axial position control, vibration suppression, and speed regulation of the rotor can be achieved.

[0066] It can be understood that the rotor system has a natural frequency. When the rotational speed of the rotor system reaches the resonance point, the vibration amplitude of the rotor system will increase significantly. The present invention takes into account that the vibration displacement of the rotor is a relative displacement in different control cycles, which may be positive or negative. Therefore, the positive and negative nature of the control signal in each cycle is changed by designing a control signal calculation formula, and then the electromagnetic control force in the next control cycle is determined according to the proportional gain and the control signal. The positive and negative nature of the electromagnetic control force is changed by the positive and negative nature of the control signal, thereby changing the stiffness of the rotor system, and then changing the original natural frequency by intervening in the polarity of the stiffness. The original natural frequency is avoided during the speed change process, and the substantial change in the vibration amplitude of the rotor system is avoided.

[0067] It should be noted that in the existing method of controlling the vibration of the rotor system through electromagnetic devices, the rotor system can only be controlled by changing the magnitude of the electromagnetic control force emitted by the electromagnetic device, without taking other factors into consideration; in the present application, the inventor has fully considered the influence of the polarity of the stiffness of the rotor system on the natural frequency, and adjusts the electromagnetic control force output by the electromagnetic actuator 140 to thereby adjust the stiffness of the rotor system in real time to avoid the rotor system reaching the natural frequency and generating high-frequency vibrations.

[0068] The technical solution of the embodiment of the present invention is to set a vibration displacement sensor in the variable speed rotor system to collect the rotor vibration displacement signal in the current control cycle and send the rotor vibration displacement signal to the controller; the speed sensor is used to collect the rotation frequency signal in the current control cycle and send the rotation frequency signal to the controller; the controller is used to generate a control signal for the next control cycle according to the rotor vibration displacement signal and the rotation frequency signal, and send the control signal to the electromagnetic actuator; the electromagnetic actuator is used to determine the electromagnetic control force of the next control cycle according to the control signal, and apply the electromagnetic control force to the variable speed rotor system. The electromagnetic control force can be updated by updating the control signal, thereby changing the stiffness of the rotor system, changing the original natural frequency by intervening in the stiffness polarity, avoiding the original natural frequency in the process of speed change, avoiding a large change in the vibration amplitude of the rotor system, and realizing active vibration control of the variable speed rotor system under different speed conditions, ensuring that the rotor system is always in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, and over-critical speeds.

[0069] Embodiment 2

[0070] Figure 2This is a flow chart of a vibration control method provided in the second embodiment of the present invention. This embodiment is applicable to the case where vibration control is performed on a variable speed rotor system under different speed conditions. The method can be executed by a vibration control device, which can be implemented in the form of hardware and / or software and can be configured in a controller in the variable speed rotor system. The controller has a data processing function. Figure 2 As shown, the method includes:

[0071] S210, obtaining a rotor vibration displacement signal and a rotation frequency signal in a current control cycle.

[0072] The rotor vibration displacement signal is sent by a vibration displacement sensor in the variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system.

[0073] Optionally, the rotor vibration displacement signal is obtained by periodically collecting the vibration displacement sensor in the variable speed rotor system according to the control cycle of the controller; the rotation frequency signal is obtained by periodically collecting the speed sensor in the variable speed rotor system according to the control cycle of the controller.

[0074] S220: Determine a control gain corresponding to the frequency conversion signal according to the frequency conversion signal.

[0075] Wherein, determining the control gain corresponding to the frequency conversion signal according to the frequency conversion signal may include:

[0076] According to the frequency conversion signal and the configuration control gain calculation formula, the control gain corresponding to the frequency conversion signal is determined; wherein the configuration control gain calculation formula is:

[0077] ;

[0078] in, is the configuration control gain, a is the preset configuration constant, is the first-order natural frequency of the variable speed rotor system, It is the frequency conversion signal.

[0079] Optionally, the configuration constant a is determined by the structure of the electromagnetic actuator in the variable speed rotor system.

[0080] S230, generating a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and sending the control signal to the electromagnetic actuator in the variable speed rotor system, so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

[0081] Wherein, generating a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and a preset linearization parameter of the electromagnetic actuator may include:

[0082] According to the following control signal calculation formula, the control signal for the next control cycle is generated:

[0083] ;

[0084] Where U is the control signal, is the configuration control gain, x is the rotor vibration displacement signal, k s and k i are the linearization parameters of the electromagnetic actuator.

[0085] Optional, k s and k i Determined by the structure of the electromagnetic actuator.

