Method and device for constructing rotor system based on wave trap

Abstract

The invention belongs to the technical field of vibration control of high-speed rotating machinery, and discloses a method and a device for constructing a rotor system based on a wave trap. Parameter values of a feedback link of a self-adaptive wave trap are used as independent variables, the square of an angular velocity is used as a dependent variable, and the parameter values of the feedback link of the self-adaptive wave trap are used as independent variables; determining a rigid body critical rotating speed of the rotor system and a parameter value of a corresponding feedback link, setting a positive polarity parameter value of the corresponding feedback link when the rotating speed is higher than the rigid body critical rotating speed of the rotor system in the feedback link of the adaptive wave trap, and setting a negative polarity parameter value of the corresponding feedback link when the rotating speed is lower than the rigid body critical rotating speed of the rotor system. Negative polarity parameter values of the corresponding feedback links are taken, and when the rotating speed is equal to the rigid body critical rotating speed of the rotor system, the rotating speed is taken as zero. According to the invention, minimum current or electromagnetic force control can be realized, the suspension stability of the rotor in a high-speed area is improved, and stable operation of the AMB high-speed motor rigid rotor system in a full-rotation-speed range including rigid body criticality is realized.

Description

Technical Field

[0001] This invention belongs to the field of high-speed rotating machinery vibration control technology, specifically relating to a method and apparatus for constructing a rotor system based on a notch filter. Background Technology

[0002] Active magnetic bearings (AMBs) offer advantages such as frictionless operation, suitability for high-speed operation, and long service life. High-speed motors employing AMBs boast advantages like small size and high power density, with rated speeds reaching tens or even hundreds of thousands of revolutions per minute. Therefore, AMBs are widely used in high-speed rotating machinery such as turbomolecular pumps, compressors, and flywheel energy storage systems. In rotating machinery, centrifugal force generated by rotor imbalance causes unbalanced vibrations. The higher the speed, the greater the unbalanced excitation force, leading to more severe rotor vibrations. Therefore, it is necessary to employ active control strategies to suppress rotor unbalanced vibrations. Unbalance compensation and automatic balancing are two effective methods for the active control of unbalanced vibrations in AMB rigid rotor systems. While unbalance compensation improves the accuracy of rotor rotation, it can easily cause amplifier saturation at high speeds, even leading to system instability. Furthermore, the introduced unbalance compensator increases the complexity and design difficulty of the control system. Automatic balancing achieves minimum control of current or electromagnetic force through compensation. However, existing methods suffer from problems such as complex parameter adjustments, applicability only to constant speeds or specific operating conditions, and difficulty in eliminating high-frequency oscillations.

[0003] Chinese patent publication number CN115169028A, entitled "A Method for Unbalance Control of an Active Magnetic Levitation Bearing System for Flywheel Energy Storage," describes a method that uses displacement sensors around the rotor and connects these sensors to a controller via an adaptive notch filter with a frequency estimation unit. The method includes the following steps: establishing a model of the active magnetic levitation bearing system containing the unbalanced mass and deriving expressions for the unbalanced force components in the x and y directions; determining the transfer function of the adaptive notch filter and extracting the same-frequency vibration signal from the rotor displacement signal using the notch filter; estimating the rotor speed using the output signal of the adaptive notch filter and determining an expression for the estimated speed; and feeding back the unbalanced same-frequency quantity obtained after passing through the adaptive notch filter with the frequency estimation unit to the active magnetic levitation bearing system to eliminate the same-frequency current and achieve automatic rotor balancing. Although this patent application uses a notch filter for control, it fails to address the problem of complex parameter adjustments. Summary of the Invention

