A magnetic bearing harmonic vibration suppression method based on double DCSOGI series connection

Abstract

This application belongs to the field of magnetic levitation bearing technology, and specifically discloses a method for suppressing harmonic vibration of magnetic bearings based on dual DCSOGI series connection. The method includes: inputting the displacement signals of the magnetic bearing rotor in each degree of freedom into a first DCSOGI to obtain a first orthogonal signal and a second orthogonal signal; inputting the first orthogonal signal into a second DCSOGI to obtain a third orthogonal signal and a fourth orthogonal signal; inputting the first orthogonal signal and the second orthogonal signal into a phase-locked loop to obtain a first signal amplitude and a first phase angle; inputting the third orthogonal signal and the fourth orthogonal signal into a phase-locked loop to obtain a second signal amplitude and a second phase angle; calculating the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude; calculating the phase lag based on the first phase angle and the second phase angle; and performing amplitude gain and phase compensation on the first orthogonal signal and the second orthogonal signal to obtain a first compensation signal to compensate the displacement signal.

Description

Technical Field

[0001] This application belongs to the field of magnetic bearing technology, and more specifically, relates to a method for suppressing harmonic vibrations of magnetic bearings based on a series connection of dual DC-offset suppression second-order generalized integrators (DCSOGI). Background Technology

[0002] Active magnetic bearings (AMBs) are a new type of bearing that uses controllable electromagnetic force to levitate a rotor, achieving zero mechanical contact between the rotor and stator. Their basic principle is to use the magnetic field force generated by electromagnets to overcome the rotor's own weight and external loads, and to use position sensors to detect rotor displacement in real time. A controller adjusts the current in the electromagnets to dynamically maintain stable rotor levitation. Compared to traditional mechanical bearings, magnetic bearings have significant advantages such as no friction or wear, no lubrication required, low power consumption, long lifespan, and high speed. Because there is no mechanical contact, magnetic bearings can meet the requirements of high-speed operation while avoiding the environmental pollution caused by lubricating oil. Therefore, they are widely used in industrial equipment such as flywheel energy storage, high-speed motors, centrifugal compressors, and turbomolecular pumps. Particularly in the aerospace field, magnetic bearings are used in key actuators such as satellite attitude control flywheels, providing important technical support for achieving high-precision, high-stability long-term on-orbit operation.

[0003] Despite the numerous advantages of magnetic levitation bearings, limitations in manufacturing and assembly processes inevitably lead to mass imbalances in magnetic levitation rotors. Furthermore, the sensor detection surfaces may exhibit non-ideal characteristics such as roundness errors or material inhomogeneity. These mechanical factors result in the displacement detection signal containing a fundamental component with the same frequency as the rotational speed, as well as higher harmonic components at their harmonic frequencies. After processing by the controller and power amplifier, these harmonic signals generate corresponding harmonic currents in the electromagnetic bearing windings, thus producing pulsating electromagnetic forces with the same and harmonic frequencies. This vibrational force generated by the harmonic current is directly transmitted to the base, causing not only vibration and noise in the foundation structure but also potentially leading to power amplifier saturation and, in severe cases, system instability. Currently, notch filters or generalized integrators are widely used to eliminate harmonic vibrations in the displacement signal. However, these methods suffer from low-speed instability, complex parameter tuning, and an inability to adaptively compensate for phase lag caused by harmonic signal processing, resulting in poor harmonic vibration elimination and consequently, poor performance and low stability of the magnetic levitation system. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this application is to provide a method for suppressing harmonic vibrations in magnetic bearings based on dual DCSOGI series connection. This method aims to solve the problems of poor harmonic vibration elimination effect caused by the use of notch filters or generalized integrators in existing methods for eliminating harmonic vibrations in displacement signals, which are unstable at low speeds and have complex parameter tuning, and cannot adaptively compensate for the phase lag caused by harmonic signal processing.

