Magnetic levitation bearing resonance interference elimination method, resonance interference elimination system

Abstract

The present invention provides a method and a system for eliminating resonance interference of a magnetic levitation bearing, aiming to solve the problem of resonance interference with specific frequencies caused by external interference excitation during the static levitation of a magnetic levitation bearing system. The present invention adopts a PID double closed-loop control structure. The displacement loop adopts PID control and adds an incomplete differential link, effectively improving the dynamic characteristics and robustness of the system. A proportional resonance (PR) controller is introduced into the current PI closed-loop. By utilizing the infinite gain characteristic of the PR controller at a specific resonance frequency, precise and rapid compensation for resonance interference with specific frequencies is achieved. By collecting and analyzing the rotor displacement and coil current signals in real time, the harmonic frequency is determined, and by adjusting the parameters of the PR controller, the resonance interference suppression effect is further improved. The structure of the present invention is clear and simple to implement, without complex operations and additional sensor devices, and has the prominent advantages of strong real-time performance, excellent control performance, and easy engineering implementation.

Description

Technical Field

[0001] The present invention relates to the field of magnetic levitation technology, and particularly relates to a method for eliminating resonance interference of a magnetic levitation bearing, a system for eliminating resonance interference of a magnetic levitation bearing, and a non-temporary computer-readable storage medium. Background Art

[0002] Active magnetic levitation bearings have outstanding advantages such as no mechanical contact, no friction, no lubrication, and long life, and are widely used in high-precision and high-speed rotating equipment. Due to manufacturing and assembly errors, the rotor inevitably has a certain degree of imbalance. When the magnetic levitation bearing is in a static floating state, due to external disturbances such as sampling noise and sensor errors, specific-frequency resonance interference will occur during the floating process, and the current in the bearing winding will oscillate. If not processed, the closed-loop divergent system will eventually become unstable.

[0003] Currently, the control method of magnetic levitation bearings generally adopts pure PID (Proportional Integral Derivative) control. Although this method is simple to implement, its effect of suppressing resonance interference at a specific frequency is limited.

[0004] In related technologies, magnetic levitation bearings usually use a notch filter to suppress specific-frequency resonance interference, that is, a notch filter is connected in series between the displacement loop given signal and the actual position deviation feedback to attenuate the component corresponding to the resonance frequency in the displacement signal, thereby reducing the intensity of the resonance frequency component in the displacement loop output signal. Since this method directly connects the notch filter in series in the closed-loop control loop, the closed-loop transfer function of the system is changed, affecting the overall dynamic characteristics and stability margin of the system. In addition, the differential term in the displacement loop PID controller has an amplifying effect on high-frequency noise, further weakening the effective suppression ability of the notch filter on the resonance frequency. When high-frequency resonance occurs during the actual operation of the system, the notch filter is difficult to achieve precise suppression, resulting in a significant reduction in the resonance suppression performance of the system and making it difficult to effectively improve the suspension control accuracy. Summary of the Invention

[0005] In order to solve the technical problem of specific-frequency resonance interference caused by external disturbance excitation during the static floating of the magnetic levitation bearing system, the present invention provides a method for eliminating resonance interference of a magnetic levitation bearing.

[0006] The present invention also provides a system for eliminating resonance interference of a magnetic levitation bearing.

[0007] The present invention also provides a non-temporary computer-readable storage medium.

[0008] The technical solution adopted by the present invention is as follows:

[0009] An embodiment of the first aspect of the present invention proposes a method for eliminating resonance interference of a magnetic levitation bearing, including the following steps: obtaining the actual displacement of the rotor of the magnetic levitation bearing in real time and the actual current signal, the current signal includes the current signal in the X-axis direction and the current signal in the Y-axis direction ; input the actual displacement into the displacement loop, the displacement loop adopts an incomplete differential PID, and outputs a current set value ; obtain the bias current , add and subtract the bias current and the current set value respectively for differential control to obtain a positive differential current and a negative differential current ; input the positive differential current , the negative differential current , the current signal in the X-axis direction , and the current signal in the Y-axis direction into the current loop, the current loop is used to and perform real-time FFT (Fast Fourier Transform) analysis to obtain the resonance frequency point , control the PR (Proportional-Resonant) controller to output a resonance compensation current according to the resonance frequency point , control the PI controller to output a PI current according to the positive differential current and the negative differential current , and output a comprehensive current according to the resonance compensation current and the PI current; apply the comprehensive current to the magnetic levitation bearing coil.