[0004] To overcome the problems existing in the prior art, the present invention aims to provide a method and apparatus for constructing a rotor system based on a notch filter. This method achieves real-time tracking and suppression of synchronous vibration components by designing an adaptive notch filter. Based on generalized root locus analysis, a polarity switching strategy is proposed, combined with notch filter feedback control and feedforward control, to achieve electromagnetic force minimization control. This effectively suppresses rotor unbalanced synchronous vibration and transmitted force across the entire speed range (including rigid body critical speeds), avoids power amplifier saturation, and improves system stability.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a method for constructing a rotor system based on a notch filter, comprising the following steps: S1: Establish a four-degree-of-freedom radial dynamic model of the rigid rotor system of the magnetic levitation high-speed motor; S2: Construct a PID controller, an adaptive notch filter, and a displacement sensor; S3: Construct a feedforward compensation loop, and use the feedforward compensation loop and adaptive notch filter feedback control to directly compensate for the same frequency component in the displacement stiffness force. S4: Using the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable, plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor. Determine the rigid critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid critical speed of the rotor system, take the positive polarity parameter value of the corresponding feedback loop; when the speed is lower than the rigid critical speed of the rotor system, take the negative polarity parameter value of the corresponding feedback loop; when the speed is equal to the rigid critical speed of the rotor system, take the zero value.

[0006] Optionally, in step S4, when When, take polarity ;when At that time, take ;when At that time, take Disconnect the feedback to perform open-loop compensation; among which, The rotor speed is The critical speed of the rigid body. This is a parameter for polarity switching.

[0007] Optionally, in step S2, the transfer function of the adaptive notch filter... The transfer function of the PID controller is: In the formula, P is the proportional gain coefficient; I is the integral gain coefficient; and D is the differential gain coefficient.

[0008] Optionally, in step S3, the feedforward transfer function is: .

[0009] Optionally, the transfer function of the entire system is: Where P(s) is the transfer function of the entire system. The transfer function for the controlled object. Let be the transfer function of the power amplifier. This is the transfer function of the displacement sensor.

[0010] Secondly, the present invention provides a rotor system based on a notch filter, which is constructed using the aforementioned method for constructing a rotor system based on a notch filter.

[0011] Thirdly, the present invention provides a system for constructing a rotor system based on a notch filter, comprising: The rotor system model building module is used to build a four-degree-of-freedom radial dynamics model of the rigid rotor system of the magnetic levitation high-speed motor. The control system setup module is used to build a PID controller, an adaptive notch filter, and a displacement sensor. The feedforward compensation system establishment module is used to construct the feedforward compensation link, which works in conjunction with the adaptive notch filter feedback control to directly compensate for the same frequency component in the displacement stiffness force. The adaptive notch filter establishment module is used to plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor with the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable. It determines the rigid body critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid body critical speed of the rotor system, the corresponding positive polarity parameter value of the feedback loop is taken; when the speed is lower than the rigid body critical speed of the rotor system, the corresponding negative polarity parameter value of the feedback loop is taken; and when the speed is equal to the rigid body critical speed of the rotor system, the value is zero.

[0012] Fourthly, the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for constructing the notch filter-based rotor system.

[0013] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for constructing the rotor system based on a notch filter.

[0014] In a sixth aspect, the present invention provides a computer program product including a computer-readable medium, wherein computer-readable program code is contained on the computer-readable medium, the program code executing the method for constructing the notch filter-based rotor system.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention establishes a radial dynamic model of a rigid rotor system for a magnetically levitated high-speed motor and designs an adaptive notch filter to achieve real-time tracking and suppression of synchronous vibration components. Based on generalized root locus analysis, a polarity switching strategy is proposed, combined with notch filter feedback control and feedforward control, to achieve electromagnetic force minimization control. Simulation and experimental verification show that this method can effectively suppress rotor unbalanced synchronous vibration and transmitted force across the entire speed range (including rigid body criticality), avoid power amplifier saturation, and improve system stability.

[0016] This invention can effectively eliminate radial vibration components with the same frequency as the rotational speed caused by unbalanced forces in real time through an adaptive notch filter, thereby achieving minimum current or electromagnetic force control and improving the stability of the rotor levitation in the high-speed region. Addressing the issue of varying closed-loop stability conditions for magnetically levitated rigid rotors operating near the radial rigid body critical speed, this invention proposes an automatic balancing control based on polarity switching, combined with an adaptive notch filter, to achieve stable operation of the AMB high-speed motor rigid rotor system across the entire speed range, including the rigid body critical speed. Attached Figure Description

[0017] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way.