[0005] To achieve the above objectives, in a first aspect, this application provides a method for suppressing harmonic vibrations of magnetic bearings based on dual DCSOGI series connection, comprising the following steps: Step S1: Input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal; Step S2: Input the first orthogonal signal into the second DCSOGI to obtain the third orthogonal signal and the fourth orthogonal signal; Step S3: Input the first orthogonal signal and the second orthogonal signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle; input the third orthogonal signal and the fourth orthogonal signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle. Step S4: Calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and calculate the phase hysteresis based on the first phase angle and the second phase angle; Step S5: Based on the amplitude attenuation coefficient and the phase lag, perform amplitude gain and phase compensation on the first quadrature signal and the second quadrature signal to obtain the first compensated signal; Step S6: Compensate the displacement signal based on the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal.

[0006] This application collects rotor displacement signals under each degree of freedom, filters them through two DCSOGIs to eliminate DC components, and uses a phase-locked loop to extract the amplitude and phase of the output signals from the two DCSOGIs. These two signals can be used to calculate in real time and adaptively the amplitude attenuation and phase lag caused by harmonics of a specific frequency in the signal processing channel. The output of the first DCSOGI is then compensated for amplitude and phase to generate an accurate compensation signal. Based on this signal, the displacement signal is compensated, which can eliminate harmonics of a specific frequency in the displacement signal and effectively suppress vibration. This method avoids the complex parameter tuning of existing technologies and can adaptively compensate for phase lag, thereby improving the stability and operation of the magnetic levitation system.

[0007] According to the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series provided in this application, after compensating the displacement signal based on the first compensation signal, the method further includes: Obtain the difference signal between the displacement signal of the pre-acquired magnetic bearing rotor in each degree of freedom and the first compensation signal; Based on the difference signal, the first DCSOGI, and the second DCSOGI, a second compensation signal is obtained; The displacement signal is compensated based on the second compensation signal.

[0008] According to the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series provided in this application, the method further includes: Multiple vibration suppression modules are set up, each vibration suppression module is used to execute steps S1-S6 respectively, and different center frequencies are set for the first DCSOGI used by different vibration suppression modules, and different center frequencies are set for the second DCSOGI used by different vibration suppression modules, and the center frequencies of the first DCSOGI and the second DCSOGI used by the same vibration suppression module are the same. The multiple vibration suppression modules are used to eliminate harmonics of different frequencies in the displacement signal.

[0009] This application uses multiple vibration suppression modules with different center frequencies connected in parallel, so that the system can simultaneously suppress harmonic vibrations of multiple frequencies.

[0010] Secondly, this application provides a magnetic bearing harmonic vibration suppression device based on dual DCSOGI series connection, comprising: The first input module is used to input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal. The second input module is used to input the first quadrature signal into the second DCSOGI to obtain the third quadrature signal and the fourth quadrature signal; The third input module is used to input the first orthogonal signal and the second orthogonal signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle, and to input the third orthogonal signal and the fourth orthogonal signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle; The calculation module is used to calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and to calculate the phase hysteresis based on the first phase angle and the second phase angle; The compensation module is used to perform amplitude gain and phase compensation on the first quadrature signal and the second quadrature signal based on the amplitude attenuation coefficient and the phase lag, so as to obtain a first compensated signal; The elimination module is used to compensate the displacement signal based on the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal.

[0011] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series as described in the first aspect or any possible implementation of the first aspect.

[0012] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to execute the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series as described in the first aspect or any possible implementation of the first aspect.

[0013] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to execute the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series as described in the first aspect or any possible implementation of the first aspect.

[0014] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0015] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art: This application collects rotor displacement signals under each degree of freedom, filters them through two DCSOGIs to eliminate DC components, and uses a phase-locked loop to extract the amplitude and phase of the output signals from the two DCSOGIs. These two signals can be used to calculate in real time and adaptively the amplitude attenuation and phase lag caused by harmonics of a specific frequency in the signal processing channel. The output of the first DCSOGI is then compensated for amplitude and phase to generate an accurate compensation signal. Based on this signal, the displacement signal is compensated, which can eliminate harmonics of a specific frequency in the displacement signal and effectively suppress vibration. This method avoids the complex parameter tuning of existing technologies and can adaptively compensate for phase lag, thereby improving the stability and operation of the magnetic levitation system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is one of the flowcharts of the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series provided in the embodiments of this application; Figure 2 This is the second schematic flowchart of the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of DCSOGI provided in the embodiments of this application; Figure 4 This is a simulation result diagram of the displacement signal when the rotational speed frequency is 100Hz, as provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the magnetic bearing harmonic vibration suppression device based on dual DCSOGI series provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0022] Next, combined Figures 1-4 The harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series connection provided in the embodiments of this application is introduced.

