Synchronous motor modularized excitation active vibration suppression method for eccentric vibration

Abstract

The invention discloses a synchronous motor modular excitation active vibration suppression method for eccentric vibration, and the method comprises the steps: dividing a rotor excitation winding into 2P independent current control excitation modules in the circumferential direction, and respectively arranging an X-direction displacement probe and a Y-direction displacement probe, obtaining a first displacement signal and a second displacement signal of the rotor mass center relative to the stator and a rotor mechanical angular speed; performing band-pass filtering on the first displacement signal and the second displacement signal, and extracting a first displacement first-order component and a second displacement first-order component; calculating the shortest air gap direction angle and the eccentricity amplitude under the stator coordinate system, calculating the eccentricity, and calculating a first-order eccentricity coefficient; calculating a shortest air gap direction angle under a rotor coordinate system, and calculating an equivalent correction coefficient; and according to the equivalent correction coefficient, the first-order eccentricity coefficient, and the shortest air gap direction angle and the mechanical position angle under the rotor coordinate system, the injection amount of each excitation module is calculated, an excitation current instruction is generated and output to the corresponding excitation module, and active suppression of the unbalanced magnetic pulling force is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control, more particularly, to a synchronous motor modular excitation active vibration suppression method for eccentric vibration. BACKGROUND

[0002] Electrically excited synchronous motors are widely used in large-scale power generation and direct-drive equipment, including thermal and nuclear steam turbine generators, hydroelectric and pumped storage reversible units, synchronous condensers, and high-power ship drive fields such as air blowers, metallurgical rolling mills, and ship propulsion, due to their adjustable excitation, high efficiency, freely adjustable power factor, and ability to provide reactive power support to the power grid. These units generally have high power levels and long continuous operation times, requiring strict vibration and reliability requirements. In actual operation, static eccentricity or dynamic eccentricity can occur due to manufacturing and assembly tolerances, shaft deflection, bearing wear and thermal deformation, foundation settlement, and electromagnetic force coupling, leading to uneven air gaps and strong unbalanced magnetic pull, which causes additional local loads on the bearings, resulting in increased noise, decreased efficiency, and even bore scanning or shutdown accidents in severe cases.

[0003] To reduce the above risks, common engineering measures include: 1) improving machining and assembly precision, optimizing centering and bearing clearance, adding vibration isolators, increasing air gap, or reinforcing the foundation, etc. in the mechanical structure design of the unit; 2) using slanted slots, pole shaving, segmented pole shoes, and damping rings, etc. in the electromagnetic structure design of the motor; 3) using negative sequence compensation and current harmonic injection on the stator winding, etc. in motor control. However, these methods have high costs, strong dependence on offline parameters, and poor adaptability to different working conditions and vibration changes.

[0004] Specifically, the first two methods are static structural design methods that cannot effectively address different degrees of eccentricity caused by load changes. The third method is a real-time control method, but the stator winding is highly coupled, making it difficult to implement modular control and suppress unbalanced magnetic pull in the radial direction. Therefore, the above methods cannot meet the needs of large units for low vibration, long service life, and maintainability.

[0005] In summary, there is a need for an online vibration suppression method that can suppress unbalanced magnetic pull caused by different degrees of eccentricity for different types of eccentricity, improving the operational reliability and life cycle economics of large units. SUMMARY

[0006] To address at least one deficiency or improvement requirement of the existing technology, this invention provides a modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration. This method solves the problem that existing methods are unable to meet the requirements of large-scale units for low vibration, long service life, and maintainability. For different types of eccentricity, it suppresses the unbalanced magnetic pull caused by different degrees of eccentricity, thereby improving the operational reliability and life-cycle economy of large-scale units.