[0018] In the attached diagram: Figure 1 This is a schematic diagram of a magnetic levitation bearing rotor according to an embodiment of the present invention; Figure 2 This is the structure of the adaptive notch filter according to an embodiment of the present invention; Figure 3 This is an embodiment of the present invention. Impact on the performance of adaptive notch filters; Figure 4 This is an automatic balancing method based on adaptive notch filter feedback and feedforward control in an embodiment of the present invention. Figure 5 This is an embodiment of the present invention. Equivalent block diagram based on adaptive notch filter automatic balancing; Figure 6 This is an embodiment of the present invention. and The root locus of a time-closed-loop system; Figure 7 This is the dominant root locus branch after polarity switching in this embodiment of the invention; Figure 8 This is an embodiment of the present invention. Electromagnetic force at AMB-A when different values ​​are taken; Figure 9These are the electromagnetic force and rotor displacement at AMB-A in this embodiment of the invention; Figure 10 This is an embodiment of the present invention. It automatically balances the electromagnetic force and rotor displacement at the front and rear AMB-A ends; Figure 11 This is an embodiment of the present invention. Automatically balances the control current at the front and rear AMB-A terminals; Figure 12 This is an embodiment of the present invention. It automatically balances the electromagnetic force and rotor displacement at the front and rear AMB-A ends; Figure 13 This is an embodiment of the present invention. It automatically balances the control current at the front and rear AMB-A terminals. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. The present invention will now be described in detail with reference to the accompanying drawings.

[0022] The present invention provides a method for constructing a rotor system based on a notch filter, comprising the following steps: S1: Establish a four-degree-of-freedom radial dynamic model of the rigid rotor system of the magnetic levitation high-speed motor; S2: Construct a PID controller, an adaptive notch filter, and a displacement sensor; S3: Construct a feedforward compensation loop, and use the feedforward compensation loop and adaptive notch filter feedback control to directly compensate for the same frequency component in the displacement stiffness force. S4: Using the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable, plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor. Determine the rigid critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid critical speed of the rotor system, take the positive polarity parameter value of the corresponding feedback loop; when the speed is lower than the rigid critical speed of the rotor system, take the negative polarity parameter value of the corresponding feedback loop; when the speed is equal to the rigid critical speed of the rotor system, take the zero value.

[0023] This invention establishes a radial dynamic model of a rigid rotor system for a magnetically levitated high-speed motor and designs an adaptive notch filter to achieve real-time tracking and suppression of synchronous vibration components. Based on generalized root locus analysis, a polarity switching strategy is proposed, combined with notch filter feedback control and feedforward control, to achieve electromagnetic force minimization control. The rigid rotor system for a magnetically levitated high-speed motor established in this invention can effectively suppress rotor unbalanced synchronous vibration and transmitted force across the entire speed range (including rigid body criticality), avoid power amplifier saturation, and improve system stability.

[0024] Example 1 Step 1: Based on the analysis of the electromagnetic bearing rotor system, such as... Figure 1 A model of a four-degree-of-freedom active electromagnetic bearing-rigid rotor system is established. The radial motion equation of the four-degree-of-freedom unbalanced rigid rotor system during unsteady motion is as follows:

[0025] In the formula, the mass of the rotor of the magnetic levitation high-speed motor is m; and These are the moments of inertia of the rotor about the z-axis and about the x-axis (y-axis), respectively. , , , These are the electromagnetic forces of AMB-A and AMB-B in the x and y directions, respectively, which are also equal to the force transmitted by AMB to the foundation. , This is angular displacement; This refers to the angular velocity of the motor. This is an unbalanced quantity.