[0086] It can be understood that the vibration displacement of the rotor may refer to the deviation of a point on its surface relative to its ideal static position or average position during the rotation of the rotor. In the present invention, the rotor vibration displacement signal collected by the displacement sensor may be a positive value or a negative value. For example, the offset in a certain direction may be specified as a positive value, and the offset in the opposite direction may be specified as a negative value. Then, the x value in the control signal calculation formula may be positive or negative, so that when the offset direction changes, the positive or negative value of the control signal U changes.

[0087] Optionally, the electromagnetic actuator may calculate and output the corresponding electromagnetic control force according to the following electromagnetic control force calculation formula:

[0088] ;

[0089] Wherein, f is the electromagnetic control force, b is a preset proportional gain, and U is the control signal sent by the controller.

[0090] It can be understood that when the positive or negative value of U changes, the positive or negative value of the electromagnetic control force f will change accordingly, thereby changing the stiffness of the rotor system. By intervening in the polarity of the stiffness, the original natural frequency is changed, and the original natural frequency is avoided during the speed change, thereby avoiding a large change in the vibration amplitude of the rotor system. Active vibration control of the variable speed rotor system under different speed conditions is achieved, ensuring that the rotor system is always in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, and over-critical speeds.

[0091] The technical solution of the embodiment of the present invention obtains the rotor vibration displacement signal and the rotation frequency signal in the current control cycle, determines the control gain corresponding to the rotation frequency signal according to the rotation frequency signal, generates the control signal of the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameter of the electromagnetic actuator, and sends the control signal to the electromagnetic actuator in the variable speed rotor system, so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal. The electromagnetic control force can be updated by updating the control signal, thereby changing the stiffness of the rotor system, and changing the original natural frequency by intervening in the stiffness polarity. The original natural frequency is avoided in the process of speed change, and the vibration amplitude of the rotor system is avoided. Active control of the vibration of the variable speed rotor system under different speed conditions is realized, and it is ensured that the rotor system is always in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, and over-critical speeds.

[0092] Embodiment 3

[0093] Figure 3 This is a schematic diagram of the structure of a vibration control device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a signal acquisition module 310, a control gain calculation module 320 and a control signal generation module 330.

[0094] The signal acquisition module 310 is used to acquire the rotor vibration displacement signal and the rotation frequency signal in the current control cycle; wherein the rotor vibration displacement signal is sent by the vibration displacement sensor in the variable speed rotor system, and the rotation frequency signal is sent by the speed sensor in the variable speed rotor system.

[0095] The control gain calculation module 320 is used to determine a control gain corresponding to the frequency conversion signal according to the frequency conversion signal.

[0096] The control signal generating module 330 is used to generate a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and send the control signal to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

[0097] The technical solution of the embodiment of the present invention obtains the rotor vibration displacement signal and the rotation frequency signal in the current control cycle, determines the control gain corresponding to the rotation frequency signal according to the rotation frequency signal, generates the control signal of the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameter of the electromagnetic actuator, and sends the control signal to the electromagnetic actuator in the variable speed rotor system, so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal. The electromagnetic control force can be updated by updating the control signal, thereby changing the stiffness of the rotor system, and changing the original natural frequency by intervening in the stiffness polarity. The original natural frequency is avoided in the process of speed change, and the vibration amplitude of the rotor system is avoided. Active control of the vibration of the variable speed rotor system under different speed conditions is realized, and it is ensured that the rotor system is always in a stable and safe state not only at a fixed speed, but also at different speeds, variable speeds, and over-critical speeds.

[0098] Based on the above embodiments, the control gain calculation module 320 can be specifically used for:

[0099] According to the frequency conversion signal and the configuration control gain calculation formula, the control gain corresponding to the frequency conversion signal is determined; wherein the configuration control gain calculation formula is:

[0100] ;

[0101] in, is the configuration control gain, a is the preset configuration constant, is the first-order natural frequency of the variable speed rotor system, It is the frequency conversion signal.

[0102] Based on the above embodiments, the control signal generating module 330 can be specifically used for:

[0103] According to the following control signal calculation formula, the control signal for the next control cycle is generated:

[0104] ;

[0105] Where U is the control signal, is the configuration control gain, x is the rotor vibration displacement signal, k s and k i are the linearization parameters of the electromagnetic actuator.

