Method and apparatus for determining rotor state, electronic device, and computer storage medium

Abstract

Disclosed in embodiments of the present application are a method and apparatus for determining a rotor state, an electronic device, and a computer storage medium. The rotor comprises N equivalent units; each equivalent unit comprises a disc and a beam; and at least one equivalent unit comprises a bearing. The method comprises: on the basis of a stress state of an i-th disc, determining an i-th disc matrix that characterizes a relationship between state vectors at two ends of the i-th disc, wherein the stress of the i-th disc comprises: a shear force, and an elastic force and a damping force generated by the bearing, N≥2, and N≥i≥1, N and i being integers; on the basis of a bending deformation formula of an i-th beam, determining an i-th beam matrix that characterizes a relationship between state vectors at two ends of the i-th beam; on the basis of the i-th disc matrix and the i-th beam matrix, determining a state relationship between two ends of an i-th equivalent unit; on the basis of a Likati Riccati transformation relationship and the state relationship between the two ends of the i-th equivalent unit, determining state vectors of the N equivalent units that characterize a state of the rotor.

Description

Method, device, electronic device and computer storage medium for determining rotor state

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311196883.3 filed on September 14, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of motor technology, and in particular to a method, device, electronic device, and computer storage medium for determining a rotor state. Background Art

[0004] To ensure the safe and reliable operation of high-speed motors, it is often necessary to predict the vibration modes of the rotor system. Currently, due to the low damping of the roller bearings supporting the rotor, bearing damping is often ignored during predictions. However, the increasing use of oil lubrication and electromagnetic damping devices to suppress rotor vibrations in rotor systems has made the support damping of rotor systems increasingly difficult to ignore. Therefore, ignoring support damping can lead to low accuracy in predicting the rotor's vibration modes.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, device, electronic device, and computer storage medium for determining the total rotor state, which take into account the influence of support damping on the rotor and improve the accuracy of determining the rotor state.

[0007] The technical solution of this application is achieved as follows:

[0008] An embodiment of the present application provides a method for determining a rotor state, wherein the rotor includes N equivalent units; each of the equivalent units includes: a disk and a beam; at least one of the equivalent units includes a bearing; N ≥ 2; and N is a positive integer; the method includes:

[0009] According to the force condition of the ith disk, the ith disk matrix is ​​determined; the ith disk matrix represents the relationship between the state vectors at both ends of the ith disk; the force borne by the ith disk includes: shear force, and the supporting force generated by the bearing in the equivalent unit to which the ith disk belongs; N≥i≥1; and i is an integer; according to the bending deformation formula of the ith beam, the ith beam matrix is ​​determined; the ith beam matrix is ​​used to represent the relationship between the state vectors at both ends of the ith beam; according to the ith disk matrix and the ith beam matrix, the state relationship at both ends of the ith equivalent unit is determined; based on the Riccati transformation relationship and the state relationship at both ends of the ith equivalent unit, the state vectors of the N equivalent units are determined; the state vectors of the N equivalent units are used to represent the rotor state.

[0010] An embodiment of the present application provides a device for determining a rotor state, wherein the rotor includes N equivalent units; each of the equivalent units includes: a disk and a beam; at least one of the equivalent units includes a bearing; N ≥ 2; and N is a positive integer; the device includes:

[0011] A determination module is used to determine the i-th disk matrix according to the force condition of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the force borne by the i-th disk includes: shear force, and supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; the i-th beam matrix is ​​determined according to the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; the state relationship at both ends of the i-th equivalent unit is determined according to the i-th disk matrix and the i-th beam matrix; the state vectors of the N equivalent units are determined based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state.

[0012] An embodiment of the present application provides an electronic device, including:

[0013] Memory for storing computer programs;

[0014] The processor is configured to execute the above-mentioned method for determining the rotor state when the computer program is running.

[0015] An embodiment of the present application provides a computer storage medium having executable instructions stored thereon, which are used to implement the above-mentioned method for determining the rotor state when executed by a processor.