[0026] To facilitate the description of the motion state of the rigid rotor of a magnetic levitation high-speed motor, relevant planes and coordinate systems are defined as follows: Figure 1 Assume the center planes of AMB-A and -B at both ends are respectively and The center of mass of the balanced rotor is C. Due to symmetry, the center of mass C must lie on the geometric center line of the rotor. Draw a plane through point C parallel to the center lines of the AMB terminals. and plane , The plane intersects the stator geometric centerline at point O. Point C is located at the center plane of both AMB terminals. and The distances are respectively and ,flat and The distance between them is .

[0027] Establish Fixed coordinate system, such as Figure 1 The z-axis is the axis of rotation, and a right-handed frame is formed between x, y, and z. The motion of the rotor can be described by the translational displacement (x, y) of the rotor's center of mass in the x and y directions and the angular displacement of the rotor about the x and y axes. , To describe it.

[0028] When the displacements of the rotor from the equilibrium position at both ends AMB are respectively ( , )and( , When ), the displacement of the centroid C is

[0029] The rotor rotates counterclockwise around the x-axis and y-axis by the following angles:

[0030] Step 2: Construct an adaptive notch filter to suppress resonant disturbances.

[0031] The structure of an adaptive notch filter is as follows: Figure 2 As shown. Among them, The transfer function of the AMB rotor system is... , and These are the transfer functions for the PID controller, power amplifier, and displacement sensor, respectively.

[0032] Specifically, the transfer function result of the displacement sensor is input into the notch filter. The difference between the notch filter output signal and the set given position is input into the PID controller. The output signal of the PID controller is then amplified by the power amplifier and input into the AMB rotor system. The displacement sensor then measures the actual position of the AMB rotor system and returns the actual position to the notch filter.

[0033] It is the feedback loop of the notch filter. These are the adjustable parameters of the notch filter. ω is the angular frequency. It is the feedback stage Input, It is the feedback stage The output of is:

[0034] Differentiating both sides simultaneously, we get:

[0035] Differentiating and simplifying both sides of the above equation, we get:

[0036] Then you can get and The relationship between them is:

[0037] Where, s: Laplace operator. It is a complex frequency variable used to describe and analyze the dynamic characteristics of a linear time-invariant system in the frequency domain (s-domain). Nf(s): Transfer function of the notch filter feedback loop. d(s): Laplace transform of the input signal to the feedback loop. d(s) represents the interference signal to be filtered out, specifically the displacement or force signal containing rotor unbalance vibration components. e(s): Laplace transform of the output signal of the feedback loop. It is the signal after processing by this transfer function. Ω: Rotor angular frequency (rad / s). This is the center frequency of the entire adaptive notch filter. The notch filter needs to track the rotor speed (Ω) in real time to dynamically filter out vibration components that are strictly synchronized with the speed. Ω² appears in the denominator and determines the center frequency of the filter.

[0038] Depend on Figure 2From the above equation, we can see that the notch filter input and output satisfy the following condition:

[0039] Divide both sides of the above equation by and combined The expression yields:

[0040] Where: X(s): Laplace transform of the overall output of the control system. In the complete control block diagram, it represents the compensated control signal. e(s): Laplace transform of the feedback loop output signal. ε: Adaptive gain (adjustable parameter of the notch filter), function: it controls the convergence speed and filtering characteristics of the adaptive notch filter. Impact: The larger the ε value, the faster the algorithm converges, but the stopband (suppression band) of the notch filter will widen, affecting system stability; the smaller the ε value, the better the filtering effect (suppression depth at a specific frequency), but the slower the convergence speed. In this formula, ε appears in the denominator and the combined numerator, and it determines the overall loop gain and dynamic characteristics.

[0041] different The effect of the value on the performance of the notch filter is as follows: Figure 3 As shown. It can be seen that, with... An increase in the size of the stopband increases the width of the signal, potentially leading to instability. Therefore, in practical applications, a smaller stopband should be selected while ensuring the algorithm can stably track the vibration signal. value.