[0007] To achieve the above objectives, according to a first aspect of the present invention, a modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration is provided. The method includes: dividing the rotor excitation winding circumferentially into 2P independently controlled excitation modules; setting X-direction displacement probes and Y-direction displacement probes orthogonally in the X and Y directions of the stator cross-section, respectively; acquiring, in real time, a first displacement signal and a second displacement signal of the rotor's center of mass relative to the stator; and simultaneously acquiring the rotor's mechanical angular velocity, where P is the number of pole pairs; performing bandpass filtering on the first displacement signal and the second displacement signal to extract the first displacement frequency corresponding to the rotor's mechanical frequency. The first-order component of displacement and the first-order component of second displacement are calculated; the shortest air gap direction angle and eccentricity amplitude in the stator coordinate system are calculated, and the eccentricity is calculated based on the average air gap. The first-order eccentricity coefficient is calculated based on the equivalent pole shoe thickness; the shortest air gap direction angle in the rotor coordinate system is calculated, and the equivalent correction coefficient that minimizes the rotor frequency vibration amplitude is calculated; based on the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle and mechanical position angle in the rotor coordinate system, the injection amount of each excitation module is calculated, the excitation current command is generated and output to the corresponding excitation module to achieve active suppression of unbalanced magnetic pull.

[0008] In one exemplary embodiment, the injection amount of each excitation module is calculated, an excitation current command is generated, and output to the corresponding excitation module as follows: ,in, This generates the excitation current commands for each excitation module. The average excitation current, This is the equivalent correction factor. The first-order eccentricity coefficient, For the first The mechanical position angle of each excitation winding The shortest air gap direction angle in rotor coordinates. This is the serial number of the excitation module with independent current control. t This refers to the current moment.

[0009] In an exemplary embodiment, the method further includes: if the shortest air gap angle varies sinusoidally with the rotational frequency in the rotor coordinate system, it is determined to be static eccentricity; if the shortest air gap angle remains constant in the rotor coordinate system, it is determined to be dynamic eccentricity.

[0010] In one exemplary embodiment, the method further includes: static eccentricity. Each excitation module employs sinusoidal modulation injection; under dynamic eccentricity... Each excitation module uses a fixed bias injection method; among them, The shortest air gap direction angle in rotor coordinates. for t The shortest air gap direction angle in the stator coordinate system at time 0. They are respectively t Rotor mechanical angle in stator coordinate system at time 0 The rotor mechanical angle in the rotor coordinate system. t This refers to the current moment.

[0011] In one exemplary embodiment, the method further includes: the mechanical position angles of the excitation modules are arranged at equal intervals to satisfy... When there are inconsistencies in the number of turns or geometry of the excitation modules, the current mechanical position angle is replaced by the center angle of the equivalent magnetomotive force, and the injected current is weighted according to the ampere-turns of the excitation modules; where, For the first The mechanical position angle of each excitation winding This is the serial number of the excitation module with independent current control. The shortest air gap direction angle at t=0.

[0012] In one exemplary embodiment, the equivalent pole shoe thickness is: ,in, For the equivalent pole shoe thickness, The relative permeability of air. The relative permeability of a ferromagnetic material. For the radial direction of the first i Ferromagnetic thickness, For the first i Relative permeability of segmental ferromagnetic materials.

[0013] In an exemplary embodiment, the step of performing bandpass filtering on the first displacement signal and the second displacement signal to extract the first displacement first-order component and the second displacement first-order component corresponding to the rotor mechanical frequency includes: performing orthogonal demodulation using a second-order generalized integrator combined with a frequency-locked loop; obtaining the first displacement first-order component of the first displacement signal at the mechanical rotation frequency; and obtaining the second displacement first-order component of the second displacement signal at the mechanical rotation frequency.

[0014] In an exemplary embodiment, calculating the shortest air gap direction angle and eccentricity amplitude in the stator coordinate system includes:

[0015] in, The shortest air gap direction angle in the stator coordinate system. is a first displacement first-order component, is a second displacement first-order component, delta is a eccentricity amplitude, t is a current time, t is a previous time of the current time. According to a second aspect of the present application, there is also provided a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the above-mentioned synchronous motor modular excitation active vibration suppression method for eccentric vibration when executed.