[0023] Figure 1This is one of the flowcharts illustrating the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series connection provided in this application, as shown below. Figure 1 As shown, the method includes the following steps: Step S1: Input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal; Figure 2 This is the second schematic flowchart of the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series provided in this application embodiment, as shown below. Figure 2 As shown, in one embodiment of this application, the displacement signal of the magnetic bearing rotor is acquired by a displacement sensor. .

[0024] Optionally, since it is necessary to detect displacement signals in each degree of freedom in real time... Therefore, at least one displacement sensor needs to be installed on each degree of freedom of the magnetic bearing.

[0025] Figure 3 This is a schematic diagram of the structure of DCSOGI provided in the embodiments of this application, as shown below. Figure 3 As shown, the top loop of DCSOGI uses an integrator to eliminate the DC component, and the output... and It is a signal that is in phase and quadrature with the input signal.

[0026] displacement signal Input the first DCSOGI to obtain the first quadrature signal. Second orthogonal signal ,in, The original input signal, The signal is input with a 90-degree lag.

[0027] Step S2: Input the first quadrature signal into the second DCSOGI to obtain the third quadrature signal and the fourth quadrature signal; Optionally, the first orthogonal signal Input the second DCSOGI signal to obtain the third quadrature signal. and the fourth orthogonal signal ,in, The original input signal, The signal is input with a 90-degree lag.

[0028] Step S3: Input the first quadrature signal and the second quadrature signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle; input the third quadrature signal and the fourth quadrature signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle. Optionally, , and , The first signal amplitude is extracted by inputting it into the phase-locked loop respectively. Second signal amplitude First phase angle Second phase angle The signal amplitude after passing through the phase-locked loop is: .

[0029] Step S4: Calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and calculate the phase hysteresis based on the first phase angle and the second phase angle. Using the amplitude and phase extracted from two phase-locked loops, the amplitude attenuation coefficient and phase hysteresis can be obtained as follows:

[0030] in, This is the amplitude attenuation coefficient. This is the phase lag.

[0031] Step S5: Perform amplitude gain and phase compensation on the first orthogonal signal and the second orthogonal signal based on the amplitude attenuation coefficient and the phase lag to obtain the first compensated signal; The specific formula is as follows:

[0032] in, This is the first compensation signal.

[0033] This application uses two DCSOGIs to adaptively measure the amplitude attenuation and phase lag caused by the DCSOGIs to the signal, thereby performing real-time compensation. When a single DCSOGI filters / selects a signal, it introduces amplitude attenuation and phase lag into the input signal. These amplitude changes and phase shifts depend on the deviation between the signal frequency and the DCSOGI center frequency, and are time-varying and difficult to predict under varying rotational speeds. If only a single DCSOGI is used, a filtered signal is obtained, but the extent of attenuation and lag relative to the original signal is unknown. Therefore, it is impossible to accurately construct a compensation signal for harmonic cancellation. The attenuation and phase shift of the original signal caused by the first DCSOGI are equal to the attenuation and phase shift of the output signal of the first DCSOGI caused by the second DCSOGI. Therefore, by measuring the difference between the two outputs (… and This allows us to indirectly obtain the precise influence of the first DCSOGI on the signal, and thus compensate for the output of the first DCSOGI.

[0034] Step S6: Compensate the displacement signal based on the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal.

[0035] Optionally, the displacement signal is subtracted from the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal, and then the winding current is generated by the controller and power amplifier to drive the magnetic bearing.