[0042] make ,Depend on Figure 3 We can obtain:

[0043] In the formula, It is half the stopband width of the notch filter, and its value is much smaller. As can be seen from the equation, after several cycles, the component in the input X that has the same frequency as the rotational speed can be completely eliminated by the notch filter, thus suppressing the vibration component with the same frequency.

[0044] Step 3: Design the feedforward compensation stage, such as... Figure 4 In conjunction with adaptive notch filter feedback control, it directly compensates for the same-frequency component in the displacement stiffness force, achieving dual compensation for both current stiffness and displacement stiffness. The specific steps are as follows: Feedforward Compensation Model Construction: In the rigid rotor system of the magnetic levitation high-speed motor, a feedforward compensation transfer function F(s) is introduced, whose expression is: ,in, This is the current stiffness coefficient; This is the displacement stiffness coefficient; and These are the amplification factors of the power amplifier and the sensor, respectively.

[0045] Synergistic Feedforward Compensation and Feedback Control: The feedforward compensation stage is combined with adaptive notch filter feedback control to form a composite control structure, wherein the transfer function of the adaptive notch filter feedback stage is... The same-frequency vibration component in the current stiffness force is suppressed by feedback control, while the same-frequency vibration component in the displacement stiffness force is directly compensated by the feedforward compensation link.

[0046] Step 4: Based on the closed-loop generalized root locus analysis of the rotor system, determine the feedback polarity switching law of the notch filter.

[0047] The AMB rigid rotor system can be viewed as a second-order system with a transfer function G(s) as follows: In the formula, This is the current stiffness coefficient; The displacement stiffness coefficient; the transfer function of the PID controller. for In the formula, P is the proportional gain coefficient; I is the integral gain coefficient; and D is the differential gain coefficient.

[0048] If we disregard the dynamic characteristics of the power amplifier and the sensor, they can all be considered as first-order linear systems, with transfer functions as follows: , In the formula, and These are the amplification factors of the power amplifier and the sensor, respectively.

[0049] when At that time, the equivalent block diagram based on adaptive notch filter automatic balancing control is as follows: Figure 5 As shown.

[0050] Notch filter The transfer function is:

[0051] Where: N(s): Transfer function of the complete adaptive notch filter. X(s): Input signal of the notch filter. That is, the original signal, which contains the unbalanced vibration component with frequency Ω that needs to be filtered out. Y(s): Output signal of the notch filter. That is, the signal after filtering out the component with frequency Ω. Ω²: Square of the center frequency. It ensures that the numerator of the transfer function is zero at frequency s = jΩ (j is the imaginary unit), thereby achieving complete suppression of the signal with frequency Ω, forming a notch filter effect. ε: Adaptive gain (adjustable parameter of the notch filter), which affects the bandwidth and dynamic performance of the notch filter in this denominator. ε0: Polarity switching parameter. Although it does not appear directly in this transfer function formula, it works in conjunction with ε in the actual control algorithm. Value: ε0 is usually +1, -1, or 0. Function: Through generalized root locus analysis, it was found that the stability of the system is different above and below the critical speed of the rotor rigid body. To address the stability issue across the entire speed range (especially when crossing the critical speed), the authors propose a polarity switching strategy: when the speed is below the critical speed, set ε0 = -1. When the speed is above the critical speed, set ε0 = +1. Near the critical speed, set ε0 = 0 (i.e., temporarily disconnect adaptive compensation and use only basic feedback control).

[0052] Transfer function of rotor system for:

[0053] The composite transfer function of the entire rotor system (open-loop forward path) represents the overall dynamic relationship between the control command input, the power amplifier (Gp), the core controlled object (G), and the notch filter (Gs) used to improve performance, and the final output (such as rotor displacement or electromagnetic force). It is the fundamental model for evaluating and analyzing system performance (such as stability and response speed). G(s) is the transfer function of the mechanical controlled object part of the rotor system, while P(s) is the open-loop transfer function of the entire system, including the actuator (power amplifier) ​​and the controller (notch filter). The two have different ranges; P(s) includes G(s). Let be the transfer function of the power amplifier. The transfer function is the model of the controlled object consisting of an electromagnetic bearing and a rigid rotor. This is the transfer function of the displacement sensor.