[0010] The method for eliminating resonance interference of the magnetic levitation bearing proposed above in the present invention also has the following additional technical features:

[0011] According to an embodiment of the present invention, the transfer function of the first-order low-pass filter link of the incomplete differential PID is: ; where is the time constant of the first-order low-pass filter, and s is the Laplace operator.

[0012] According to an embodiment of the present invention, controlling the PR controller to output a resonance compensation current according to the resonance frequency point specifically includes: outputting a current error of the PR controller based on the current signal in the X-axis direction , the current signal in the Y-axis direction and the given current value of the PR controller , where ; Input the PR controller current error into the PR controller, so that the PR controller outputs a resonant compensation current according to the PR controller current error and the resonant frequency point Output the resonant compensation current.

[0013] According to an embodiment of the present invention, the transfer function of the PR controller is as follows: ; where is the resonant frequency point, is the proportional gain of the PR controller, is the resonant coefficient, and s is the Laplace operator.

[0014] An embodiment of the second aspect of the present invention provides a magnetic levitation bearing resonant interference cancellation system, including: a sampling module, which is used to obtain the actual displacement of the magnetic levitation bearing rotor in real time and the actual current signal, and the current signal includes the X-axis direction current signal and the Y-axis direction current signal ; a displacement loop, which is used to adopt an incomplete differential PID to output a current set value ; a differential module, which is used to obtain the bias current , perform differential control on the bias current and the current set value respectively by addition and subtraction to obtain a positive differential current and a negative differential current ; a current loop, which is used to perform FFT real-time analysis on and to obtain the resonant frequency point ' ' , control the PR controller to output a resonant compensation current according to the resonant frequency point , control the PI controller to output a PI current according to the positive differential current and the negative differential current , and output a combined current according to the resonant compensation current and the PI current; an application module, which is used to apply the combined current to the magnetic levitation bearing coil.

[0015] The above magnetic levitation bearing resonant interference cancellation system of the present invention also has the following additional technical features:

[0016] According to an embodiment of the present invention, the transfer function of the first-order low-pass filter link of the incomplete differential PID is: ; where is the time constant of the first-order low-pass filter, and s is the Laplace operator.

[0017] According to an embodiment of the present invention, the current loop is specifically used for: based on the X-axis direction current signal 、Y-axis direction current signal and the given current value of the PR controller Output the current error of the PR controller, where ; input the current error of the PR controller into the PR controller, so that the PR controller outputs a resonant compensation current according to the current error of the PR controller and the resonant frequency point Output the resonant compensation current.

[0018] According to an embodiment of the present invention, the transfer function of the PR controller is as follows: ; where is the resonant frequency point, is the proportional gain of the PR controller, is the resonance coefficient, and s is the Laplace operator.

[0019] An embodiment of the third aspect of the present invention proposes a non-temporary computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method for eliminating resonant interference of a magnetic levitation bearing described in the first aspect embodiment of the present invention.

[0020] The present invention has the following beneficial effects:

[0021] The present invention adopts a PID double closed-loop control structure. The displacement loop adopts PID control and adds an incomplete differential link, effectively improving the dynamic characteristics and robustness of the system. A proportional resonance (PR) controller is introduced into the current PI closed-loop. Utilizing the infinite gain characteristic of the PR controller at a specific resonant frequency, precise and rapid compensation for specific frequency resonant interference is achieved. By real-time collecting and analyzing the rotor displacement and coil current signals, the harmonic frequency is determined, and by adjusting the parameters of the PR controller, the resonant interference suppression effect is further improved.

[0022] The structure of the present invention is clear and easy to implement. Without complex operations and additional sensor devices, the control accuracy and system stability of the magnetic levitation bearing can be significantly improved, and it has the outstanding advantages of strong real-time performance, excellent control performance, and easy engineering implementation.