[0106] The vibration control device provided in the embodiment of the present invention can execute the vibration control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0107] Embodiment 4

[0108] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0109] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0110] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0111] The processor 11 may be any general and / or dedicated processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vibration control method described in the embodiment of the present invention. That is:

[0112] Acquire a rotor vibration displacement signal and a rotation frequency signal in a current control cycle; wherein the rotor vibration displacement signal is sent by a vibration displacement sensor in a variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system;

[0113] Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal;

[0114] A control signal for the next control cycle is generated according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and the control signal is sent to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

[0115] In some embodiments, the vibration control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vibration control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vibration control method in any other appropriate manner (e.g., by means of firmware).

[0116] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0118] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0119] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0120] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0121] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0122] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0123] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A variable speed rotor system, characterized in that: It includes a vibration displacement sensor, a rotation speed sensor, a controller and an electromagnetic actuator; The vibration displacement sensor is used to collect the rotor vibration displacement signal in the current control cycle and send the rotor vibration displacement signal to the controller; The rotation speed sensor is used to collect the rotation frequency signal in the current control cycle and send the rotation frequency signal to the controller; The controller is used to generate a control signal for the next control cycle according to the rotor vibration displacement signal and the rotation frequency signal, and send the control signal to the electromagnetic actuator; The electromagnetic actuator is used to determine the electromagnetic control force of the next control cycle according to the control signal, and apply the electromagnetic control force to the variable speed rotor system.

2. The variable speed rotor system according to claim 1, characterized in that: The controller is specifically used for: Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal; A control signal for the next control cycle is generated according to the control gain, the rotor vibration displacement signal and a preset linearization parameter of the electromagnetic actuator.

3. The variable speed rotor system according to claim 2, characterized in that: The controller is further specifically used for: According to the frequency conversion signal and the configuration control gain calculation formula, the control gain corresponding to the frequency conversion signal is determined; wherein the configuration control gain calculation formula is: ； in, is the configuration control gain, a is the preset configuration constant, is the first-order natural frequency of the variable speed rotor system, is the frequency conversion signal; According to the following control signal calculation formula, the control signal for the next control cycle is generated: ； Where U is the control signal, is the configuration control gain, x is the rotor vibration displacement signal, k s and k i are the linearization parameters of the electromagnetic actuator.

4. The variable speed rotor system according to claim 1, characterized in that: The electromagnetic actuator is specifically used for: According to the control signal and the electromagnetic control force calculation formula, the electromagnetic control force of the next control cycle is determined; wherein the electromagnetic control force calculation formula is: ； Wherein, f is the electromagnetic control force, b is a preset proportional gain, and U is the control signal sent by the controller.

5. A vibration control method, characterized in that: The method is performed by a controller in a variable speed rotor system according to any one of claims 1 to 4, comprising: Acquire a rotor vibration displacement signal and a rotation frequency signal in a current control cycle; wherein the rotor vibration displacement signal is sent by a vibration displacement sensor in a variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system; Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal; A control signal for the next control cycle is generated according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and the control signal is sent to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

6. The vibration control method according to claim 5, characterized in that: Determining a control gain corresponding to the frequency conversion signal according to the frequency conversion signal includes: According to the frequency conversion signal and the configuration control gain calculation formula, the control gain corresponding to the frequency conversion signal is determined; wherein the configuration control gain calculation formula is: ； in, is the configuration control gain, a is the preset configuration constant, is the first-order natural frequency of the variable speed rotor system, It is the frequency conversion signal.

7. The vibration control method according to claim 6, characterized in that: Generate a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameter of the electromagnetic actuator, including: According to the following control signal calculation formula, the control signal for the next control cycle is generated: ； Where U is the control signal, is the configuration control gain, x is the rotor vibration displacement signal, k s and k i are the linearization parameters of the electromagnetic actuator.

8. A vibration control device, characterized in that: The method is performed by a controller in a variable speed rotor system according to any one of claims 1 to 4, comprising: A signal acquisition module, used to acquire a rotor vibration displacement signal and a rotation frequency signal in a current control cycle; wherein the rotor vibration displacement signal is sent by a vibration displacement sensor in a variable speed rotor system, and the rotation frequency signal is sent by a speed sensor in the variable speed rotor system; A control gain calculation module, used to determine a control gain corresponding to the frequency conversion signal according to the frequency conversion signal; The control signal generating module is used to generate a control signal for the next control cycle according to the control gain, the rotor vibration displacement signal and the pre-set linearization parameters of the electromagnetic actuator, and send the control signal to the electromagnetic actuator in the variable speed rotor system so that the electromagnetic actuator can adjust the electromagnetic control force of the next control cycle according to the control signal.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vibration control method according to any one of claims 5 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vibration control method according to any one of claims 5 to 7 when executed.

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