[0054] The closed-loop characteristic equation of the rotor system is:

[0055] It is a switch variable that takes the values ​​+1, -1, or 0. It does not represent a continuous value, but rather three different control modes: =+1: A positive polarity notch filter feedback structure is adopted. =-1: Uses a negative polarity notch filter feedback structure. =0: Disconnect the feedback loop of the notch filter, and the system relies solely on feedforward control for compensation. 0 is a strategic mode selection coefficient, not a parameter requiring fine-tuning. Its existence enables the adaptive notch filter-based automatic balancing control method to achieve full-speed adaptability, ensuring that the rigid rotor of the magnetic levitation high-speed motor can safely and stably cross critical speeds and achieve efficient automatic balancing. At that time, with For variables, the generalized root locus of the rotor system, such as Figure 6 As shown in diagram a, the root locus of the rotor system has two branches located near the imaginary axis, while the remaining branches are located in the left half-plane of plane s and are far from the imaginary axis. Therefore, the two branches closer to the imaginary axis are the dominant root locus. With... As the speed increases, the two dominant root locus branches cross the imaginary axis from the right half-plane of s and enter the left half-plane of s. Below the rigid body critical speed of the rotor system, the closed-loop system diverges.

[0056] when At that time, transfer function Replaced .in, Represented as:

[0057] The closed-loop characteristic equation of the rotor system is:

[0058] Similarly, when At that time, the generalized root locus of the rotor system is as follows: Figure 6 As shown in b. Different from... However, when the rotor speed exceeds the rigid body critical speed of the rotor system, the closed-loop system diverges.

[0059] From the above analysis, it can be seen that when When the speed is below the rigid body critical speed of the rotor system, the closed-loop system diverges; when the speed is above the rigid body critical speed, the closed-loop system is stable. Below the rigid body's critical speed, the closed-loop system is stable; above the rigid body's critical speed, the closed-loop system diverges. Therefore, this invention proposes a polarity switching strategy to achieve automatic balance control of the rotor system across the entire speed range, including the rigid body's critical speed.

[0060] The root locus branch near the imaginary axis of the AMB high-speed motor rigid rotor closed-loop system with polarity switching using a notch filter feedback structure is as follows: Figure 7 As shown.

[0061] The specific switching method is as follows: when the rotor speed is lower than its rigid critical speed, take... When the rotor speed is higher than its rigid critical speed, take When the rotor speed is near the critical stability point or equal to the critical speed, take... At this time, due to the indentation feedback circuit The function of the integrator is to perform open-loop compensation for the rigid rotor closed-loop system of the AMB high-speed motor.

[0062] Example 2 This embodiment analyzes the closed-loop root locus of the rigid rotor system of the AMB high-speed motor, revealing that the frequency corresponding to the rigid body critical speed of the rotor system is around 85Hz. Therefore, simulation analyses are performed in the subrigid body critical and hyperrigid body critical regions, respectively.

[0063] To verify The influence of the selected value on the unbalanced vibration control of the rigid rotor of a magnetic levitation high-speed motor. The values ​​are 0.00005, 0.0001, 0.00015, and 0.0002, respectively. Simulations are performed at a constant frequency of 120Hz. Unbalanced vibration control is activated at 0.2s. The changes in electromagnetic force (i.e., transmitted force) at AMB-A are as follows: Figure 8 As shown. It can be seen that, The larger the value, the faster the electromagnetic force converges.

