Balance compensation method and device for magnetic suspension breeze power generation system

Abstract

The invention provides a balance compensation method and device for a magnetic suspension breeze power generation system, and the method comprises the steps: exciting the magnetic suspension breeze power generation system through an excitation signal when the magnetic suspension breeze power generation system is in a static suspension state, obtaining first response data, carrying out the parameter identification of a static rotor motion model, and obtaining a static rotor motion model; obtaining an estimated support parameter; controlling the magnetic suspension breeze power generation system to rotate to obtain second response data under each rotating speed value; and performing parameter identification on the rotating rotor motion model to obtain an unbalanced mass parameter so as to determine an unbalanced force compensation signal, and adding the unbalanced force compensation signal to the magnetic suspension breeze power generation system. By means of the method, the accuracy and efficiency of dynamic balance of the magnetic suspension breeze power generation system are improved, and then the service life of the magnetic suspension breeze power generation system is prolonged.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of magnetic suspension wind power generation, in particular to a balance compensation method and device for a magnetic suspension wind power generation system. BACKGROUND

[0002] At present, when dynamic balance is performed on a magnetic suspension wind power generation system, additional test equipment is usually required to perform disassembly dynamic balance, for example, each component in the magnetic suspension wind power generation system is subjected to offline dynamic balance on a dynamic balancing machine, and then the components subjected to dynamic balance are assembled.

[0003] Since the rotor in the magnetic suspension wind power generation system is large in volume, and the connection structure and transmission structure of the components of the system are more, the accuracy of dynamic balance performed on the magnetic suspension wind power generation system is reduced, and offline dynamic balance requires disassembly test and reassembly of the magnetic suspension wind power generation system, thereby reducing the efficiency of dynamic balance performed on the magnetic suspension wind power generation system. SUMMARY

[0004] Therefore, the application aims to provide a balance compensation method and device for a magnetic suspension wind power generation system, which, by utilizing the characteristics of active excitation of a magnetic suspension bearing, performs excitation identification and constant-speed rotation identification on a magnetic suspension wind power generation system in a static suspension state, and performs discrete Fourier transform on the identified data to obtain a frequency response, and then obtains the corresponding unbalanced mass parameters of the magnetic suspension wind power generation system, so as to compensate for unbalanced vibration through the magnetic suspension bearing, reduce the unbalanced vibration and vibration level of the wind power generation rotor, improve the accuracy and efficiency of dynamic balance performed on the magnetic suspension wind power generation system, and prolong the service life of the magnetic suspension wind power generation system.

[0005] The application provides a balance compensation method for a magnetic suspension wind power generation system, which comprises the following steps: When the magnetic suspension wind power generation system is in a static suspension state, a plurality of excitation signals generated by a preset excitation signal generator are obtained, and the magnetic suspension wind power generation system is excited by using the excitation signals to obtain first response data of the magnetic suspension wind power generation system; Based on the first response data, parameter identification is performed on a static rotor motion model corresponding to the magnetic suspension wind power generation system to obtain estimated support parameters corresponding to the magnetic suspension wind power generation system; In response to obtaining the estimated support parameters, the magnetic suspension wind power generation system is controlled to work at a plurality of preset rotation speed values to obtain second response data of the magnetic suspension wind power generation system at each rotation speed value; based on the second response data, the magnetic suspension wind power generation system corresponding to the rotating rotor motion model is parameter identified, and the unbalanced mass parameter corresponding to the magnetic suspension wind power generation system is obtained; based on the estimated support parameter and the unbalanced mass parameter, an unbalanced force compensation signal is determined, and the unbalanced force compensation signal is added to the magnetic suspension wind power generation system.

[0006] Further, the acquisition of a plurality of excitation signals generated by a preset excitation signal generator comprises: based on the relative signal power of each order harmonic, the excitation phase sequence corresponding to each magnetic suspension bearing in the magnetic suspension wind power generation system in the lateral and longitudinal directions is generated by using the preset harmonic phase sequence; wherein, the harmonic phase sequence is used to control the relative peak value coefficient of the excitation signal; based on the preset excitation amplitude, the preset plurality of excitation frequency values and the excitation phase sequence, the plurality of excitation signals corresponding to each magnetic suspension bearing in the lateral and longitudinal directions are generated by the preset excitation signal generator.

[0007] Further, the excitation of the magnetic suspension wind power generation system by using the excitation signal to obtain the first response data of the magnetic suspension wind power generation system comprises: the excitation signal is input into the magnetic suspension wind power generation system to excite the magnetic suspension wind power generation system, and the bearing current data, rotor displacement data and acceleration response data output by the magnetic suspension wind power generation system are obtained; based on the bearing current data and rotor displacement data, the expected electromagnetic force data of the magnetic suspension wind power generation system is determined; the acceleration response data and the expected electromagnetic force data are respectively subjected to discrete Fourier transform, the frequency domain component data corresponding to the acceleration response data and the expected electromagnetic force data are obtained, and the frequency domain component data is determined as the first response data of the magnetic suspension wind power generation system.

[0008] Further, the parameter identification of the static rotor motion model corresponding to the magnetic suspension wind power generation system based on the first response data to obtain the estimated support parameter corresponding to the magnetic suspension wind power generation system comprises: the first response data is updated to the static rotor motion model corresponding to the magnetic suspension wind power generation system, and the first target motion equation corresponding to the static rotor motion model is determined; Solving the first target motion equation based on the first response data and a preset static weight matrix to obtain estimated support parameters corresponding to the magnetic suspension wind power generation system, so as to perform parameter identification on the static rotor motion model; wherein the estimated support parameters at least include an estimated rotor rotational inertia correction coefficient and a bearing electromagnetic force correction coefficient.

[0009] Further, in response to obtaining the estimated support parameters, the magnetic suspension wind power generation system is controlled to rotate at a plurality of preset rotational speed values to obtain second response data of the magnetic suspension wind power generation system at each of the rotational speed values, including: In response to obtaining the estimated support parameters, the magnetic suspension wind power generation system is controlled to rotate at a plurality of preset rotational speed values to make the magnetic suspension wind power generation system in a constant speed rotating state; Obtaining expected bearing force data and rotor displacement response data of the magnetic suspension wind power generation system at each of the rotational speed values in the constant speed rotating state, and performing discrete Fourier transform on the expected bearing force data to obtain bearing force frequency domain data corresponding to each of the rotational speed values; Extracting rotational speed same frequency data corresponding to each of the rotational speed values from the rotor displacement response data at each of the rotational speed values, and performing discrete Fourier transform on the rotational speed same frequency data to obtain rotational speed same frequency component data corresponding to each of the rotational speed values; Determining the bearing force frequency domain data and the rotational speed same frequency component data as the second response data of the magnetic suspension wind power generation system at each of the rotational speed values.

[0010] Further, based on the second response data, parameter identification is performed on a rotating rotor motion model corresponding to the magnetic suspension wind power generation system to obtain unbalanced mass parameters corresponding to the magnetic suspension wind power generation system, including: Updating the second response data into the rotating rotor motion model corresponding to the magnetic suspension wind power generation system to determine a second target motion equation corresponding to the rotating rotor motion model; wherein the rotating rotor motion model is obtained by adding unbalanced mass characteristics to the static rotor motion model; Solving the second target motion equation based on the second response data and a preset rotating weight matrix to obtain estimated rotating parameters corresponding to the magnetic suspension wind power generation system; Based on the estimated rotating parameters, the unbalanced mass parameters corresponding to the magnetic suspension wind power generation system are determined by using the rotating rotor motion model; wherein the unbalanced mass parameters at least include a first mass-radius product and a first phase corresponding to a static unbalanced mass, and a second mass-radius product and a second phase corresponding to a dynamic unbalanced mass.