[0016] The embodiments of the present application provide a method, device, electronic device, and computer storage medium for determining a rotor state. For a disk in any equivalent unit, the supporting force generated by the bearing is taken into account. The supporting force includes an elastic force corresponding to a stiffness coefficient and a damping force corresponding to a damping coefficient. Thus, since the influence of the damping force on the rotor is taken into account when predicting the rotor state, the accuracy of determining the rotor state is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic flow chart of a method for determining a rotor state provided in an embodiment of the present application;

[0018] FIG2 is a schematic diagram of the structure of a rotor provided in an embodiment of the present application;

[0019] FIG3 is a schematic structural diagram of a rotor assembly provided in an embodiment of the present application;

[0020] FIG4 is a schematic structural diagram of an equivalent model of a rotor provided in an embodiment of the present application;

[0021] FIG5 is a schematic structural diagram of an equivalent unit provided in an embodiment of the present application;

[0022] FIG6 a is a schematic diagram of forces and moments acting on a disk provided in an embodiment of the present application;

[0023] FIG6 b is a schematic diagram of a bending moment of a beam provided in an embodiment of the present application;

[0024] FIG7 is a schematic flow chart of a method for determining a rotor state provided in an embodiment of the present application;

[0025] 8a-8f are schematic diagrams of the rotor array provided in an embodiment of the present application;

[0026] FIG9 is a schematic diagram of a curve showing a change in damping critical speed with damping according to an embodiment of the present application;

[0027] FIG10 is a schematic diagram of a curve showing a logarithmic decay rate changing with damping according to an embodiment of the present application;

[0028] FIG11a and FIG11b are schematic diagrams showing the variation trend of rotor displacement over time according to an embodiment of the present application;

[0029] FIG12 is a schematic structural diagram of a device for determining a rotor state according to an embodiment;

[0030] FIG13 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0033] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0035] To facilitate understanding of this solution, before describing the embodiments of the present application, the application background of the embodiments of the present application will be described.

[0036] In high-speed motors, an oil cooling system can be used to improve the cooling effect and power density of the motor. The oil cooling system can provide oil lubrication for the bearings supporting the rotor, improving the lubrication conditions, while also providing support damping for the rotor system and improving the dynamic characteristics of the rotor system. In addition, in order to suppress the vibration of the rotor system or to achieve active control of the vibration of a high-performance rotor system, it is necessary to add an electromagnetic damping device to the high-speed rotor system for special applications. This device also provides support damping for the rotor system. In related technologies, since the influence of support damping on the rotor state is ignored, the determined rotor state will be inaccurate, and the prediction accuracy of the critical speed of the rotor system will be low.

[0037] The embodiments of the present application provide a method, apparatus, electronic device, and computer storage medium for determining a rotor state, which take into account the influence of support damping on the rotor state and improve the accuracy of determining the rotor state. The following describes exemplary applications of the apparatus for determining the rotor state provided by the embodiments of the present application. The apparatus for determining the rotor state provided by the embodiments of the present application can be implemented as various types of user terminals, such as laptop computers, tablet computers, desktop computers, set-top boxes, and mobile devices (e.g., mobile phones, portable music players, personal digital assistants, dedicated messaging devices, and portable gaming devices).

[0038] Referring to FIG. 1 , FIG. 1 illustrates a method for determining a rotor state provided in an embodiment of the present application. This method will be described in conjunction with S101-S104. The rotor includes N equivalent units; each equivalent unit includes a disk and a beam; at least one equivalent unit includes a bearing; N ≥ 2; and N is a positive integer.

[0039] S101. Determine the i-th disk matrix based on the force condition of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the forces borne by the i-th disk include: shear force, and support force generated by the bearing in the equivalent unit to which the i-th disk belongs; N ≥ i ≥ 1; and i is an integer.

[0040] Figure 2 shows a schematic diagram of the structure of a rotor provided by an embodiment of the present application. Figure 2 shows a cross-section of the rotor in the xz plane. The rotor includes a rotating shaft 10 and a rotor assembly 20; the rotating shaft 10 is parallel to the z-axis. Figure 3 shows a schematic diagram of the structure of a rotor assembly provided by an embodiment of the present application. As shown in Figure 3, the rotor assembly 20 includes, among other things, permanent magnets 201 and a rotor assembly 202. Based on the principle of center of mass invariance and the rotor's structure, the rotor can be equivalent to a rotor system model. The equivalent rotor includes: bearings, N disks, and N-1 elastic beams; N ≥ 2, and N is an integer. There is a massless elastic beam between two adjacent disks, and the number of bearings is equal to the number of bearings in the actual rotor. Some of the N disks near the center, as well as the elastic beam between them, contain not only the rotating shaft but also the rotor assembly 20. The positions of the disks containing the rotor assembly are determined based on the rotor's structure. It should be noted that the equivalent model of the rotor can be divided into N equivalent units, each of which includes a disk and a beam. At least one equivalent unit may also include a bearing.