[0064] Automatic balancing control of the adaptive notch filter during frequency matching: When the frequency is below 85Hz (the critical frequency of the rigid body), the AMB high-speed motor rigid rotor system adopts a positive polarity notch filter feedback compensation method; when the rotor speed is above the critical stable speed of the rigid body, a negative polarity adaptive notch filter feedback compensation method is adopted. When the rotor rotation frequency is 60Hz, 70Hz, 120Hz, and 150Hz, sinusoidal interference is added in the horizontal and vertical directions of the rotor. This interference is applied to the output electromagnetic force of the actuator. The interference caused by the unbalanced component of the rigid rotor system of the four-degree-of-freedom AMB high-speed motor can be seen from the radial motion equation during the unsteady motion process. The amplitude of the same-frequency interference signal is... ( , , (The rotor rotation frequency), the phase difference of sinusoidal interference in the horizontal and vertical directions. Activate at 0.2s respectively and Automatic balancing control based on adaptive notch filter, electromagnetic force and rotor displacement at AMB-A as follows Figure 9 As shown. Among them, .

[0065] Since the rotor is an axisymmetric rigid rotor, the electromagnetic force and rotor displacement response in the x and y directions are almost identical. Therefore, the x direction is selected as an example for simulation. The results show that after automatic balancing control is enabled, both the electromagnetic force and rotor displacement at AMB-A converge quickly.

[0066] Automatic balancing control of adaptive notch filter under constant acceleration: In order to study the performance of the variable polarity unbalanced vibration control based on adaptive notch filter, simulations were performed under different constant acceleration conditions. Figures 10-13 The accelerations are given respectively. and Under the condition of automatic balancing control based on adaptive notch filter, the simulation results of electromagnetic force, rotor displacement and control current at the AMB-A end are presented.

[0067] It is evident that before adopting automatic balancing control based on adaptive notch filters, the rotor exhibited significant resonance peaks in the two rigid body critical speed regions; after adopting automatic balancing control based on adaptive notch filters, the resonance peaks in the two rigid body critical speed regions were significantly reduced. With the addition of variable polarity automatic balancing control based on adaptive notch filters, the imbalance response of the rigid rotor of the magnetic levitation high-speed motor was significantly suppressed, and the amplitudes of electromagnetic force and control current were also reduced.

[0068] Due to the influence of gravity, the waveform of the control current in the vertical (y) direction is raised compared to the control current in the horizontal (x) direction. This is because, to overcome gravity, the control current in the upper magnetic pole in the vertical direction must be greater than the control current in the lower magnetic pole; that is, the electromagnetic force of the upper magnetic pole is greater than that of the lower magnetic pole, ultimately causing the rotor to levitate.

[0069] Example 3 This embodiment of a rotor system based on a notch filter is constructed based on the construction method of a rotor system based on a notch filter described in Embodiment 1. The rotor system includes a displacement sensor, a notch filter, a PID controller, and a displacement sensor.

[0070] The transfer function result of the displacement sensor is input into the notch filter. The difference between the notch filter output signal and the set given position is input into the PID controller. The output signal of the PID controller is then amplified by the power amplifier and input into the AMB rotor system. The displacement sensor then measures the actual position of the AMB rotor system and returns the actual position to the notch filter.

[0071] Example 4 Based on the method for constructing a rotor system based on a notch filter in Embodiment 1, a system for constructing a rotor system based on a notch filter is disclosed, including: The rotor system model building module is used to build a four-degree-of-freedom radial dynamics model of the rigid rotor system of the magnetic levitation high-speed motor. The control system setup module is used to build a PID controller, an adaptive notch filter, and a displacement sensor. The feedforward compensation system establishment module is used to construct the feedforward compensation link, which works in conjunction with the adaptive notch filter feedback control to directly compensate for the same frequency component in the displacement stiffness force. The adaptive notch filter establishment module is used to plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor with the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable. It determines the rigid body critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid body critical speed of the rotor system, the corresponding positive polarity parameter value of the feedback loop is taken; when the speed is lower than the rigid body critical speed of the rotor system, the corresponding negative polarity parameter value of the feedback loop is taken; and when the speed is equal to the rigid body critical speed of the rotor system, the value is zero.

[0072] Example 5 The purpose of this embodiment is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for constructing the rotor system based on the notch filter.

[0073] Example 6 The purpose of this embodiment is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for constructing the rotor system based on a notch filter.