[0011] Further, the determining of the unbalance force compensation signal based on the estimated support parameter and the unbalance mass parameter and adding the unbalance force compensation signal to the magnetic suspension wind power generation system comprises: obtaining a rotor speed value and a power amplifier gain parameter corresponding to the magnetic suspension wind power generation system; determining an unbalance force compensation signal corresponding to a magnetic suspension bearing in the magnetic suspension wind power generation system based on the rotor speed value, the power amplifier gain parameter, an electromagnetic force correction coefficient in the estimated support parameter and the unbalance mass parameter; adding the unbalance force compensation signal to a controller corresponding to the magnetic suspension bearing to compensate for unbalance vibration generated by the magnetic suspension wind power generation system.

[0012] The embodiment of the present application further provides a balance compensation device of a magnetic suspension wind power generation system, which comprises: an excitation response module, configured to obtain a plurality of excitation signals generated by a preset excitation signal generator when the magnetic suspension wind power generation system is in a static suspension state, and excite the magnetic suspension wind power generation system by using the excitation signals to obtain first response data of the magnetic suspension wind power generation system; a first identification module, configured to perform parameter identification on a static rotor motion model corresponding to the magnetic suspension wind power generation system based on the first response data to obtain an estimated support parameter corresponding to the magnetic suspension wind power generation system; a rotation response module, configured to control the magnetic suspension wind power generation system to work in rotation according to a plurality of preset speed values in response to obtaining the estimated support parameter to obtain second response data of the magnetic suspension wind power generation system under each speed value; a second identification module, configured to perform parameter identification on a rotating rotor motion model corresponding to the magnetic suspension wind power generation system based on the second response data to obtain an unbalance mass parameter corresponding to the magnetic suspension wind power generation system; a balance compensation module, configured to determine an unbalance force compensation signal based on the estimated support parameter and the unbalance mass parameter and add the unbalance force compensation signal to the magnetic suspension wind power generation system.

[0013] Further, when the excitation response module is used to obtain a plurality of excitation signals generated by a preset excitation signal generator, the excitation response module is used to: generate excitation phase sequences corresponding to each magnetic suspension bearing in the magnetic suspension wind power generation system in the lateral and longitudinal directions respectively by using a preset harmonic phase sequence based on a relative signal power of each order harmonic; wherein the harmonic phase sequence is used to control a relative peak value coefficient of an excitation signal. generate, by a preset excitation signal generator, a plurality of excitation signals corresponding to each of the magnetic suspension bearings in the lateral and longitudinal directions respectively based on a preset excitation amplitude, a plurality of preset excitation frequency values and the excitation phase sequence.

[0014] Further, when the excitation response module is used to excite the magnetic suspension wind power generation system by the excitation signals to obtain first response data of the magnetic suspension wind power generation system, the excitation response module is used to: input the excitation signals into the magnetic suspension wind power generation system to excite the magnetic suspension wind power generation system, so as to obtain bearing current data, rotor displacement data and acceleration response data output by the magnetic suspension wind power generation system; determine expected electromagnetic force data of the magnetic suspension wind power generation system based on the bearing current data and the rotor displacement data; perform discrete Fourier transform on the acceleration response data and the expected electromagnetic force data respectively to obtain frequency domain component data corresponding to the acceleration response data and the expected electromagnetic force data respectively, and determine the frequency domain component data as the first response data of the magnetic suspension wind power generation system.

[0015] Further, when the first identification module is used to identify parameters of a static rotor motion model corresponding to the magnetic suspension wind power generation system based on the first response data to obtain estimated support parameters corresponding to the magnetic suspension wind power generation system, the first identification module is used to: update the first response data into the static rotor motion model corresponding to the magnetic suspension wind power generation system to determine a first target motion equation corresponding to the static rotor motion model; solve the first target motion equation based on the first response data and a preset static weight matrix to obtain the estimated support parameters corresponding to the magnetic suspension wind power generation system, so as to identify parameters of the static rotor motion model; wherein the estimated support parameters at least include an estimated rotor rotational inertia correction coefficient and a bearing electromagnetic force correction coefficient.

[0016] Further, when the rotation response module is used to control the magnetic suspension wind power generation system to work in rotation according to a plurality of preset rotation speed values in response to obtaining the estimated support parameters to obtain second response data of the magnetic suspension wind power generation system under each of the rotation speed values, the rotation response module is used to: control the magnetic suspension wind power generation system to work in rotation according to a plurality of preset rotation speed values in response to obtaining the estimated support parameters, so that the magnetic suspension wind power generation system is in a constant speed rotation state; acquire expected bearing force data and rotor displacement response data of the magnetic suspension wind power generation system under each of the constant speed rotation state output speed values, and perform discrete Fourier transform on the expected bearing force data to obtain bearing force frequency domain data corresponding to each of the speed values; extract speed same frequency data corresponding to each of the speed values from the rotor displacement response data under each of the speed values, and perform discrete Fourier transform on the speed same frequency data to obtain speed same frequency component data corresponding to each of the speed values; determine the bearing force frequency domain data and the speed same frequency component data as second response data of the magnetic suspension wind power generation system under each of the speed values.

[0017] Further, when the second identification module is used to identify parameters of a rotating rotor motion model corresponding to the magnetic suspension wind power generation system based on the second response data to obtain unbalanced mass parameters corresponding to the magnetic suspension wind power generation system, the second identification module is used to: update the second response data to the rotating rotor motion model corresponding to the magnetic suspension wind power generation system to determine a second target motion equation corresponding to the rotating rotor motion model; wherein the rotating rotor motion model is obtained by adding unbalanced mass characteristics to the static rotor motion model; based on the second response data and a preset rotating weight matrix, solve the second target motion equation to obtain estimated rotating parameters corresponding to the magnetic suspension wind power generation system; based on the estimated rotating parameters, determine unbalanced mass parameters corresponding to the magnetic suspension wind power generation system by using the rotating rotor motion model; wherein the unbalanced mass parameters at least include a first mass radius product and a first phase corresponding to a static unbalanced mass and a second mass radius product and a second phase corresponding to a dynamic unbalanced mass.

[0018] Further, when the balance compensation module is used to determine an unbalanced force compensation signal based on the estimated support parameters and the unbalanced mass parameters, and add the unbalanced force compensation signal to the magnetic suspension wind power generation system, the balance compensation module is used to: acquire rotor speed values and power amplifier gain parameters corresponding to the magnetic suspension wind power generation system; based on the rotor speed values, the power amplifier gain parameters, a bearing electromagnetic force correction coefficient in the estimated support parameters, and the unbalanced mass parameters, determine an unbalanced force compensation signal corresponding to a magnetic suspension bearing in the magnetic suspension wind power generation system; add the unbalanced force compensation signal to a controller corresponding to the magnetic suspension bearing to compensate for unbalanced vibration generated by the magnetic suspension wind power generation system.

[0019] The embodiment of the present application also provides an electronic device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the steps of the balance compensation method of the magnetic suspension wind power generation system.

[0020] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of the balance compensation method of the magnetic suspension wind power generation system.