[0016] According to a third aspect of the present application, there is also provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the above-mentioned synchronous motor modular excitation active vibration suppression method for eccentric vibration through the computer program.

[0017] Overall, the above technical solutions conceived by the present application can achieve the following beneficial effects compared with the prior art:

[0018] (1) The present application provides a synchronous motor modular excitation active vibration suppression method for eccentric vibration, which can identify the eccentric direction and amplitude online, and under the two basic eccentricities of static eccentricity and dynamic eccentricity, real-time injection of compensation excitation current at the rotor excitation side to directly suppress the unbalanced magnetic pull caused by air gap unevenness, significantly reduce the unit vibration caused by unbalanced magnetic pull, thereby reducing bearing additional load and electromagnetic noise, and improving the reliability and life of the unit. (2) The method separates the rotor excitation winding of the electrically excited synchronous motor into modular control, adopts a modular excitation regulation scheme, does not need to change the overall structure of the unit, and suppresses the unbalanced magnetic pull caused by eccentricity through online measurement and closed-loop self-correction. It is easy to implement in the unit that has been put into operation, thereby saving cost; in addition, the online self-tuning of the equivalent correction coefficient realizes wide speed domain and wide load self-adaptation, has little influence on the temperature rise and magnetic saturation of the motor, and the additional loss and efficiency influence are controllable, facilitating engineering landing and maintenance.

[0019] BRIEF DESCRIPTION OF DRAWINGS In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020]

[0021] Figure 1 ​A flowchart of an optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the embodiment of the present application is shown in the figure. Figure 2 A modular excitation winding splitting schematic diagram of an optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the embodiment of the present application is shown in the figure. Figure 3 A rotor eccentricity schematic diagram of an optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the embodiment of the present application is shown in the figure. Figure 4 A modular excitation winding and motor overall three-dimensional schematic diagram of an optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the embodiment of the present application is shown in the figure. Figure 5 A control block diagram of an optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the embodiment of the present application is shown in the figure. Figure 6 A structural schematic diagram of an optional electronic device provided by the embodiment of the present application is shown in the figure.

[0022] The meanings of the marks in the figures are as follows: 1 - stator core; 2 - stator armature winding; 3 - rotor core; 4 - modular excitation winding; 5 - motor output shaft. DETAILED DESCRIPTION

[0023] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0024] The terms "first", "second", "third" and the like in the specification and claims of the present application and the above-mentioned figures are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0025] According to an aspect of the embodiment of the present application, a synchronous motor modular excitation active vibration suppression method for eccentric vibration is provided. The following will be described in combination with Figure 1The application provides a synchronous motor modular excitation active vibration suppression method for eccentric vibration.

[0026] Figure 1 An optional synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the application is shown in a flowchart, Figure 1 The method can include the following steps: S102, the rotor excitation winding is divided into 2P independent current control excitation modules in the circumferential direction, X direction displacement probes and Y direction displacement probes are arranged in the orthogonal X and Y directions of the stator section, the first displacement signal and the second displacement signal of the rotor centroid relative to the stator are collected in real time, and the rotor mechanical angular velocity is synchronously acquired, wherein P is the pole pair number. S104, the first displacement signal and the second displacement signal are bandpass filtered, and the first displacement first-order component and the second displacement first-order component corresponding to the rotor mechanical frequency are extracted. S106, the shortest air gap direction angle in the stator coordinate system and the eccentricity amplitude are calculated, the eccentricity is calculated according to the average air gap, and the first-order eccentricity coefficient is calculated based on the equivalent pole shoe thickness. S108, the shortest air gap direction angle in the rotor coordinate system is calculated, and the equivalent correction coefficient that minimizes the rotor rotation frequency vibration amplitude is calculated. S110, the injection amount of each excitation module is calculated according to the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle in the rotor coordinate system and the mechanical position angle, the excitation current instruction is generated and output to the corresponding excitation module, and the active suppression of the unbalanced magnetic pull is realized.