[0036] The harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series provided in this application collects rotor displacement signals under each degree of freedom, filters them through two DCSOGIs to eliminate DC components, and uses a phase-locked loop to extract the amplitude and phase of the output signals of the two DCSOGIs. These two signals can be used to calculate in real time and adaptively the amplitude attenuation and phase lag caused by harmonics of a specific frequency in the signal processing channel. The output of the first DCSOGI is then compensated for amplitude and phase to generate an accurate compensation signal. Based on this signal, the displacement signal is compensated, which can eliminate harmonics of a specific frequency in the displacement signal and achieve effective vibration suppression. This method avoids the complex parameter tuning of existing technologies and can adaptively compensate for phase lag, thereby improving the stability and operation of the magnetic levitation system.

[0037] In some embodiments, after step S6, the method further includes: Obtain the difference signal between the displacement signal of the pre-acquired magnetic bearing rotor in each degree of freedom and the first compensation signal; The second compensation signal is obtained based on the difference signal, the first DCSOGI, and the second DCSOGI. The displacement signal is compensated based on the second compensation signal.

[0038] like Figure 2 As shown, the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series provided in this application is a closed loop. After obtaining the first compensation signal by executing steps S1-S6 for the first time, and obtaining the displacement signals of the rotor in each degree of freedom by the displacement sensor in the next step, the displacement signal and the first compensation signal are subtracted to obtain the difference signal. Then the difference signal Input the first DCSOGI and execute steps S2-S6 to obtain the second compensation signal and compensate the displacement signal.

[0039] In some embodiments, the method further includes: Multiple vibration suppression modules are set up, each vibration suppression module is used to execute steps S1-S6 respectively, and different center frequencies are set for the first DCSOGI used by different vibration suppression modules, and different center frequencies are set for the second DCSOGI used by different vibration suppression modules, and the center frequencies of the first DCSOGI and the second DCSOGI used by the same vibration suppression module are the same. Multiple vibration suppression modules are used to eliminate harmonics of different frequencies in the displacement signal.

[0040] like Figure 2 As shown, in one embodiment of this application, a vibration suppression module is provided. It includes a controller, a displacement sensor, a magnetic levitation bearing body, and a drive motor body. The controller is used to execute steps 1-6, which involve multiple vibration suppression modules. Parallel connection, only changing the center frequency of DCSOGI. The system can simultaneously suppress harmonic vibrations of multiple frequencies, among which... For harmonic order, This is the fundamental frequency.

[0041] Figure 4 This is a simulation result diagram of the displacement signal when the rotational speed frequency is 100Hz, as provided in the embodiments of this application. Figure 4 As shown in one embodiment of this application, when the displacement signal has a rotational frequency of 100Hz, the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series provided in this application is applied at 1 second, and the amplitude of the displacement vibration is significantly reduced.

[0042] The harmonic vibration suppression device for magnetic bearings based on dual DCSOGI series provided in this application is described below. The harmonic vibration suppression device for magnetic bearings based on dual DCSOGI series described below can be referred to in correspondence with the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series described above.

[0043] Figure 5 This is a schematic diagram of a harmonic vibration suppression device for a magnetic bearing based on a dual DCSOGI series connection, as provided in an embodiment of this application. Figure 5 As shown, the device 500 includes: The first input module 510 is used to input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal. The second input module 520 is used to input the first quadrature signal into the second DCSOGI to obtain the third quadrature signal and the fourth quadrature signal; The third input module 530 is used to input the first quadrature signal and the second quadrature signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle, and to input the third quadrature signal and the fourth quadrature signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle. The calculation module 540 is used to calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and to calculate the phase hysteresis based on the first phase angle and the second phase angle. The compensation module 550 is used to perform amplitude gain and phase compensation on the first orthogonal signal and the second orthogonal signal based on the amplitude attenuation coefficient and the phase lag, so as to obtain the first compensation signal; The elimination module 560 is used to compensate the displacement signal based on the first compensation signal and eliminate harmonics of a specific frequency in the displacement signal.

[0044] It should be understood that the above-described device is used to execute the methods in the above embodiments. The implementation principle and technical effect of the corresponding program modules in the device are similar to those described in the above methods. The working process of the device can be referred to the corresponding process in the above methods, and will not be repeated here.