[0074] Example 7 The purpose of this embodiment is to provide a computer program product including a computer-readable medium, wherein the computer-readable medium contains computer-readable program code that executes the method for constructing the notch filter-based rotor system.

[0075] The steps and methods involved in the apparatus of the above embodiments 3, 4, 5, 6 and 7 correspond to those in embodiment 1. For specific implementation methods, please refer to the relevant description section of embodiment 1.

[0076] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] Unless otherwise specified, the working methods or control methods involved in the above embodiments are conventional working methods or control methods in the art.

[0078] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A method for constructing a rotor system based on a notch filter, characterized in that, Includes the following steps: S1: Establish a four-degree-of-freedom radial dynamic model of the rigid rotor system of the magnetic levitation high-speed motor; S2: Construct a PID controller, an adaptive notch filter, and a displacement sensor; S3: Construct a feedforward compensation loop, and use the feedforward compensation loop and adaptive notch filter feedback control to directly compensate for the same frequency component in the displacement stiffness force. S4: Using the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable, plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor. Determine the rigid critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid critical speed of the rotor system, take the positive polarity parameter value of the corresponding feedback loop; when the speed is lower than the rigid critical speed of the rotor system, take the negative polarity parameter value of the corresponding feedback loop; when the speed is equal to the rigid critical speed of the rotor system, take the zero value.

2. The method for constructing a rotor system based on a notch filter according to claim 1, characterized in that, In step S4, when When, take polarity ;when At that time, take ;when At that time, take Disconnect the feedback to perform open-loop compensation; among which, The rotor speed, The critical speed of the rigid body. This is a parameter for polarity switching.

3. The method for constructing a rotor system based on a notch filter according to claim 1, characterized in that, In step S2, the transfer function of the adaptive notch filter... The transfer function of the PID controller is: In the formula, P is the proportional gain coefficient; I is the integral gain coefficient; and D is the differential gain coefficient.

4. The method for constructing a rotor system based on a notch filter according to claim 1, characterized in that, In step S3, the feedforward transfer function is: .

5. The method for constructing a rotor system based on a notch filter according to claim 1, characterized in that, The transfer function of the entire system is: Where P(s) is the transfer function of the entire system. The transfer function for the controlled object. Let be the transfer function of the power amplifier. This is the transfer function of the displacement sensor.

6. A rotor system based on a notch filter, characterized in that, The rotor system based on a notch filter is constructed using any one of claims 1 to 5.

7. A system for constructing a rotor system based on a notch filter, characterized in that, include: The rotor system model building module is used to build a four-degree-of-freedom radial dynamics model of the rigid rotor system of the magnetic levitation high-speed motor. The control system setup module is used to build a PID controller, an adaptive notch filter, and a displacement sensor. The feedforward compensation system establishment module is used to construct the feedforward compensation link, which, in conjunction with the adaptive notch filter feedback control, directly compensates for the same frequency component in the displacement stiffness force. The adaptive notch filter establishment module is used to plot the closed-loop generalized root locus of the rigid rotor system of the magnetic levitation high-speed motor with the parameter values ​​of the feedback loop of the adaptive notch filter as the independent variable and the square of the angular velocity as the dependent variable. It determines the rigid body critical speed of the rotor system and the corresponding parameter values ​​of the feedback loop. In the feedback loop of the adaptive notch filter, when the speed is higher than the rigid body critical speed of the rotor system, the corresponding positive polarity parameter value of the feedback loop is taken; when the speed is lower than the rigid body critical speed of the rotor system, the corresponding negative polarity parameter value of the feedback loop is taken; and when the speed is equal to the rigid body critical speed of the rotor system, the value is zero.

8. An electronic device, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for constructing a notch-filter based rotor system according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method for constructing a rotor system based on a notch filter as described in any one of claims 1-5.

10. A computer program product comprising a computer-readable medium, characterized in that, The computer-readable medium contains computer-readable program code that performs the method for constructing a notch filter-based rotor system according to any one of claims 1-5.

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