[0021] The balance compensation method and device of the magnetic suspension wind power generation system provided by the embodiment of the present application, the balance compensation method comprises: when the magnetic suspension wind power generation system is in a static suspension state, a plurality of excitation signals generated by a preset excitation signal generator are obtained, and the magnetic suspension wind power generation system is excited by using the excitation signals to obtain first response data of the magnetic suspension wind power generation system; based on the first response data, a static rotor motion model corresponding to the magnetic suspension wind power generation system is subjected to parameter identification to obtain estimated support parameters corresponding to the magnetic suspension wind power generation system; in response to obtaining the estimated support parameters, the magnetic suspension wind power generation system is controlled to rotate at a plurality of preset rotating speed values to obtain second response data of the magnetic suspension wind power generation system at each rotating speed value; based on the second response data, a rotating rotor motion model corresponding to the magnetic suspension wind power generation system is subjected to parameter identification to obtain unbalanced mass parameters corresponding to the magnetic suspension wind power generation system; based on the estimated support parameters and the unbalanced mass parameters, an unbalanced force compensation signal is determined, and the unbalanced force compensation signal is added to the magnetic suspension wind power generation system.

[0022] Compared with the method of disassembling, dynamic balancing and reassembling by using additional test equipment in the prior art, the magnetic suspension wind power generation system is subjected to static suspension excitation identification and constant speed rotation identification by using the characteristics of active excitation of the magnetic suspension bearing, and the frequency response is obtained by performing discrete Fourier transform on the identified data, and then the unbalanced mass parameters corresponding to the magnetic suspension wind power generation system are obtained, so as to realize the compensation of unbalanced vibration by the magnetic suspension bearing, realize the effect of reducing the unbalanced vibration and vibration level of the wind power generation rotor, improve the accuracy and efficiency of dynamic balancing of the magnetic suspension wind power generation system, and further prolong the service life of the magnetic suspension wind power generation system.

[0023] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A flow chart of a balance compensation method for a magnetic levitation breeze power generation system provided in an embodiment of the present application; Figure 2 A schematic diagram of an excitation system for a magnetic levitation breeze power generation system provided in an embodiment of the present application; Figure 3 A schematic diagram of compensating for unbalanced vibration of a magnetic levitation breeze power generation system provided in an embodiment of the present application; Figure 4 A schematic structural diagram of a balancing compensation device for a magnetic levitation breeze power generation system provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0027] Research has found that currently, dynamic balancing of magnetic levitation wind power systems typically requires the use of additional testing equipment for disassembly and dynamic balancing, followed by reassembly of the balanced components. Due to the large rotor size and the numerous connection and transmission structures within the assembled components, the accuracy of dynamic balancing is reduced. Offline dynamic balancing also requires disassembly, testing, and reassembly of the system, reducing its efficiency.

[0028] Based on this, the embodiment of the present application provides a balance compensation method of a magnetic suspension wind power generation system, by using the characteristics of active excitation of the magnetic suspension bearing, the excitation identification and constant speed rotation identification of the static suspension of the magnetic suspension wind power generation system are carried out, and the frequency response is obtained by carrying out discrete Fourier transform on the identified data, and then the corresponding unbalanced mass parameters of the magnetic suspension wind power generation system are obtained, so as to realize the compensation of unbalanced vibration through the magnetic suspension bearing, realize the effect of reducing the unbalanced vibration and vibration level of the wind power generation rotor, improve the accuracy and efficiency of dynamic balance of the magnetic suspension wind power generation system, and prolong the service life of the magnetic suspension wind power generation system.

[0029] Please refer to Figure 1 , Figure 1 The flow chart of the balance compensation method of the magnetic suspension wind power generation system provided by the embodiment of the present application is shown in the figure. Figure 1 The balance compensation method of the magnetic suspension wind power generation system provided by the embodiment of the present application comprises: S101, when the magnetic suspension wind power generation system is in a static suspension state, a plurality of excitation signals generated by a preset excitation signal generator are obtained, and the magnetic suspension wind power generation system is excited by using the excitation signals to obtain first response data of the magnetic suspension wind power generation system.

[0030] It should be noted that the magnetic suspension wind power generation system is a system that uses magnetic suspension technology to improve the efficiency of a wind turbine. In the traditional wind power generation system, mechanical bearings will produce friction loss and need to be maintained regularly. By using magnetic suspension technology, the rotor can be supported without contact, thereby reducing friction loss and maintenance cost.

[0031] In the embodiment of the present application, the components provided in the magnetic suspension wind power generation system include but are not limited to magnetic suspension bearings, rotors, controllers, power amplifiers and displacement sensors, etc.

[0032] Among them, a plurality of magnetic suspension bearings are generally provided in the magnetic suspension wind power generation system.

[0033] Here, when it is mentioned that the magnetic suspension wind power generation system is in a static suspension state, it generally means that the rotor (i.e. a wind turbine) of the system is stably kept in a fixed position by the magnetic suspension bearing and does not contact any mechanical bearing in the case of a breeze. Since there is no physical contact, theoretically almost no frictional resistance is generated, so when the breeze starts to blow, the rotor can more easily start to rotate, thereby more effectively capturing wind energy for power generation.

[0034] In the embodiment of the present application, in order to identify the dynamic characteristics of the magnetic suspension wind power generation system, the preset excitation signal generator generates a plurality of frequency orthogonal excitation signals as the input excitation of the magnetic suspension wind power generation system, so as to obtain the frequency domain response of the entire magnetic suspension wind power generation system at one time.

[0035] In an implementable manner of the present application, in specific implementation, the step of obtaining a plurality of excitation signals generated by the preset excitation signal generator in step S101 can include: S1011, based on the preset relative signal power of each order harmonic, the excitation phase sequence corresponding to the transverse and longitudinal directions of each magnetic suspension bearing in the magnetic suspension wind power generation system is generated by using the preset harmonic phase sequence.

[0036] The harmonic phase sequence is used to control the relative peak value coefficient of the excitation signal.

[0037] Here, in order to avoid excessive displacement response of the rotor caused by the superposition of harmonic components in the excitation signal, the phase of each order harmonic in the multi-frequency orthogonal excitation signal needs to be designed, in addition, in order to evaluate the uniformity of the excitation signal and avoid the problem of harmonic superposition, the relative peak value coefficient (RPF) is introduced as an index, by controlling the relative peak value coefficient, the excitation signal can be optimized to reduce the harmonic components in the excitation signal, thereby reducing the risk of rotor collision and improving the accuracy of system identification.

[0038] In the embodiment of the present application, the calculation expression of the relative peak value coefficient is as follows.

[0039] .

[0040] Wherein, represents the time sequence of the excitation signal; represents the relative peak value coefficient; is the maximum value in , is the minimum value in , is the root mean square of .

[0041] Further, in order to obtain a smaller relative peak value coefficient, the preset harmonic phase sequence can be used to determine the excitation phase sequence of the excitation signal for each excitation signal.

[0042] ​​The preset harmonic phase sequence can include a Schroeder harmonic phase sequence, that is, when a signal is composed of multiple equal-amplitude harmonics, if the phases of all the harmonics are in phase, all the harmonics will reach a peak value at the same time at a certain moment, resulting in a very large instantaneous amplitude of the total signal and a very high relative peak factor, and by assigning a specific negative quadratic phase to each harmonic, the peak value of the signal can be significantly reduced.

[0043] In the embodiment of the present application, the expression of the excitation phase sequence is as follows.

[0044] .

[0045] wherein, indicates the excitation phase sequence corresponding to the transverse and longitudinal directions of each magnetic suspension bearing in the magnetic suspension wind power generation system, and uses n indicates any direction of any magnetic suspension bearing; indicates each harmonic; indicates a natural number sequence; indicates the relative signal power of the harmonic.