[0023] The present invention does not directly connect frequency-selective elements in the main control loop, thus avoiding the problem of system closed-loop characteristic change caused by the notch filter connected in series in the closed-loop control structure, and will not have a negative impact on the overall dynamic characteristics of the system, ensuring the stability and dynamic response speed of the closed-loop control system. Description of the Drawings

[0024] Figure 1 is a flowchart of a method for eliminating resonant interference of a magnetic levitation bearing according to an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the principle of the displacement loop according to an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the principle of the method for eliminating resonance interference of a magnetic levitation bearing according to an embodiment of the present invention;

[0027] Figure 4 Schematic block diagram of the system for eliminating resonance interference of a magnetic levitation bearing according to an embodiment of the present invention. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Next, the method for eliminating resonance interference of a magnetic levitation bearing, the system for eliminating resonance interference of a magnetic levitation bearing, and a non-temporary computer-readable storage medium proposed in the embodiments of the present invention will be described in conjunction with the accompanying drawings.

[0030] Figure 1 Flowchart of the method for eliminating resonance interference of a magnetic levitation bearing according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0031] S1, obtaining the actual displacement of the rotor of the magnetic levitation bearing in real time and the actual current signal, and the current signal includes the current signal in the X-axis direction and the current signal in the Y-axis direction .

[0032] Specifically, the actual displacements of the rotor in the X-axis and Y-axis directions are obtained in real time through the displacement sensor of the magnetic levitation bearing , and the current feedback signal in the magnetic levitation bearing coil is collected in real time. The signal is sampled in real time through the digital-to-analog conversion module in the digital signal processor to obtain the current signal in the X-axis direction and the current signal in the Y-axis direction .

[0033] S2, inputting the actual displacement into the displacement loop, and the displacement loop adopts incomplete differential PID to output the current given value .

[0034] Specifically, the displacement loop adopts the PID control principle. As Figure 2 shown, the displacement loop takes the actual displacement of the rotor The deviation from the target displacement x_ref is used as the input, and through PID control, a corresponding control current command is generated to achieve stable suspension of the rotor. PID includes a proportional link, an integral link, and a differential link. The proportional time constant is 1, the integral time constant is 1 / s, and the differential time constant is , the proportional coefficient is kp, the integral coefficient is ki, and the differential coefficient is kd. The differential link does not adopt a pure differential form but an imperfect differential, that is, a first-order low-pass filtering is performed on the differential term to avoid the amplification effect of the differential link on high-frequency noise.

[0035] In an embodiment of the present invention, the transfer function of the first-order low-pass filtering link of the imperfect differential PID is:

[0036] ;

[0037] where is the time constant of the first-order low-pass filter, and s is the Laplace operator. By reasonably adjusting the time constant , the high-frequency noise interference in the displacement signal can be effectively suppressed, and the control stability and accuracy of the displacement signal can be improved.

[0038] S3. Obtain the bias current , and perform differential control by adding and subtracting the bias current and the current set value respectively to obtain the positive differential current and the negative differential current .

[0039] Specifically, the current command signal output by the displacement loop needs to enter the current loop closed-loop control through the differential current control method, that is, the current set value output by the displacement loop and the preset bias current are respectively superimposed and subtracted to generate a differential current between the relative coils, thereby generating a differential current control signal between the relative coils, that is, the positive differential current and the negative differential current , so as to form an accurate differential electromagnetic force and effectively control the rotor to achieve precise suspension positioning in the X-axis and Y-axis directions respectively.

[0040] S4. Input the positive differential current , the negative differential current , the current signal in the X-axis direction , and the current signal in the Y-axis direction into the current loop. The current loop is used to perform FFT real-time analysis on and to obtain the resonant frequency point , and control the PR controller according to the resonant frequency point Output the resonant compensation current, and control the PI controller according to the positive differential current and the negative differential current Output the PI current, and output the combined current according to the resonant compensation current and the PI current.

[0041] Specifically, in the actual operation process of the magnetic levitation bearing system, resonance interference of a specific frequency will occur, resulting in a decrease in the operation accuracy of the system. To effectively eliminate this resonance frequency, in this embodiment, a proportional resonance (PR) controller is introduced into the current loop. The tracking effect of the PR controller on the fixed-frequency AC signal is much better than that of the PI controller.