[0041] For example, Figure 4 shows a schematic diagram of an equivalent rotor model. As shown in Figure 4, a rotor with two bearings can be equivalently represented by 40 disks a1-a40, 39 beams b1-b39, and two bearings c7 and c37. Bearing c7 is located on disk a7, and bearing c37 is located on disk a37. Disks a15-a31 and beams b15-b30 comprise the rotor assembly.

[0042] It should be noted that the acceleration of the disk's vibration at any given moment is determined by the forces acting on it at that moment. These forces include both force and torque. The forces acting on the disk include shear force and the bearing force generated by the equivalent unit to which the disk belongs. The bearing force includes elastic force and damping force.

[0043] In the embodiment of the present application, the elastic force is generated based on the stiffness coefficient, and the damping force is generated based on the damping coefficient. If there is no bearing in an equivalent unit, its stiffness coefficient and damping coefficient are both 0, so the supporting force borne by the disk in the equivalent unit is 0.

[0044] For example, a schematic structural diagram of an equivalent unit is shown in Figure 5. As shown in Figure 5, the equivalent unit includes: a disk a, a beam b, and a bearing c.

[0045] In the embodiment of the present application, the state of the equivalent unit can be represented by the state variable Z, see formula (1).

[0046] Z=|Z|e st Formula (1)

[0047] Where s is called the complex frequency of the rotor system, see formula (2).

[0048] s=σ+jω Formula (2)

[0049] Where ω (rad / s) is the natural frequency, and σ (rad / s) is the damping exponent. The damping exponent indicates vibration attenuation or growth. A damping exponent less than 0 indicates a decrease in the vibration amplitude, while a damping exponent greater than 0 indicates an increase in the vibration amplitude. It should be noted that when the damping exponent is less than 0, the rotor vibration amplitude decays exponentially over time, indicating a stable rotor system. A damping exponent greater than 0 indicates an unstable rotor system.

[0050] In the embodiment of the present application, in order to further quantify the stability of the system, the logarithmic decreasing rate δ is used to represent the stability margin of the rotor system, see formula (3)

[0051] A logarithmic decrease rate δ greater than 0 indicates a stable rotor system, while a logarithmic decrease rate δ less than 0 indicates an unstable rotor system. When the logarithmic decrease rate is greater than 0 and greater than 1, the rotor's amplitude decays more rapidly, significantly suppressing the rotor's modes and enhancing stability. The speed corresponding to a logarithmic decrease rate δ of 0 is the system's instability threshold speed.

[0052] In the embodiment of the present application, the state variable Z includes an internal force parameter f and a deformation parameter ε, both of which change with time.

[0053] Z={f ε} Formula (4)

[0054] Among them, the internal force parameter f includes the bending moment M and the shear force Q, see formula (5); the deformation parameter ε includes the linear displacement X and the angular displacement θ, see formula (6).

[0055] f={MQ} T Formula (5)

[0056] ε={X θ} T Formula (6)

[0057] In some embodiments of the present application, the state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes a first disk state relationship and a second disk state relationship; the electronic device can determine the first disk state relationship based on the force applied to the i-th disk; the first disk state relationship represents the relationship between the disk linear displacement, the disk shear force at the first end and the disk shear force at the second end.

[0058] In this embodiment of the present application, the first end of the disc along the bearing direction is subject to a first disc shear force, also known as the first-end disc shear force; the second end is subject to a second disc shear force, also known as the second-end disc shear force. Linear displacement in the bearing direction corresponds to the elastic force, and velocity in that direction corresponds to the damping force. According to Newton's second law, the combined forces of the first disc shear force, the second disc shear force, the elastic force, and the damping force produce acceleration in that direction.