[0027] The synchronous motor modular excitation active vibration suppression method for eccentric vibration provided by the application divides the rotor excitation winding of the electrically excited synchronous motor into modules for separate control, under the premise of not changing the mechanical structure, and suppresses the unbalanced magnetic pull caused by eccentricity through online measurement and closed-loop self-correction.

[0028] Exemplarily, the double-permanent-magnet type double-side linear oscillation motor is described in detail in the embodiment of the application. Figure 2 The excitation winding modularization splitting schematic diagram of the electrically excited synchronous motor modular excitation active vibration suppression method for rotor eccentric vibration is shown in the figure, the P-pole rotor excitation winding is divided into 2P current control excitation modules in the circumferential direction, that is, 360 mechanical angles are divided into 2P electromagnetic periods, 2P current control excitation modules are divided in the circumferential direction, and the air gap magnetic field of each module controls one electromagnetic half period.

[0029] Referring to Figure 4The 3D schematic diagram of the modular excitation winding and motor includes: stator core 1; stator armature winding 2; rotor core 3; modular excitation winding 4; motor output shaft 5; displacement sensor and motor controller. Combined with... Figure 3 and Figure 5 As shown, displacement probes are arranged in the X and Y orthogonal directions of the coordinate system of the stator section to collect the first displacement signal of the rotor's center of mass relative to the stator. x ( t ) and the second displacement signal y ( t The rotor eccentricity is measured in real time, and the rotor mechanical angular velocity is acquired simultaneously. omega m ( t ) or rotational speed f m ( t For the first displacement signal x ( t ) and the second displacement signal y ( t Bandpass filtering is performed at the rotor's mechanical frequency to obtain the fundamental component of the displacement, i.e., the first-order component of the first displacement. x h1 ( t ), first-order component of the second displacement y h1 ( t ).

[0030] Furthermore, the shortest air gap direction angle in the stator coordinate system is calculated. theta (s) e( t ) and eccentricity amplitude delta ( t ), and is composed of normal average air gap g 0 yields the eccentricity. epsilon ( t )= delta ( t ) / g 0.

[0031] Equivalent pole shoe thickness based on rotor material and shape h eff Calculate the first-order eccentricity coefficient m ( t )= epsilon ( t ) / (1+ h eff / g 0).

[0032] Due to rotor mechanical angle α ( t The shortest air gap direction angle in rotor coordinates is calculated. theta (r) e(t )= theta (s) e( t )- α ( t ).

[0033] The equivalent correction coefficient that minimizes the rotor frequency vibration amplitude is calculated online. Based on the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle and mechanical position angle in the rotor coordinate system, the injection amount of each excitation module is calculated, and an excitation current command is generated and output to the corresponding excitation module by the actuator. That is, a cosine current component is injected into each excitation module, and real-time fine adjustment is performed to achieve active suppression of unbalanced magnetic pull.

[0034] Through steps S102 to S110, the rotor excitation winding is divided into 2P independently controlled excitation modules along the circumferential direction. X-direction displacement probes and Y-direction displacement probes are respectively set at the stator cross-section in the orthogonal X and Y directions to collect the first and second displacement signals of the rotor's center of mass relative to the stator in real time, and simultaneously acquire the rotor's mechanical angular velocity, where P is the number of pole pairs. The first and second displacement signals are bandpass filtered to extract the first-order components of the first and second displacements corresponding to the rotor's mechanical frequency; calculation... The shortest air gap direction angle and eccentricity amplitude in the stator coordinate system are calculated, and the eccentricity is obtained based on the average air gap. A first-order eccentricity coefficient is calculated based on the equivalent pole shoe thickness. The shortest air gap direction angle in the rotor coordinate system is calculated, and an equivalent correction coefficient that minimizes the rotor's rotational frequency vibration amplitude is calculated. Based on the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle in the rotor coordinate system, and the mechanical position angle, the injection amount of each excitation module is calculated, and an excitation current command is generated and output to the corresponding excitation module to achieve active suppression of unbalanced magnetic pull. For different eccentricity types, unbalanced magnetic pull caused by different degrees of eccentricity is suppressed, thereby improving the operational reliability and life-cycle economy of large-scale units.