[0042] In an embodiment of the present invention, control the PR controller to output the resonant compensation current according to the resonance frequency point Specifically, it includes: based on the current signal in the X-axis direction and the current signal in the Y-axis direction and the given current value of the PR controller Output the current error of the PR controller, where ; input the current error of the PR controller into the PR controller, so that the PR controller outputs the resonant compensation current according to the current error of the PR controller and the resonance frequency point Output the resonant compensation current.

[0043] As a specific example, the transfer function of the PR controller is:

[0044] ;

[0045] where is the resonance frequency point, is the proportional gain of the PR controller, is the resonance coefficient, and s is the Laplace operator.

[0046] Specifically, as shown in Figure 3 , input the above positive differential current and the negative differential current into the PI controller in the current loop. The PI controller performs PI operation according to the differential current and outputs the PI current. At the same time, the current loop performs and Similarly, in the DSP (Digital Signal Processing), use the FFT library function to analyze the spectrum information in real time. By the amplitude comparison method, determine the frequency with a significantly higher amplitude than other frequency components in the spectrum, which is the resonance frequency point in the actual operation process of the magnetic levitation bearing system. This resonance frequency point It is provided to the PR controller in real time as the real-time adjustment input of the PR controller parameters. The PR controller is based on the current signal in the X-axis direction and the current signal in the Y-axis direction respectively make a difference with the given current value of the PR controller and output the current error of the PR controller. Among them, , the PR controller outputs the resonant compensation current according to the current error of the PR controller and the resonant frequency point . The resonant compensation current is superimposed with the PI current to form a comprehensive current.

[0047] Thus, in the current loop, the PI controller is used for current tracking, and the PR controller can accurately suppress the resonant interference of specific frequencies.

[0048] S5, apply the comprehensive current to the magnetic levitation bearing coil.

[0049] Specifically, as Figure 3 shown, through the PWM (Pulse Width Modulation) modulation module built in the DSP processor, calculate the corresponding PWM duty cycle according to the comprehensive current, and drive the on and off of the switching tubes of the inverter through PWM modulation, so as to accurately control the actual drive current of the magnetic levitation AMB (Active Magnetic Bearing) coil, realize the high-precision stable suspension of the rotor at the command position, and eliminate the resonant interference of specific frequencies in real time.

[0050] The whole control principle can be seen in Figure 3 shown.

[0051] According to the method for eliminating resonant interference of a magnetic levitation bearing according to an embodiment of the present invention, a PID double closed-loop control structure is adopted. The displacement loop adopts PID control and adds an incomplete differential link, which effectively improves the dynamic characteristics and robustness of the system. A proportional resonance (PR) controller is introduced into the current PI closed-loop. Utilizing the infinite gain characteristic of the PR controller at a specific resonant frequency, accurate and rapid compensation for resonant interference of specific frequencies is achieved. By real-time collecting and analyzing the rotor displacement and coil current signals, the harmonic frequency is determined, and by adjusting the parameters of the PR controller, the resonant interference suppression effect is further improved. The structure of the present invention is clear and simple to implement. Without complex operations and additional sensor devices, the control accuracy and system stability of the magnetic levitation bearing can be significantly improved, and it has the outstanding advantages of strong real-time performance, excellent control performance, and easy engineering implementation. The present invention does not directly connect frequency-selective elements in the main control loop, so it avoids the problem of changing the system closed-loop characteristics caused by the notch filter connected in series in the closed-loop control structure, and thus does not have a negative impact on the overall dynamic characteristics of the system, ensuring the stability and dynamic response speed of the closed-loop control system.

[0052] Corresponding to the above method for eliminating resonance interference of the magnetic levitation bearing, the present invention also provides a system for eliminating resonance interference of the magnetic levitation bearing. Since the system embodiment of the present invention corresponds to the above method embodiment, for the details not disclosed in the system embodiment, reference may be made to the above method embodiment, and no further elaboration will be provided in the present invention.

[0053] Figure 4 is a schematic block diagram of a system for eliminating resonance interference of a magnetic levitation bearing according to an embodiment of the present invention, as Figure 4 shown, the system includes: a sampling module 1, a displacement loop 2, a differential module 3, a current loop 4, and an application module 5.