[0059] The linear velocity of the disk's vibration is the first-order derivative of the linear displacement, and the linear acceleration is the second-order derivative of the linear displacement. The angular velocity of the disk's vibration is the first-order derivative of the angular displacement, and the angular acceleration is the second-order derivative of the angular displacement. Taking the first-order derivative of formula (2) yields formula (7), and taking the second-order derivative of formula (2) yields formula (8).

[0060] From formulas (7) and (8), we can see that the damping force and vibration acceleration of the disk can be determined based on the linear displacement of the disk’s state variables. and the second disk shear force The relationship between can be determined by the mass m, complex frequency s, linear displacement X, stiffness coefficient k and damping coefficient c of the disk, see formula (9).

[0061] In some embodiments of the present application, the first disk state relationship includes a first disk state relationship in a first direction and a first disk state relationship in a second direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the bearing of the rotor; the electronic device can use the second end disk shear force in the first direction, the mass of the disk, the first rigidity parameter and the first damping parameter in the first direction affecting the first direction, the second rigidity parameter and the second damping parameter in the first direction affecting the second direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor to characterize the first end disk shear force in the first direction; and, use the second end disk shear force in the second direction, the third rigidity parameter and the third damping parameter in the second direction affecting the second direction, the fourth rigidity parameter and the fourth damping parameter in the second direction affecting the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor to characterize the first end disk shear force in the second direction; when the bearing is not included in the equivalent unit, the first rigidity parameter, the second rigidity parameter, the third rigidity parameter, the fourth rigidity parameter, the first damping parameter, the second damping parameter, the third damping parameter and the fourth damping parameter are all 0.

[0062] In the embodiment of the present application, the bearing direction is the z-axis direction, the first direction is the x-axis direction, and the second direction is the y-axis direction. According to Newton's second law, the force on the i-th disk in the x-axis direction can be expressed by formula (10), and the force on the i-th disk in the y-axis direction can be expressed by formula (11).

[0063] Where x is the linear displacement in the x-axis direction, y is the linear displacement in the x-axis direction; k xx is the first rigid parameter affecting the x-axis direction, c xx k is the first damping parameter affecting the x-axis direction; xy is the second rigidity parameter in the x-axis direction that affects the y-axis direction, c xy is the second damping parameter in the y-axis direction that affects the x-axis direction; is the shear force of the first end disk in the x-axis direction, is the shear force of the second end disk in the x-axis direction. k yyis the third rigidity parameter affecting the y-axis direction, c yy k is the third damping parameter affecting the y-axis direction; yx is the fourth rigidity parameter that affects the x-axis direction in the y-axis direction, c yx is the fourth damping parameter in the y-axis direction that affects the x-axis direction; is the shear force of the first end disk in the y-axis direction, is the shear force of the second end disk in the y-axis direction.

[0064] By expressing formula (10) in the form of formula (9), formula (12) can be obtained; and, by expressing formula (11) in the form of formula (9), formula (13) can be obtained.

[0065] Based on Figure 5, Figure 6a shows a schematic diagram of the force and moment of a disk in an equivalent unit; as shown in Figure 6, the first end of disk a along the x-axis direction will be subjected to the first end disk shear force The second end will be subjected to the shear force of the second end disk Shear force of the first end disk The corresponding bending moment of the disk at the first end is Shear force of the second end disk The corresponding bending moment of the disk at the second end is k xx and k xy is the rigidity parameter that generates elastic force in the x-axis direction, c xx and c xy The damping parameter that generates resistance in the x-axis direction.

[0066] In some embodiments of the present application, the electronic device can determine a second disk state relationship based on the torque of the i-th disk; the second disk state relationship represents the relationship between the disk angular displacement, the disk bending moment at the first end, and the disk bending moment at the second end.

[0067] In the embodiment of the present application, the moment of the disk includes: the disk bending moment at the first end, the disk bending moment at the second end, and the torque. The torque is determined by the disk's moment of inertia, angular acceleration, and angular velocity. From formulas (7) and (8), it can be seen that the disk's torque can be determined based on the angular displacement in the disk's state variables. Thus, the relationship between the disk's bending moment at the first end and the disk's bending moment at the second end can be determined by the disk's rotational speed Ω, complex frequency s, angular displacement θ, and moment of inertia J, as shown in formula (14). Here, the moment of inertia can include diametrical moment of inertia and polar moment of inertia.