[0035] In an exemplary embodiment, the step of calculating the injection amount of each excitation module, generating an excitation current command, and outputting it to the corresponding excitation module is as follows:

[0036] in, This generates the excitation current commands for each excitation module. The average excitation current, This is the equivalent correction factor. The first-order eccentricity coefficient, For the first The mechanical position angle of each excitation winding The shortest air gap direction angle in rotor coordinates. This is the serial number of the excitation module with independent current control. tThis refers to the current moment.

[0037] During operation, the goal is to minimize low-frequency rotor vibration. Closed-loop dynamic fine-tuning of the equivalent correction coefficient ξ minimizes vibration. The actuator applies the generated excitation current commands from each excitation module to the corresponding module, converting the electrical signal into a real magnetomotive force. No changes to the mechanical structure are required; the actuator is connected to the rotor excitation winding via cable or slip ring / wireless power supply, keeping the dimensions of the motor body, bearings, and frame unchanged.

[0038] In one exemplary embodiment, the method further includes: If the shortest air gap angle varies sinusoidally with the rotational frequency in the rotor coordinate system, it is determined to be static eccentricity; If the shortest air gap angle remains constant in the rotor coordinate system, it is determined to be dynamic eccentricity.

[0039] In one exemplary embodiment, the method further includes: Quietly biased Each excitation module employs sinusoidal modulation injection. Motion eccentricity Each excitation module uses a fixed bias injection method; in, The shortest air gap direction angle in rotor coordinates. for t The shortest air gap direction angle in the stator coordinate system at time 0. They are respectively t Rotor mechanical angle in stator coordinate system at time 0 The rotor mechanical angle in the rotor coordinate system. t This refers to the current moment.

[0040] It is understandable that when the shortest air gap angle changes sinusoidally with the rotational frequency, it is determined to be static eccentricity. Accordingly, a sinusoidal modulation method is used to inject excitation current to dynamically counteract the eccentric magnetic pull in a constant spatial direction as the rotation changes. When the shortest air gap angle remains constant, it is determined to be dynamic eccentricity. In response, a fixed bias method is used to inject excitation current to continuously compensate for the eccentric magnetic pull that occurs as the rotor rotates.

[0041] By classifying and matching the above-mentioned criteria and strategies, it can be ensured that the compensating magnetic field and the unbalanced magnetic pull are accurately matched in terms of spatiotemporal characteristics, avoiding the decrease in vibration suppression efficiency or vibration amplification caused by the mismatch between the excitation current form and the eccentricity type, thereby improving the pertinence, reliability and robustness of active vibration suppression.

[0042] In one exemplary embodiment, the method further includes: The excitation modules are arranged at equal intervals in terms of mechanical position angle, satisfying... ; When there is inconsistency in the number of turns or geometry of the excitation module, the current mechanical position angle is replaced by the center angle of the equivalent magnetomotive force, and the injected current is weighted according to the ampere-turns of the excitation module. in, For the first The mechanical position angle of each excitation winding This is the serial number of the excitation module with independent current control. The shortest air gap direction angle at t=0.