[0054] The sampling module 1 is configured to obtain the actual displacement of the rotor of the magnetic levitation bearing in real time and the actual current signal, and the current signal includes the current signal in the X-axis direction and the current signal in the Y-axis direction ; the displacement loop 2 is configured to use an incomplete differential PID to output a current set value ; the differential module 3 is configured to obtain a bias current , and perform differential control on the bias current and the current set value by adding and subtracting respectively to obtain a positive differential current and a negative differential current ; the current loop 4 is configured to perform FFT real-time analysis on and to obtain a resonance frequency point , control the PR controller to output a resonance compensation current according to the resonance frequency point , control the PI controller to output a PI current according to the positive differential current and the negative differential current , and output a comprehensive current according to the resonance compensation current and the PI current; the application module 5 is configured to apply the comprehensive current to the magnetic levitation bearing coil.

[0055] According to an embodiment of the present invention, the transfer function of the first-order low-pass filter link of the incomplete differential PID is: ; where is the time constant of the first-order low-pass filter, and s is the Laplace operator.

[0056] According to an embodiment of the present invention, the current loop is specifically configured to: output a PR controller current error based on the current signal in the X-axis direction , the current signal in the Y-axis direction and the current value given by the PR controller , where ; Input the PR controller current error into the PR controller, so that the PR controller outputs a resonant compensation current according to the PR controller current error and the resonant frequency point. Output a resonant compensation current.

[0057] According to an embodiment of the present invention, the transfer function of the PR controller is as follows: ; where is the resonant frequency point, is the proportional gain of the PR controller, is the resonance coefficient, and s is the Laplace operator.

[0058] The resonant interference cancellation system of the magnetic levitation bearing according to the embodiment of the present invention adopts a PID double closed-loop control structure. The displacement loop adopts PID control and adds an incomplete differential link, effectively improving the dynamic characteristics and robustness of the system. A proportional resonance (PR) controller is introduced into the current PI closed-loop. Utilizing the infinite gain characteristic of the PR controller at a specific resonant frequency, precise and rapid compensation for specific-frequency resonant interference is achieved. By real-time collecting and analyzing the rotor displacement and coil current signals, the harmonic frequency is determined, and by adjusting the parameters of the PR controller, the resonant interference suppression effect is further improved. The structure of the present invention is clear and easy to implement. Without complex operations and additional sensor devices, the control accuracy and system stability of the magnetic levitation bearing can be significantly improved, and it has the outstanding advantages of strong real-time performance, excellent control performance, and easy engineering implementation. The present invention does not directly connect frequency-selective elements in the main control loop, thus avoiding the problem of system closed-loop characteristic changes caused by the notch filter connected in series in the closed-loop control structure, and thus will not have a negative impact on the overall dynamic characteristics of the system, ensuring the stability and dynamic response speed of the closed-loop control system.

[0059] In addition, the present invention also proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above-mentioned magnetic levitation bearing resonant interference cancellation method is implemented.

[0060] According to the non-temporary computer-readable storage medium of the embodiment of the present invention, when the computer program stored thereon is executed by a processor, the actual displacement of the rotor of the magnetic levitation bearing is obtained in real time and the actual current signal. The current signal includes the current signal in the X-axis direction and the current signal in the Y-axis direction , input the actual displacement into the displacement loop. The displacement loop adopts incomplete differential PID and outputs a current set value , obtain the bias current , and perform differential control by adding and subtracting the bias current and the current set value respectively, to obtain a positive differential current and negative differential current , the positive differential current , negative differential current , current signal in the X-axis direction , in the Y-axis direction input current loop, and the current loop is used to and perform FFT real-time analysis to obtain the resonant frequency point , control the PR controller to output the resonant compensation current according to the resonant frequency point , control the PI controller to output the PI current according to the positive differential current and negative differential current Output the combined current according to the resonant compensation current and the PI current, and apply the combined current to the magnetic levitation bearing coil. Thus, a PID double closed-loop control structure is adopted. The displacement loop adopts PID control and adds an incomplete differential link, effectively improving the dynamic characteristics and robustness of the system. A proportional resonance (PR) controller is introduced into the current PI closed-loop. Utilizing the infinite gain characteristic of the PR controller at a specific resonant frequency, precise and rapid compensation for specific frequency resonant interference is achieved. By real-time collecting and analyzing the rotor displacement and coil current signals, the harmonic frequency is determined, and by adjusting the parameters of the PR controller, the resonant interference suppression effect is further improved.