[0046] S1012, based on the preset excitation amplitude, the preset plurality of excitation frequency values and the excitation phase sequence, the excitation signal generator generates a plurality of excitation signals corresponding to the transverse and longitudinal directions of each magnetic suspension bearing, respectively.

[0047] In the embodiment of the present application, for the excitation signals generated by the excitation signal generator, in order to effectively distinguish and identify the mutual influence between different loops in the magnetic suspension wind power generation system, ensure that each excitation signal has a unique frequency spectrum line in the frequency domain relative to other signals, a group of excitation frequency values with fixed intervals are preset to ensure the orthogonality between signals, thereby improving the accuracy of the identification process.

[0048] Here, when the number of magnetic suspension bearings in the magnetic suspension wind power generation system is 2 (magnetic suspension bearing and magnetic suspension bearing ), the representation form of the excitation signal is as follows.

[0049] .

[0050] wherein, indicates the plurality of excitation signals corresponding to the transverse direction of the magnetic suspension bearing . indicates the plurality of excitation signals corresponding to the longitudinal direction of the magnetic suspension bearing . ​​ represents a magnetic suspension bearing in the lateral direction a corresponding plurality of excitation signals; represents a magnetic suspension bearing in the longitudinal direction a corresponding plurality of excitation signals; , , and respectively represent preset excitation amplitude values; represents a plurality of preset excitation frequency values; represents a magnetic suspension bearing in the lateral direction a corresponding excitation phase sequence; represents a magnetic suspension bearing in the longitudinal direction y a corresponding excitation phase sequence; represents a magnetic suspension bearing b in the lateral direction a corresponding excitation phase sequence; represents a magnetic suspension bearing b in the longitudinal direction y a corresponding excitation phase sequence; represents a discrete time point vector.

[0051] Here, for the preset excitation amplitude values, if the excitation amplitude values are set too small, the excitation signals can be covered by noise, which can cause problems of being unable to accurately identify; and if the excitation amplitude values are set too large, the system response can be too large, which can cause problems of the displacement of the rotor exceeding a safe range, therefore, equal excitation amplitude values are adopted, and the specific size of the excitation amplitude values can be adjusted and optimized according to actual conditions in an experimental process.

[0052] In an implementable manner of the present application, in specific implementation, the step of exciting the magnetic suspension wind power generation system by using the excitation signal to obtain first response data of the magnetic suspension wind power generation system in step S101 can include: S1013, inputting the excitation signal into the magnetic suspension wind power generation system to excite the magnetic suspension wind power generation system, and obtaining bearing current data, rotor displacement data and acceleration response data output by the magnetic suspension wind power generation system.

[0053] In the present application, please refer to Figure 2 , Figure 2 is a schematic diagram of the excitation of the magnetic suspension wind power generation system provided by the present application. As Figure 2The excitation signal generated by the excitation signal generator is input to a controller and a power amplifier in the magnetic levitation wind power generation system, so as to excite the magnetic levitation wind power generation system, and bearing current data i output by the power amplifier in the magnetic levitation wind power generation system and state response data q output by the rotor are collected, wherein the state response data q includes rotor displacement data and acceleration response data.

[0054] In the embodiment of the present application, the expected electromagnetic force data of the magnetic levitation wind power generation system is determined based on the bearing current data and the rotor displacement data.

[0055] In the embodiment of the present application, the calculation expression of the expected electromagnetic force data is as follows.

[0056] .

[0057] wherein, represents the expected electromagnetic force data; represents the bearing current data; represents the rotor displacement data; and respectively represent the coefficients related to the current and the displacement.

[0058] S1015, the acceleration response data and the expected electromagnetic force data are respectively subjected to discrete Fourier transform, to obtain the frequency domain component data corresponding to the acceleration response data and the expected electromagnetic force data respectively, and the frequency domain component data is determined as the first response data of the magnetic levitation wind power generation system.

[0059] Here, the discrete Fourier transform (Discrete Fourier Transform, DFT) is used to convert a discrete time domain signal of a finite length into a frequency domain representation, so as to analyze the frequency components contained in the signal.

[0060] wherein, the first response data includes the frequency domain component data corresponding to the acceleration response data and the frequency domain component data corresponding to the expected electromagnetic force data.

[0061] S102, based on the first response data, the static rotor motion model corresponding to the magnetic levitation wind power generation system is subjected to parameter identification, to obtain the estimated support parameters corresponding to the magnetic levitation wind power generation system.

[0062] In the embodiment of the present application, when the number of magnetic levitation bearings in the magnetic levitation wind power generation system is 2 (magnetic levitation bearing and magnetic levitation bearing ) and the number of displacement sensors is 2 (displacement sensor and displacement sensor ), the motion equation corresponding to the static rotor motion model is shown below.

[0063] .

[0064] Furthermore, when the magnetic levitation breeze power generation system is in a stable static suspension state, the rotor is only affected by the electromagnetic force provided by the magnetic levitation bearing, and the above motion equation can be transformed into the following form.

[0065] .

[0066] in, Indicates that the rotor is in a magnetic bearing The horizontal The vibration displacement, Indicates that the rotor is in a magnetic bearing The horizontal Vibration acceleration; y sA Indicates that the rotor is in a magnetic bearing The longitudinal y vibration displacement at Indicates that the rotor is in a magnetic bearing The longitudinal y vibration acceleration at ; Indicates the lateral direction of the rotor at the magnetic bearing b The vibration displacement, Indicates the lateral direction of the rotor at the magnetic bearing b Vibration acceleration; y sB represents the longitudinal y vibration displacement of the rotor at the magnetic bearing b, represents the vibration acceleration of the rotor in the longitudinal direction y of the magnetic bearing b; Indicates magnetic bearing In horizontal The electromagnetic force provided by Indicates that the magnetic bearing b is in the horizontal direction The electromagnetic force provided by Indicates magnetic bearing The electromagnetic force provided in the longitudinal direction y is, represents the electromagnetic force provided by the magnetic bearing b in the longitudinal direction y; Indicates the center of mass of the rotor to the magnetic bearing The distance between represents the distance from the center of mass of the rotor to the magnetic bearing b; Represents the distance from the rotor's center of mass to the displacement sensor The distance between Represents the distance from the rotor's center of mass to the displacement sensor The distance between Indicates the rotor mass; Jr is a rotor moment of inertia correction coefficient; is a bearing electromagnetic force correction coefficient of a magnetic bearing b, is a bearing electromagnetic force correction coefficient of a magnetic bearing b, is a bearing electromagnetic force correction coefficient of a magnetic bearing b; is a support parameter of a magnetic wind power generation system; is a parameter matrix constructed by electromagnetic forces provided by magnetic bearings; is an acceleration response of a magnetic wind power generation system.

[0067] In an implementation manner of the present application, in specific implementation, step S102 can include: S1021, updating the first response data into a corresponding static rotor motion model of the magnetic wind power generation system, and determining a first target motion equation corresponding to the static rotor motion model.

[0068] In this step, the first response data includes frequency domain component data corresponding to acceleration response data and frequency domain component data corresponding to expected electromagnetic force data, the frequency domain component data is updated into a motion equation of a corresponding static rotor motion model of the magnetic wind power generation system, and a first target motion equation corresponding to the static rotor motion model is determined.

[0069] In the embodiment of the present application, the expression of the first target motion equation is as follows.

[0070] 。

[0071] wherein, is frequency domain component data corresponding to acceleration response data; is frequency domain component data corresponding to expected electromagnetic force data; is a support parameter of a magnetic wind power generation system.

[0072] wherein, the support parameter at least includes a rotor moment of inertia correction coefficient and a bearing electromagnetic force correction coefficient.