[0043] To eliminate the spatial-magnetic potential asymmetry error of the excitation module caused by manufacturing process, assembly tolerance, or design changes, and to ensure that the spatial distribution of the magnetomotive force strictly follows the theoretical circumferential sampling, maintaining high-precision alignment of the compensation magnetic field with the eccentric direction; the actual ampere-turn contribution of each module and the command current have a linear normalized relationship to avoid additional harmonic forces and vibrations caused by local over / undercompensation; and to ensure that the vibration suppression algorithm always operates based on a unified equivalent magnetic shaft model, guaranteeing the consistency and reproducibility of control parameters between different batches and motors with different structures.

[0044] This embodiment achieves spatial magnetomotive force equalization of the excitation array, providing an accurate and reliable execution benchmark for subsequent eccentricity compensation.

[0045] In one exemplary embodiment, the equivalent pole shoe thickness is:

[0046] in, For the equivalent pole shoe thickness, The relative permeability of air. The relative permeability of a ferromagnetic material. For the radial direction of the first i Ferromagnetic thickness, For the first i Relative permeability of segmental ferromagnetic materials.

[0047] In this embodiment, the equivalent pole shoe thickness is calculated according to the above formula and can be updated online with the motor excitation saturation. The stator and rotor tooth structure, radial multilayer material and real-time magnetic saturation are uniformly converted into the equivalent air gap length that changes dynamically with the working conditions. This ensures that the first-order eccentricity coefficient always reflects the gain of the real magnetic circuit permeability on the eccentric magnetic pull, avoiding excessive or insufficient compensation caused by using the normal average air gap, and improving the robustness and accuracy of active vibration suppression.

[0048] In an exemplary embodiment, the step of performing bandpass filtering on the first displacement signal and the second displacement signal to extract the first displacement first-order component and the second displacement first-order component corresponding to the rotor mechanical frequency includes: Orthogonal demodulation is performed using a second-order generalized integrator combined with a frequency-locked loop; Obtain the first displacement first-order component of the first displacement signal at the mechanical rotation frequency; Obtain the first-order component of the second displacement signal at the mechanical rotation frequency.

[0049] This embodiment employs a second-order generalized integrator combined with a frequency-locked loop for orthogonal demodulation to obtain the fundamental component of the displacement signal at the mechanical rotation frequency. The frequency-locked loop tracks rotational speed fluctuations in real time, and the center frequency of the second-order generalized integrator automatically locks onto the current mechanical rotation frequency, eliminating the need for manual adjustment of the filter cutoff point and ensuring optimal resonance throughout the wide speed range of 0.1 Hz to 200 Hz. Simultaneously, it achieves orthogonal error-free demodulation, high noise suppression, and DC offset elimination, providing a highly reliable signal foundation for online identification of eccentricity types and accurate generation of compensation current.

[0050] In an exemplary embodiment, calculating the shortest air gap direction angle and eccentricity amplitude in the stator coordinate system includes:

[0051] in, The shortest air gap direction angle in the stator coordinate system. For the first displacement, the first-order component. For the first-order component of the second displacement, delta ( t ) represents the eccentricity amplitude. t For the current moment, The moment before the current moment.

[0052] Simulation analysis and calculations have proven that the modular excitation active vibration suppression method for electrically excited synchronous motors oriented towards rotor eccentric vibration of the present invention can significantly reduce unbalanced magnetic pull and unit pulsation under static and dynamic eccentric conditions, while requiring no modification to the mechanical structure and possessing good engineering feasibility.

[0053] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-described methods for modular excitation active vibration suppression of synchronous motors oriented towards eccentric vibration in the embodiments of this application.