[0068] In some embodiments of the present application, the second disk state relationship includes a second disk state relationship in the first direction and a second disk state relationship in the second direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the bearing of the rotor; the electronic device can use the disk bending moment of the second end in the second direction, based on the diameter moment of inertia, polar moment of inertia and rotational speed, the disk angular displacement in the second direction, the disk angular displacement in the first direction and the complex frequency of the rotor to characterize the disk bending moment of the first end in the second direction; and use the disk bending moment of the second end in the first direction, the diameter moment of inertia, the polar moment of inertia, rotational speed, the disk angular displacement in the first direction, the disk angular displacement in the second direction and the complex frequency of the rotor to characterize the disk bending moment of the first end in the first direction.

[0069] In the embodiment of the present application, the bearing direction is the z-axis direction, the first direction is the x-axis direction, and the second direction is the y-axis direction. According to the bending deformation formula, the moment of the i-th disk in the x-axis direction can be expressed by formula (15), and the moment of the i-th disk in the y-axis direction can be expressed by formula (16).

[0070] Among them, J d is the diameter moment of inertia, J p is the polar moment of inertia; θ x is the angular displacement of the disk in the first direction, θ y is the angular displacement of the disk in the second direction.

[0071] Based on Figure 5, Figure 6b shows a schematic diagram of the torque of the beam in an equivalent unit; as shown in Figure 6b, the disk bending moment of the first end of beam a along the x-axis direction is The linear displacement is X 1d , the angular displacement is The bending moment of the disk at the second end of beam b is The linear displacement is X 2d , the angular displacement is

[0072] By expressing formula (15) in the form of formula (14), we can obtain formula (17); and by expressing formula (16) in the form of formula (14), we can obtain formula (18).

[0073] According to formula (12), formula (13), formula (17) and formula (18), the electronic device can pass the i-th disk matrix D i represents the relationship between the state vectors at both ends of the i-th disk, see formula (19).

[0074] in,

[0075] D 11 =D 22 =I 4×4 Formula (20)

[0076] D 21 =O 4×4 Formula (21)

[0077] S102. Determine an i-th beam matrix according to a bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam.

[0078] In the embodiment of the present application, when the rotor is in a vibrating state, the equivalent beam may undergo bending deformation and displacement at any given moment. The relationship between the state vectors at both ends of the i-th beam can be obtained according to the bending deformation formula.

[0079] In some embodiments of the present application, the state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam; the electronic device can construct a bending deformation formula based on the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, the shear force of the beam, the equivalent elastic modulus, the moment of inertia and the length of the beam to obtain the i-th beam matrix.

[0080] In the embodiment of the present application, the beam is perpendicular to the z-axis, and the linear displacement of the beam is in the plane of the x-axis and y-axis. The deformation and force conditions of the beam in the x-axis direction are the same as those in the y-axis direction, and the linear displacements in the x-axis and y-axis directions can be represented by X.

[0081] Here, the relationship between the state vectors at both ends of the i-th beam includes: the relationship between the internal force parameters f at both ends of the i-th beam and the relationship between the deformation parameters ε at both ends of the i-th beam. The relationship between the internal force parameters f at both ends of the i-th beam includes: the shear force Q at the first end of the i-th beam 1d and the second end shear force Q 2d and the bending moment M at the first end of the i-th beam 1d and the second end bending moment M 2d The relationship between the deformation parameters ε at both ends of the i-th beam includes: the first end linear displacement X 1d and the second end line displacement X 2d and the relationship between the first end angular displacement θ of the i-th beam 1d and the second end angular displacement θ 2d The relationship between them.