[0073] S1022, based on the first response data and a preset static weight matrix, solving the first target motion equation to obtain an estimated support parameter corresponding to the magnetic wind power generation system, so as to perform parameter identification on the static rotor motion model.

[0074] wherein, the estimated support parameter at least includes an estimated rotor moment of inertia correction coefficient and a bearing electromagnetic force correction coefficient.

[0075] In this step, based on the first response data and the preset static weight matrix, the least squares method is used to solve the estimated support parameters in the first target motion equation to obtain the estimated support parameters corresponding to the magnetic levitation breeze power generation system, thereby realizing parameter identification of the static rotor motion model.

[0076] In the embodiment of the present application, the expression of the least squares cost function in the frequency domain used to solve the first target motion equation using the least squares method is as follows.

[0077] .

[0078] in, represents the least squares cost function used to solve the first objective motion equation; Represents the preset static weight matrix; Indicates the frequency domain component data corresponding to the acceleration response data; represents the frequency domain component data corresponding to the expected electromagnetic force data; Indicates the support parameters corresponding to the magnetic levitation breeze power generation system.

[0079] Furthermore, based on the least squares cost function used to solve the first target motion equation, the estimated support parameters corresponding to the magnetic levitation breeze power generation system can be calculated using the least squares method. The calculation expression of the estimated support parameters is as follows.

[0080] .

[0081] in, represents the estimated support parameters corresponding to the magnetic levitation breeze power generation system; Represents the preset static weight matrix; Indicates the frequency domain component data corresponding to the acceleration response data; Represents the frequency domain component data corresponding to the expected electromagnetic force data.

[0082] In this way, by performing parameter identification on the static rotor motion model, the influence of unbalanced mass in the magnetic levitation breeze power generation system can be eliminated. By accurately identifying the corresponding support parameters of the magnetic levitation breeze power generation system, the accuracy of the static rotor motion model of the magnetic levitation breeze power generation system in a stable static suspension state is guaranteed.

[0083] S103 . In response to obtaining the estimated support parameters, controlling the magnetic levitation breeze power generation system to rotate according to a plurality of preset rotational speed values, and obtaining second response data of the magnetic levitation breeze power generation system at each rotational speed value.

[0084] In the embodiments of the present application, on the basis of accurately identifying the static rotor motion model, the unbalance mass feature is added in the static rotor motion model to obtain the rotating rotor motion model of the magnetic suspension wind power generation system in the constant speed rotating state, and the unbalance mass parameters corresponding to the magnetic suspension wind power generation system can be obtained by identifying the rotating rotor motion model.

[0085] Here, the plurality of preset rotating speed values are selected in the working rotating speed interval corresponding to the wind generator of the magnetic suspension wind power generation system.

[0086] In an implementable manner of the present application, in specific implementation, the step S103 can include: S1031, in response to obtaining the estimated support parameters, controlling the magnetic suspension wind power generation system to rotate and work according to the plurality of preset rotating speed values, so that the magnetic suspension wind power generation system is in the constant speed rotating state.

[0087] Here, when the magnetic suspension wind power generation system is in the constant speed rotating state, it means that the rotor of the magnetic suspension wind power generation system continuously rotates at a relatively stable and constant rotating speed under the action of wind force, and the magnetic suspension bearing maintains the stable suspension of the rotor through normal work.

[0088] S1032, obtaining the expected bearing force data and rotor displacement response data of the magnetic suspension wind power generation system in the constant speed rotating state under each of the rotating speed values, and performing discrete Fourier transform on the expected bearing force data to obtain the bearing force frequency domain data corresponding to each of the rotating speed values.

[0089] In this step, the expected bearing force data under each rotating speed value and the rotor displacement response data under each rotating speed value output by the magnetic suspension wind power generation system in the constant speed rotating state rotating and working according to the plurality of preset rotating speed values are obtained, and the expected bearing force data is first subjected to discrete Fourier transform to obtain the bearing force frequency domain data corresponding to each rotating speed value.

[0090] S1033, extracting the rotating speed same frequency data corresponding to each rotating speed value from the rotor displacement response data under each rotating speed value, and performing discrete Fourier transform on the rotating speed same frequency data to obtain the rotating speed same frequency component data corresponding to each rotating speed value.

[0091] In the embodiments of the present application, the expression of the rotating speed same frequency component data is as follows.

[0092] .

[0093] wherein, represents the rotating speed same frequency component data corresponding to each rotating speed value ; and represents the rotating speed value. represents a sampling time interval of acquiring data; represents a total number of sampling points of data, = 0, 1,... ; represents the i th rotation speed value; represents an imaginary number, and can make a vector lead, for example, leading 90°.

[0094] S1034, determining the bearing force frequency domain data and the rotation speed same frequency component data as second response data of the magnetic suspension wind power generation system at each of the rotation speed values.

[0095] In the embodiment of the application, the second response data of the magnetic suspension wind power generation system at each of the rotation speed values includes bearing force frequency domain data and rotation speed same frequency component data.

[0096] S104, based on the second response data, performing parameter identification on a rotating rotor motion model corresponding to the magnetic suspension wind power generation system, to obtain an unbalanced mass parameter corresponding to the magnetic suspension wind power generation system.

[0097] Here, on the basis of static suspension identification, a constant speed rotating identification is carried out, that is, based on the first target motion equation obtained in the static suspension identification process, a second target motion equation is obtained, and then the unbalanced mass parameter is determined.

[0098] In the embodiment of the application, when the number of magnetic suspension bearings in the magnetic suspension wind power generation system is 2 (magnetic suspension bearing and magnetic suspension bearing ) and the number of displacement sensors is 2 (displacement sensor and displacement sensor ), the motion equation corresponding to the rotating rotor motion model is as follows.

[0099] .

[0100] .

[0101] .

[0102] .

[0103] .

[0104] .

[0105] .

[0106] .​

[0107] .

[0108] wherein, represents the acceleration response of the magnetic levitation wind power generation system in the constant speed rotating state; represents the acceleration response of the magnetic levitation wind power generation system in the static levitation state; represents the rotating parameter of the magnetic levitation wind power generation system; represents the measurement signal parameter matrix; p a , p b , p c and p d respectively represent the supporting parameter of the magnetic levitation wind power generation system; represents the electromagnetic force provided by the magnetic bearing in the lateral direction , represents the electromagnetic force provided by the magnetic bearing b in the lateral direction , represents the electromagnetic force provided by the magnetic bearing in the longitudinal direction y, represents the electromagnetic force provided by the magnetic bearing b in the longitudinal direction y; represents the structural symmetry ratio of the rotor at both ends of the displacement sensor and the displacement sensor ; represents the distance from the center of mass of the rotor to the displacement sensor , represents the distance from the center of mass of the rotor to the displacement sensor ; , , and respectively represent the dynamic coupling characteristic items; is the rotor moment of inertia correction coefficient, is the rotor pole moment of inertia correction coefficient; and respectively are the first mass-radius product and the first phase corresponding to the static unbalance mass, and respectively are the second mass-radius product and the second phase corresponding to the dynamic unbalance mass; represents the vibration velocity of the rotor in the longitudinal direction y at the magnetic bearing ; represents the vibration velocity of the rotor in the longitudinal direction y at the magnetic bearing b; represents the vibration velocity of the rotor in the lateral direction at the magnetic bearing ; represents the vibration velocity of the rotor in the lateral direction a vibration velocity of the rotor; denotes a rotational angular velocity of the rotor around its own axis; denotes a distance from a mass center of the rotor to the magnetic bearing a, denotes a distance from a mass center of the rotor to the magnetic bearing b, denotes a distance from a mass center of the rotor to the magnetic bearing b; denotes a bearing electromagnetic force correction coefficient of the magnetic bearing a, denotes a bearing electromagnetic force correction coefficient of the magnetic bearing b; denotes a mass of the rotor.