[0061] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "plurality" is two or more, unless otherwise specifically defined.

[0062] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where functions may be executed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0064] Logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0065] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gates for implementing logical functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0066] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-mentioned embodiment methods can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0067] In addition, in each of the embodiments of the present invention, the functional units can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0068] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc.

[0069] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for eliminating resonance interference of a magnetic bearing, characterized in that: The following steps are involved: Obtain the actual displacement of the magnetic bearing rotor in real time And the actual current signal, the current signal includes the X-axis direction current signal and Y-axis current signal ; The actual displacement Input displacement loop, displacement loop adopts incomplete differential PID, output current given value ; Get bias current , the bias current and current setpoint Add and subtract respectively for differential control to obtain positive differential current and negative differential current ; The positive differential current , negative differential current , current signal in the X-axis direction , Y-axis direction Input current loop, which is used to and Perform FFT real-time analysis to obtain the resonant frequency point , control the PR controller according to the resonant frequency point Output resonant compensation current, control PI controller according to positive differential current and negative differential current Output PI current, output comprehensive current according to resonant compensation current and PI current; The integrated current is applied to the magnetic bearing coil.

2. The method for eliminating magnetic bearing resonance interference according to claim 1, characterized in that: The transfer function of the first-order low-pass filter link of the incomplete differential PID for: ； in, is the time constant of the first-order low-pass filter, and s is the Laplace operator.

3. The method for eliminating magnetic bearing resonance interference according to claim 1, characterized in that: Control the PR controller according to the resonant frequency point Output resonant compensation current, specifically including: According to the X-axis current signal , Y-axis current signal and PR controller given current value Output PR controller current error, where ; The PR controller current error is input to the PR controller so that the PR controller is configured to generate a current error and a resonant frequency point. Output resonant compensation current.

4. The method for eliminating magnetic bearing resonance interference according to claim 3, characterized in that: The transfer function of the PR controller is for: ； in, is the resonant frequency point, is the proportional gain of the PR controller, is the resonance coefficient, and s is the Laplace operator.

5. A magnetic bearing resonance interference elimination system, characterized in that: include: Sampling module, which is used to obtain the actual displacement of the magnetic bearing rotor in real time And the actual current signal, the current signal includes the X-axis direction current signal and Y-axis current signal ; Displacement ring, the displacement ring is used to adjust the actual displacement , using incomplete differential PID, output current given value ; Differential module, the differential module is used to obtain bias current , the bias current and current setpoint Add and subtract respectively for differential control to obtain positive differential current and negative differential current ; Current loop, which is used to and Perform FFT real-time analysis to obtain the resonant frequency point , control the PR controller according to the resonant frequency point Output resonant compensation current, control PI controller according to positive differential current and negative differential current Output PI current, output comprehensive current according to resonant compensation current and PI current; An applying module is used to apply the integrated current to the magnetic bearing coil.

6. The magnetic bearing resonance interference elimination system according to claim 5, characterized in that: The transfer function of the first-order low-pass filter link of the incomplete differential PID for: ； in, is the time constant of the first-order low-pass filter, and s is the Laplace operator.

7. The magnetic bearing resonance interference elimination system according to claim 5, characterized in that: The current loop is specifically used for: According to the X-axis current signal , Y-axis current signal and PR controller given current value Output PR controller current error, where ; The PR controller current error is input to the PR controller so that the PR controller is configured to generate a current error and a resonant frequency point. Output resonant compensation current.

8. The magnetic bearing resonance interference elimination system according to claim 7, characterized in that: The transfer function of the PR controller is: ； in, is the resonant frequency point, is the proportional gain of the PR controller, is the resonance coefficient, and s is the Laplace operator.

9. A non-transitory computer-readable storage medium, characterized in that A computer program is stored thereon, and when the program is executed by a processor, the method for eliminating resonance interference of a magnetic bearing as claimed in any one of claims 1 to 4 is implemented.

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