[0054] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: S1, the rotor excitation winding is divided into 2P independent current-controlled excitation modules along the circumferential direction. X-direction displacement probes and Y-direction displacement probes are set in the stator cross section in the orthogonal X and Y directions respectively to collect the first displacement signal and the second displacement signal of the rotor mass center relative to the stator in real time, and to acquire the rotor mechanical angular velocity at the same time. Here, P is the number of pole pairs. S2, band-pass filtering the first displacement signal and the second displacement signal to extract first displacement first-order components and second displacement first-order components corresponding to the rotor mechanical frequency; S3, calculating the shortest air gap direction angle and the eccentricity amplitude in the stator coordinate system, and calculating the eccentricity based on the average air gap, and calculating the first-order eccentricity coefficient based on the equivalent pole shoe thickness; S4, calculating the shortest air gap direction angle in the rotor coordinate system, and calculating the equivalent correction coefficient that minimizes the rotor rotational frequency vibration amplitude; S5, calculating the injection amount of each excitation module according to the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle in the rotor coordinate system, and the mechanical position angle, generating an excitation current instruction and outputting it to the corresponding excitation module, and realizing active suppression of unbalanced magnetic pull.

[0055] Optionally, specific examples in the embodiment can refer to examples described in the above embodiments, and the embodiment will not be described here.

[0056] The computer readable storage medium can include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory device, magnetic or optical cards, nanosystem (including molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0057] According to another aspect of the embodiment of the present application, an electronic device for implementing the above-mentioned synchronous motor modular excitation active vibration suppression method for eccentric vibration is also provided, which can be a server, a terminal, or a combination thereof.

[0058] Figure 6 is a structural schematic diagram of an optional electronic device according to the embodiment of the present application, as Figure 6 shown, including a processor 602, a communication interface 604, a memory 606, and a communication bus 608, wherein the processor 602, the communication interface 604, and the memory 606 complete mutual communication through the communication bus 608, wherein, the memory 606 is configured to store a computer program; the processor 602 is configured to execute the computer program stored in the memory 606 to implement the following steps: S1, dividing the rotor excitation winding into 2P independent current control excitation modules along the circumferential direction, arranging X-direction displacement probes and Y-direction displacement probes in the orthogonal X and Y directions of the stator section, respectively, and collecting first displacement signals and second displacement signals of the rotor mass center relative to the stator in real time, and synchronously acquiring the rotor mechanical angular velocity, wherein P is the pole pair number; S2, band-pass filtering the first displacement signal and the second displacement signal to extract first displacement first-order components and second displacement first-order components corresponding to the rotor mechanical frequency; S3, calculating the shortest air gap direction angle and the eccentricity amplitude in the stator coordinate system, and calculating the eccentricity according to the average air gap, and calculating the first-order eccentricity coefficient based on the equivalent pole shoe thickness; S4, calculating the shortest air gap direction angle in the rotor coordinate system, and calculating the equivalent correction coefficient to minimize the rotor rotation frequency vibration amplitude; S5, calculating the injection amount of each excitation module according to the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle in the rotor coordinate system and the mechanical position angle, generating the excitation current instruction and outputting to the corresponding excitation module, and realizing the active suppression of the unbalanced magnetic pull.

[0059] Optionally, the communication bus can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus and the like. For ease of representation, Figure 6 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic device and other devices.

[0060] The memory can include a RAM and can also include a non-volatile memory, for example, at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0061] The aforementioned processor can be a general-purpose processor, which can include but is not limited to a CPU (Central Processing Unit), an NP (Network Processor) and the like; and can also be a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0062] Optionally, specific examples in the present embodiment can refer to the examples described in the above-described embodiments, and the present embodiment will not be described here again.

[0063] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are merely illustrative, and the present application is not limited to the described sequences. In addition, the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0064] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0065] In several embodiments provided by the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the described embodiments of the apparatus are merely schematic, and the division of the units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrically or other forms.

[0066] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0067] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or software functional units.

[0068] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory 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 memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0069] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0070] The above is only exemplary embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. A person of ordinary skill in the art will easily think of embodiments of the present disclosure after considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not described in the present disclosure. The specification and examples are only considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

[0071] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict, they should be considered as within the scope of the present disclosure.