[0109] In an implementation manner of the present application, in specific implementation, step S104 can include: S1041, updating the second response data into a corresponding rotating rotor motion model of the magnetic levitation wind power generation system, and determining a second target motion equation corresponding to the rotating rotor motion model.

[0110] The rotating rotor motion model is obtained by adding an unbalanced mass feature to the static rotor motion model.

[0111] In this step, the bearing force frequency domain data and the rotating speed same frequency component data included in the second response data are updated into a motion equation of a corresponding rotating rotor motion model of the magnetic levitation wind power generation system, and a second target motion equation corresponding to the rotating rotor motion model is determined.

[0112] In the embodiment of the present application, the expression of the second target motion equation is as follows.

[0113] .

[0114] wherein, denotes the bearing force frequency domain data; denotes the rotating speed same frequency component data; denotes a rotating parameter corresponding to the magnetic levitation wind power generation system.

[0115] Here, the rotating parameter is estimated to determine an unbalanced mass parameter corresponding to the magnetic levitation wind power generation system.

[0116] S1042, based on the second response data and a preset rotating weight matrix, solving the second target motion equation to obtain an estimated rotating parameter corresponding to the magnetic levitation wind power generation system.

[0117] In this step, based on the second response data and the preset rotating weight matrix, the rotating parameter in the second target motion equation is solved by using the least square method, so as to obtain the estimated rotating parameter corresponding to the magnetic levitation wind power generation system, and the parameter identification of the rotating rotor motion model is realized.

[0118] In the embodiment of the present application, the expression of the least square cost function used in the frequency domain for solving the second target motion equation is as follows.

[0119] .

[0120] wherein, represents the least square cost function used for solving the second target motion equation; represents a preset rotation weight matrix; represents bearing force frequency domain data; represents rotating speed same frequency component data; represents a rotation parameter corresponding to the magnetic suspension wind power generation system.

[0121] Further, based on the above-mentioned least square cost function used for solving the second target motion equation, the estimated rotation parameter corresponding to the magnetic suspension wind power generation system can be calculated by using the least square method, and the calculation expression of the estimated rotation parameter is as follows.

[0122] .

[0123] wherein, represents the estimated rotation parameter corresponding to the magnetic suspension wind power generation system; represents a preset rotation weight matrix; represents bearing force frequency domain data; represents rotating speed same frequency component data; represents the estimated rotation parameter corresponding to the magnetic suspension wind power generation system.

[0124] S1043, based on the estimated rotation parameter, the rotation rotor motion model is used to determine the unbalance mass parameter corresponding to the magnetic suspension wind power generation system.

[0125] wherein, the unbalance mass parameter at least includes a first mass radius product and a first phase corresponding to a static unbalance mass and a second mass radius product and a second phase corresponding to a dynamic unbalance mass.

[0126] In this step, the estimated rotation parameter is substituted into the motion equation corresponding to the rotation rotor motion model to determine the first mass radius product and the first phase corresponding to the static unbalance mass and the second mass radius product and the second phase corresponding to the dynamic unbalance mass corresponding to the magnetic suspension wind power generation system.

[0127] S105, based on the estimated support parameter and the unbalance mass parameter, an unbalance force compensation signal is determined, and the unbalance force compensation signal is added to the magnetic suspension wind power generation system.

[0128] In one possible implementation of the present application, during specific implementation, step S105 may include: S1051: Obtain a rotor speed value and a power amplifier gain parameter corresponding to the magnetic levitation breeze power generation system.

[0129] In this step, a preset power amplifier gain parameter of the magnetic levitation breeze power generation system is obtained, and a rotor speed value corresponding to the rotor of the magnetic levitation breeze power generation system is obtained in real time.

[0130] S1052. Determine an unbalanced force compensation signal corresponding to the magnetic bearing in the magnetic levitation breeze power generation system based on the rotor speed value, the power amplifier gain parameter, the bearing electromagnetic force correction coefficient in the estimated support parameters, and the unbalanced mass parameter.

[0131] In the embodiment of the present application, the unbalanced force compensation signal corresponding to the magnetic levitation bearing in the magnetic levitation breeze power generation system is determined by the following formula.

[0132] .

[0133] in, Indicates the unbalanced force compensation signal; is the preset gain parameter of the power amplifier; is the rotor speed value; The electromagnetic force stiffness parameters of the magnetic bearing included in the estimation of the bearing electromagnetic force correction coefficient in the support parameters; and are the first mass-diameter product and the first phase corresponding to the static unbalanced mass, and are the second mass-diameter product and the second phase corresponding to the dynamic unbalanced mass respectively.

[0134] S1053: Add the unbalanced force compensation signal to the controller corresponding to the magnetic levitation bearing to compensate for the unbalanced vibration generated by the magnetic levitation breeze power generation system.

[0135] In this step, the controller corresponding to the magnetic levitation bearing generates an unbalanced force compensation force based on the unbalanced force compensation signal, so as to utilize the unbalanced force compensation force of the magnetic levitation bearing to weaken the unbalanced vibration of the rotor, thereby compensating for the unbalanced vibration generated by the magnetic levitation breeze power generation system.

[0136] Among them, the amplitude of the unbalanced force compensation force is the product of the mass-diameter product corresponding to the unbalanced mass and the square of the rotor speed value; the frequency of the unbalanced force compensation force is the same as the rotor speed; the phase of the unbalanced force compensation force is the negative of the phase corresponding to the unbalanced mass.

[0137] For example, see Figure 3, Figure 3 A compensation diagram for unbalanced vibration of a magnetic suspension wind power generation system provided by an embodiment of the present application is shown in FIG. 1. Figure 3 An unbalanced force compensation signal is inputted between the controller and the power amplifier in the magnetic suspension wind power generation system, as shown in FIG. 2. The unbalanced force compensation signal is used to generate an unbalanced force compensation force by the corresponding controller of the magnetic suspension bearing, so as to compensate for the unbalanced vibration generated by the magnetic suspension wind power generation system.

[0138] The balance compensation method for the magnetic suspension wind power generation system provided by the embodiment of the present application is used to identify the excitation and the constant speed rotation of the magnetic suspension wind power generation system by using the characteristics of the active excitation of the magnetic suspension bearing, and to obtain the frequency response by performing the discrete Fourier transform on the identified data, and then to obtain the unbalanced mass parameters corresponding to the magnetic suspension wind power generation system, so as to compensate for the unbalanced vibration by the magnetic suspension bearing, to reduce the unbalanced vibration and the vibration level of the wind power generation rotor, and to improve the accuracy and efficiency of the dynamic balance of the magnetic suspension wind power generation system, thereby prolonging the service life of the magnetic suspension wind power generation system.