[0045] Based on the methods in the above embodiments, Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown in the illustration, this application provides an electronic device that may include a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, communication interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logic instructions from the memory 630 to execute the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series connection described in the above embodiment.

[0046] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series connection described in the various embodiments of this application.

[0047] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program. When the computer program is run on a processor, it causes the processor to execute the harmonic vibration suppression method for magnetic bearings based on dual DCSOGI series as described in the above embodiments.

[0048] Based on the methods in the above embodiments, this application provides a computer program product that, when running on a processor, causes the processor to execute the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series as described in the above embodiments.

[0049] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0050] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0051] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0052] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0053] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for suppressing harmonic vibrations of magnetic bearings based on dual DCSOGI series connection, characterized in that, Includes the following steps: Step S1: Input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal; Step S2: Input the first orthogonal signal into the second DCSOGI to obtain the third orthogonal signal and the fourth orthogonal signal; Step S3: Input the first orthogonal signal and the second orthogonal signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle; input the third orthogonal signal and the fourth orthogonal signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle. Step S4: Calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and calculate the phase hysteresis based on the first phase angle and the second phase angle; Step S5: Based on the amplitude attenuation coefficient and the phase lag, perform amplitude gain and phase compensation on the first quadrature signal and the second quadrature signal to obtain the first compensated signal; Step S6: Compensate the displacement signal based on the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal.

2. The method for suppressing harmonic vibrations of magnetic bearings based on dual DCSOGI series connection as described in claim 1, characterized in that, After compensating the displacement signal based on the first compensation signal, the method further includes: Obtain the difference signal between the displacement signal of the pre-acquired magnetic bearing rotor in each degree of freedom and the first compensation signal; Based on the difference signal, the first DCSOGI, and the second DCSOGI, a second compensation signal is obtained; The displacement signal is compensated based on the second compensation signal.

3. The method for suppressing harmonic vibrations of magnetic bearings based on dual DCSOGI series connection as described in claim 1, characterized in that, The method further includes: Multiple vibration suppression modules are set up, each vibration suppression module is used to execute steps S1-S6 respectively, and different center frequencies are set for the first DCSOGI used by different vibration suppression modules, and different center frequencies are set for the second DCSOGI used by different vibration suppression modules, and the center frequencies of the first DCSOGI and the second DCSOGI used by the same vibration suppression module are the same. The multiple vibration suppression modules are used to eliminate harmonics of different frequencies in the displacement signal.

4. A magnetic bearing harmonic vibration suppression device based on dual DCSOGI series connection, characterized in that, include: The first input module is used to input the pre-acquired displacement signals of the magnetic bearing rotor under each degree of freedom into the first DCSOGI to obtain the first orthogonal signal and the second orthogonal signal. The second input module is used to input the first quadrature signal into the second DCSOGI to obtain the third quadrature signal and the fourth quadrature signal; The third input module is used to input the first orthogonal signal and the second orthogonal signal into the phase-locked loop to obtain the first signal amplitude and the first phase angle, and to input the third orthogonal signal and the fourth orthogonal signal into the phase-locked loop to obtain the second signal amplitude and the second phase angle; The calculation module is used to calculate the amplitude attenuation coefficient based on the first signal amplitude and the second signal amplitude, and to calculate the phase hysteresis based on the first phase angle and the second phase angle; The compensation module is used to perform amplitude gain and phase compensation on the first quadrature signal and the second quadrature signal based on the amplitude attenuation coefficient and the phase lag, so as to obtain a first compensated signal; The elimination module is used to compensate the displacement signal based on the first compensation signal to eliminate harmonics of a specific frequency in the displacement signal.

5. An electronic device, characterized in that, include: At least one memory for storing computer programs; At least one processor is configured to execute a program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series as described in any one of claims 1-3.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is run on the processor, the processor performs the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series as described in any one of claims 1-3.

7. A computer program product, characterized in that, When the computer program product is run on the processor, the processor performs the magnetic bearing harmonic vibration suppression method based on dual DCSOGI series as described in any one of claims 1-3.

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