[0072] Those skilled in the art easily understand that the above only describes preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration, characterized in that, include: The rotor excitation winding is divided into 2P independently controlled excitation modules along the circumferential direction. X-direction displacement probes and Y-direction displacement probes are set in the stator cross section orthogonally in the X and Y directions, respectively, to collect the first displacement signal and the second displacement signal of the rotor mass center relative to the stator in real time, and to acquire the rotor mechanical angular velocity simultaneously. Here, P is the number of pole pairs. Bandpass filtering is performed on the first displacement signal and the second displacement signal to extract the first displacement first-order component and the second displacement first-order component corresponding to the rotor mechanical frequency. Calculate the shortest air gap direction angle and eccentricity amplitude in the stator coordinate system, and calculate the eccentricity based on the average air gap. Calculate the first-order eccentricity coefficient based on the equivalent pole shoe thickness. Calculate the shortest air gap direction angle in the rotor coordinate system, and calculate the equivalent correction coefficient that minimizes the rotor frequency vibration amplitude. Based on the equivalent correction coefficient, the first-order eccentricity coefficient, the shortest air gap direction angle and the mechanical position angle in the rotor coordinate system, the injection amount of each excitation module is calculated, an excitation current command is generated and output to the corresponding excitation module, thereby realizing the active suppression of unbalanced magnetic pull.

2. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The calculation of the injection amount for each excitation module, the generation of excitation current commands, and the output to the corresponding excitation module are as follows: in, This generates the excitation current commands for each excitation module. The average excitation current, This is the equivalent correction factor. The first-order eccentricity coefficient, For the first The mechanical position angle of each excitation winding The shortest air gap direction angle in rotor coordinates. This is the serial number of the excitation module with independent current control. t This refers to the current moment.

3. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The method further includes: If the shortest air gap angle varies sinusoidally with the rotational frequency in the rotor coordinate system, it is determined to be static eccentricity; If the shortest air gap angle remains constant in the rotor coordinate system, it is determined to be dynamic eccentricity.

4. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 3, characterized in that, The method further includes: Quietly biased Each excitation module employs sinusoidal modulation injection. Motion eccentricity Each excitation module uses a fixed bias injection method; in, The shortest air gap direction angle in rotor coordinates. for t The shortest air gap direction angle in the stator coordinate system at time 0. They are respectively t Rotor mechanical angle in stator coordinate system at time 0 The rotor mechanical angle in the rotor coordinate system. t This refers to the current moment.

5. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The method further includes: The excitation modules are arranged at equal intervals in terms of mechanical position angle, satisfying... ; When there is inconsistency in the number of turns or geometry of the excitation module, the current mechanical position angle is replaced by the center angle of the equivalent magnetomotive force, and the injected current is weighted according to the ampere-turns of the excitation module. in, For the first The mechanical position angle of each excitation winding This is the serial number of the excitation module with independent current control. The shortest air gap direction angle at t=0.

6. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The equivalent pole shoe thickness is: in, For the equivalent pole shoe thickness, The relative permeability of air. The relative permeability of a ferromagnetic material. For the radial direction of the first i Ferromagnetic thickness, For the first i Relative permeability of segmental ferromagnetic materials.

7. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The step of performing bandpass filtering on the first displacement signal and the second displacement signal to extract the first displacement first-order component and the second displacement first-order component corresponding to the rotor mechanical frequency includes: Orthogonal demodulation is performed using a second-order generalized integrator combined with a frequency-locked loop; Obtain the first displacement first-order component of the first displacement signal at the mechanical rotation frequency; Obtain the first-order component of the second displacement signal at the mechanical rotation frequency.

8. The modular excitation active vibration suppression method for synchronous motors oriented towards eccentric vibration as described in claim 1, characterized in that, The calculation of the shortest air gap direction angle and eccentricity amplitude in the stator coordinate system includes: in, The shortest air gap direction angle in the stator coordinate system. For the first displacement, the first-order component. For the first-order component of the second displacement, δ ( t ) represents the eccentricity amplitude. t For the current moment, The moment before the current moment.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 8.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 8 through the computer program.

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