[0139] Please refer to Figure 4 , Figure 4 A structure diagram of a balance compensation device for a magnetic suspension wind power generation system provided by an embodiment of the present application is shown in FIG. 3. Figure 4 The balance compensation device 400 includes: An excitation response module 410 is configured to obtain a plurality of excitation signals generated by a preset excitation signal generator when the magnetic suspension wind power generation system is in a static suspension state, and to excite the magnetic suspension wind power generation system by using the excitation signals to obtain first response data of the magnetic suspension wind power generation system. A first identification module 420 is configured to perform parameter identification on a static rotor motion model corresponding to the magnetic suspension wind power generation system based on the first response data to obtain estimated support parameters corresponding to the magnetic suspension wind power generation system. A rotation response module 430 is configured to control the magnetic suspension wind power generation system to work at a plurality of preset rotation speed values in response to obtaining the estimated support parameters to obtain second response data of the magnetic suspension wind power generation system at each rotation speed value. A second identification module 440 is configured to perform parameter identification on a rotating rotor motion model corresponding to the magnetic suspension wind power generation system based on the second response data to obtain unbalanced mass parameters corresponding to the magnetic suspension wind power generation system. The balance compensation module 450 is configured to determine an unbalance force compensation signal based on the estimated support parameters and the unbalance mass parameters, and add the unbalance force compensation signal to the magnetic suspension wind power generation system.

[0140] Further, the excitation response module 410 is configured to, when acquiring a plurality of excitation signals generated by a preset excitation signal generator: generate, based on a preset relative signal power of each order harmonic, an excitation phase sequence corresponding to each magnetic suspension bearing in the magnetic suspension wind power generation system in the lateral and longitudinal directions respectively, using a preset harmonic phase sequence, wherein the harmonic phase sequence is used to control the relative peak value coefficient of the excitation signal; generate, based on a preset excitation amplitude, a plurality of preset excitation frequency values and the excitation phase sequence, a plurality of excitation signals corresponding to each magnetic suspension bearing in the lateral and longitudinal directions respectively by the preset excitation signal generator.

[0141] Further, the excitation response module 410 is configured to, when exciting the magnetic suspension wind power generation system using the excitation signal to obtain first response data of the magnetic suspension wind power generation system, the excitation response module 410 is configured to: input the excitation signal into the magnetic suspension wind power generation system to excite the magnetic suspension wind power generation system, and obtain bearing current data, rotor displacement data and acceleration response data output by the magnetic suspension wind power generation system; determine expected electromagnetic force data of the magnetic suspension wind power generation system based on the bearing current data and the rotor displacement data; perform discrete Fourier transform on the acceleration response data and the expected electromagnetic force data respectively to obtain frequency domain component data corresponding to the acceleration response data and the expected electromagnetic force data respectively, and determine the frequency domain component data as the first response data of the magnetic suspension wind power generation system.

[0142] Further, the first identification module 420 is configured to, when identifying parameters of a static rotor motion model corresponding to the magnetic suspension wind power generation system based on the first response data to obtain estimated support parameters of the magnetic suspension wind power generation system, the first identification module 420 is configured to: update the first response data to the static rotor motion model corresponding to the magnetic suspension wind power generation system to determine a first target motion equation corresponding to the static rotor motion model; solving the first target motion equation based on the first response data and a preset static weight matrix to obtain estimated supporting parameters corresponding to the magnetic suspension wind power generation system, so as to perform parameter identification on the static rotor motion model, wherein the estimated supporting parameters at least include an estimated rotor rotational inertia correction coefficient and a bearing electromagnetic force correction coefficient.

[0143] Further, the rotating response module 430 is configured to, in response to obtaining the estimated supporting parameters, control the magnetic suspension wind power generation system to perform rotating operation according to a plurality of preset rotating speed values, so as to obtain second response data of the magnetic suspension wind power generation system under each of the rotating speed values. In response to obtaining the estimated supporting parameters, control the magnetic suspension wind power generation system to perform rotating operation according to a plurality of preset rotating speed values, so that the magnetic suspension wind power generation system is in a constant-speed rotating state. Obtain expected bearing force data and rotor displacement response data of the magnetic suspension wind power generation system under each of the rotating speed values in the constant-speed rotating state, and perform discrete Fourier transform on the expected bearing force data to obtain bearing force frequency domain data corresponding to each of the rotating speed values. Extract rotating speed same frequency data corresponding to each of the rotating speed values from the rotor displacement response data under each of the rotating speed values, and perform discrete Fourier transform on the rotating speed same frequency data to obtain rotating speed same frequency component data corresponding to each of the rotating speed values. Determine the bearing force frequency domain data and the rotating speed same frequency component data as the second response data of the magnetic suspension wind power generation system under each of the rotating speed values.

[0144] Further, the second identification module 440 is configured to, in response to obtaining the second response data, perform parameter identification on a rotating rotor motion model corresponding to the magnetic suspension wind power generation system to obtain unbalanced mass parameters corresponding to the magnetic suspension wind power generation system. Update the second response data into the rotating rotor motion model corresponding to the magnetic suspension wind power generation system to determine a second target motion equation corresponding to the rotating rotor motion model, wherein the rotating rotor motion model is obtained by adding unbalanced mass characteristics to the static rotor motion model. Solve the second target motion equation based on the second response data and a preset rotating weight matrix to obtain estimated rotating parameters corresponding to the magnetic suspension wind power generation system. Based on the estimated rotation parameter, the rotation rotor motion model is used to determine the corresponding unbalance mass parameter of the magnetic suspension wind power generation system; wherein the unbalance mass parameter at least includes the first mass radius product and the first phase corresponding to the static unbalance mass and the second mass radius product and the second phase corresponding to the dynamic unbalance mass.

[0145] Further, when the balance compensation module 450 is used to determine the unbalance force compensation signal based on the estimated support parameter and the unbalance mass parameter, and add the unbalance force compensation signal to the magnetic suspension wind power generation system, the balance compensation module 450 is used to: Obtain the rotor speed value and the power amplifier gain parameter corresponding to the magnetic suspension wind power generation system; Based on the rotor speed value, the power amplifier gain parameter, the bearing electromagnetic force correction coefficient in the estimated support parameter and the unbalance mass parameter, determine the unbalance force compensation signal corresponding to the magnetic suspension bearing in the magnetic suspension wind power generation system; Add the unbalance force compensation signal to the corresponding controller of the magnetic suspension bearing to compensate for the unbalance vibration generated by the magnetic suspension wind power generation system.

[0146] The balance compensation device of the magnetic suspension wind power generation system provided by the embodiment of the application, by utilizing the characteristics of the magnetic suspension bearing active excitation, the static suspension excitation identification and the constant speed rotation identification of the magnetic suspension wind power generation system are performed, and the frequency response is obtained by performing discrete Fourier transform on the identified data, and then the unbalance mass parameter corresponding to the magnetic suspension wind power generation system is obtained, so as to realize the compensation of the unbalance vibration through the magnetic suspension bearing, realize the effect of reducing the unbalance vibration and vibration level of the wind power generation rotor, improve the accuracy and efficiency of dynamic balancing of the magnetic suspension wind power generation system, and further prolong the service life of the magnetic suspension wind power generation system.

[0147] Please refer to Figure 5 , Figure 5 The structure of an electronic device provided by the embodiment of the application is shown in FIG. 5. Figure 5 As shown in FIG. 5, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0148] The memory 520 stores machine readable instructions executable by the processor 510, when the electronic device 500 is running, the processor 510 and the memory 520 communicate through the bus 530, and the machine readable instructions are executed by the processor 510, which can execute the steps of the balance compensation method of the magnetic suspension wind power generation system in the method embodiment as shown above. Figure 1 The specific implementation can be referred to the method embodiment, which will not be described here.

[0149] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the balance compensation method of the magnetic levitation breeze power generation system in the method embodiment shown are specifically implemented in accordance with the method embodiment, and will not be described in detail here.

[0150] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0152] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0153] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0154] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0155] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A balance compensation method for a magnetic levitation breeze power generation system, characterized in that: The balance compensation method includes: When the magnetic levitation breeze power generation system is in a static suspension state, a plurality of excitation signals generated by a preset excitation signal generator are obtained, and the magnetic levitation breeze power generation system is excited by using the excitation signals to obtain first response data of the magnetic levitation breeze power generation system; Based on the first response data, parameter identification is performed on a static rotor motion model corresponding to the magnetic levitation breeze power generation system to obtain estimated support parameters corresponding to the magnetic levitation breeze power generation system; In response to obtaining the estimated support parameters, controlling the magnetic levitation breeze power generation system to rotate according to a plurality of preset speed values, and obtaining second response data of the magnetic levitation breeze power generation system at each of the speed values; Based on the second response data, parameter identification is performed on a rotating rotor motion model corresponding to the magnetic levitation breeze power generation system to obtain an unbalanced mass parameter corresponding to the magnetic levitation breeze power generation system; An unbalanced force compensation signal is determined based on the estimated support parameters and the unbalanced mass parameter, and the unbalanced force compensation signal is added to the magnetic levitation micro-wind power generation system.

2. The method according to claim 1, characterized in that The step of obtaining a plurality of excitation signals generated by a preset excitation signal generator includes: Based on the preset relative signal power of each order harmonic, a preset harmonic phase sequence is used to generate an excitation phase sequence corresponding to each magnetic bearing in the magnetic levitation breeze power generation system in the horizontal and vertical directions; wherein the harmonic phase sequence is used to control the relative peak factor of the excitation signal; A preset excitation signal generator generates a plurality of excitation signals corresponding to each of the magnetic bearings in the transverse direction and the longitudinal direction based on a preset excitation amplitude, a plurality of preset excitation frequency values ​​and the excitation phase sequence.

3. The method according to claim 1, characterized in that The step of exciting the magnetic levitation breeze power generation system with the excitation signal to obtain first response data of the magnetic levitation breeze power generation system includes: Inputting the excitation signal into the magnetic levitation breeze power generation system to excite the magnetic levitation breeze power generation system and obtain bearing current data, rotor displacement data and acceleration response data output by the magnetic levitation breeze power generation system; Determining expected electromagnetic force data of the magnetic levitation breeze power generation system based on the bearing current data and the rotor displacement data; The acceleration response data and the expected electromagnetic force data are respectively subjected to discrete Fourier transform to obtain frequency domain component data corresponding to the acceleration response data and the expected electromagnetic force data, and the frequency domain component data are determined as first response data of the magnetic levitation breeze power generation system.

4. The method according to claim 1, wherein The step of performing parameter identification on a static rotor motion model corresponding to the magnetic levitation breeze power generation system based on the first response data to obtain estimated support parameters corresponding to the magnetic levitation breeze power generation system includes: Updating the first response data into a static rotor motion model corresponding to the magnetic levitation breeze power generation system, and determining a first target motion equation corresponding to the static rotor motion model; Based on the first response data and a preset static weight matrix, the first target motion equation is solved to obtain estimated support parameters corresponding to the magnetic levitation breeze power generation system, so as to perform parameter identification on the static rotor motion model; wherein the estimated support parameters include at least an estimated rotor moment of inertia correction coefficient and a bearing electromagnetic force correction coefficient.

5. The method according to claim 1, wherein In response to obtaining the estimated support parameters, controlling the magnetic levitation breeze power generation system to rotate according to a plurality of preset speed values, and obtaining second response data of the magnetic levitation breeze power generation system at each of the speed values, comprises: In response to obtaining the estimated support parameters, controlling the magnetic levitation breeze power generation system to rotate according to a plurality of preset speed values ​​so that the magnetic levitation breeze power generation system is in a constant speed rotation state; Acquire expected bearing force data and rotor displacement response data at each speed value output by the magnetic levitation breeze power generation system in the constant speed rotation state, and perform discrete Fourier transform on the expected bearing force data to obtain bearing force frequency domain data corresponding to each speed value; Extracting the speed synchronous frequency data corresponding to each speed value from the rotor displacement response data at each speed value, and performing discrete Fourier transform on the speed synchronous frequency data to obtain speed synchronous frequency component data corresponding to each speed value; The bearing force frequency domain data and the rotational speed same-frequency component data are determined as second response data of the magnetic levitation breeze power generation system at each rotational speed value.

6. The method according to claim 1, characterized in that The step of performing parameter identification on a rotating rotor motion model corresponding to the magnetic levitation breeze power generation system based on the second response data to obtain an unbalanced mass parameter corresponding to the magnetic levitation breeze power generation system includes: Updating the second response data into a rotating rotor motion model corresponding to the magnetic levitation breeze power generation system, and determining a second target motion equation corresponding to the rotating rotor motion model; wherein the rotating rotor motion model is obtained by adding an unbalanced mass feature to the static rotor motion model; Solving the second target motion equation based on the second response data and a preset rotation weight matrix to obtain estimated rotation parameters corresponding to the magnetic levitation breeze power generation system; Based on the estimated rotation parameters, the unbalanced mass parameters corresponding to the magnetic levitation micro-wind power generation system are determined using the rotating rotor motion model; wherein the unbalanced mass parameters include at least a first mass-diameter product and a first phase corresponding to the static unbalanced mass and a second mass-diameter product and a second phase corresponding to the dynamic unbalanced mass.

7. The method according to claim 1, characterized in that The step of determining an unbalanced force compensation signal based on the estimated support parameter and the unbalanced mass parameter, and adding the unbalanced force compensation signal to the magnetic levitation breeze power generation system comprises: Obtaining a rotor speed value and a power amplifier gain parameter corresponding to the magnetic levitation breeze power generation system; Determining an unbalanced force compensation signal corresponding to the magnetic bearing in the magnetic levitation breeze power generation system based on the rotor speed value, the power amplifier gain parameter, the bearing electromagnetic force correction coefficient in the estimated support parameter, and the unbalanced mass parameter; The unbalanced force compensation signal is added to the controller corresponding to the magnetic suspension bearing to compensate for the unbalanced vibration generated by the magnetic suspension breeze power generation system.

8. A balance compensation device for a magnetic levitation breeze power generation system, characterized in that: The balance compensation device comprises: an excitation response module, configured to obtain, when the magnetic levitation breeze power generation system is in a static suspension state, a plurality of excitation signals generated by a preset excitation signal generator, and excite the magnetic levitation breeze power generation system using the excitation signals to obtain first response data of the magnetic levitation breeze power generation system; a first identification module, configured to perform parameter identification on a static rotor motion model corresponding to the magnetic levitation breeze power generation system based on the first response data, and obtain estimated support parameters corresponding to the magnetic levitation breeze power generation system; a rotation response module, configured to control the magnetic levitation breeze power generation system to rotate according to a plurality of preset speed values ​​in response to obtaining the estimated support parameters, and obtain second response data of the magnetic levitation breeze power generation system at each of the speed values; a second identification module, configured to perform parameter identification on a rotating rotor motion model corresponding to the magnetic levitation breeze power generation system based on the second response data, to obtain an unbalanced mass parameter corresponding to the magnetic levitation breeze power generation system; The balance compensation module is configured to determine an unbalanced force compensation signal based on the estimated support parameter and the unbalanced mass parameter, and add the unbalanced force compensation signal to the magnetic levitation breeze power generation system.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the processor is running, the machine-readable instructions execute the steps of the balance compensation method of the magnetic levitation micro-wind power generation system as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the balance compensation method of the magnetic levitation breeze power generation system according to any one of claims 1 to 7 are executed.

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