[0082] In some embodiments of the present application, the relationship between the state vectors at both ends of the i-th beam includes: the shear force Q at the first end of the beam 1d The shear force Q at the second end of the beam 2d Same as, see formula (23); the bending moment M at the first end of the beam 1d , and the shear force Q at the first end of the beam 1d The sum of the product of the beam length l is equal to the bending moment M at the second end of the beam 2d , see formula (24); the first end line displacement of the beam X 1d The second end line displacement X of the beam 2d , angular displacement of the first end of the beam θ 1d , the length of the beam l, the bending moment at the second end of the beam M 2d , shear force Q at the second end of the beam 2d , equivalent elastic modulus E and moment of inertia I, see formula (25); the angular displacement of the first end of the beam θ 1d The second end of the beam is angularly displaced θ 2d , the length of the beam l, the bending moment at the second end of the beam M 2d , shear force Q at the second end of the beam 2d , equivalent elastic modulus E and moment of inertia I, see formula (26).

[0083] In the embodiments of this application,

[0084] M 2d =M 1d +Q 2d Formula (25)

[0085] Q 2d =Q 1d Formula (26)

[0086] Substituting formula (25) and formula (26) into formula (23), we can obtain formula (27); substituting formula (25) and formula (26) into formula (24), we can obtain formula (28).

[0087] Substituting formula (26) into formula (25), we can obtain formula (29).

[0088] M 2d =M 1d +Q 1d Formula (29)

[0089] According to formula (27), formula (28), formula (29) and formula (26), the i-th beam matrix B can be expressed as irepresents the relationship between the state vectors at both ends of the i-th beam, see formula (30).

[0090] in,

[0091] B 12 =O 4×4 Formula (31)

[0092] S103 . Determine the state relationship between two ends of the i th equivalent unit according to the i th disk matrix and the i th beam matrix.

[0093] In the embodiment of the present application, the i-th equivalent unit is connected to the i+1-th equivalent unit; wherein the second end of the i-th disk is connected to the first end of the i-th beam, and the second end of the i-th beam is connected to the first end of the i+1-th disk. Based on geometric compatibility and internal force equilibrium conditions, it can be determined that the state vector of the second end of the i-th beam is equal to the state vector of the first end of the i+1-th disk, see formula (34).

[0094] In the embodiment of the present application, the electronic device can use the product of the i-th disk matrix and the i-th beam matrix as the i-th two-terminal matrix U i ; The i-th two-terminal matrix U i Characterizes the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th equivalent unit and the second end of the i-th unit; the second end of the i-th equivalent unit is the first end of the i+1-th unit.

[0095] According to formula (19), formula (30) and formula (34), the state relationship between the first end of the i-th disk and the first end of the i+1-th disk can be determined, that is, the state relationship between the first end of the i-th equivalent unit and the first end of the i+1-th equivalent unit, that is, the state relationship between the two ends of the i-th equivalent unit, see formula (35).

[0096] in,

[0097] S104. Determine the state vectors of N equivalent units based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state.

[0098] In an embodiment of the present application, the electronic device can introduce the Riccati transformation relationship at the i-th equivalent unit, and determine the relationship between the i-th transfer matrix and the i+1-th transfer matrix based on the Riccati transformation relationship and the i-th two-terminal matrix; here, the transfer matrix is ​​a function of the complex frequency; in this way, the electronic device can solve each transfer matrix, and then determine the complex frequency corresponding to each transfer matrix, thereby determining the state of the rotor.

[0099] In some embodiments of the present application, in S104, based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, the realization of determining the state vectors of N equivalent units may include: S201-S203 as shown in FIG7 .

[0100] S201. Determine a transfer relationship between the (i+1)th transfer matrix and the (i)th transfer matrix based on a Riccati transformation relationship and the (i)th two-terminal matrix; the transfer matrix is ​​a function of complex frequency.

[0101] In the embodiment of the present application, the Riccati transformation relationship is introduced at the i-th equivalent unit to obtain formula (37).

[0102] f i =S i ε i Formula (37)

[0103] Among them, S i It is a function of the complex number s, representing a 4×4 matrix.

[0104] Substituting formula (37) into formula (35), we can get formula (38). Formula (38) eliminates the internal force parameter f of the i-th equivalent unit. i and deformation parameter ε i .

[0105] According to formula (38) and formula (37), the recursive formula (39) of the transfer matrix can be obtained. The recursive formula is used to characterize the transfer relationship between the i+1th transfer matrix and the ith transfer matrix.

[0106] S202 , obtaining N complex frequencies according to the boundary conditions and transfer relationship of the rotor; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

[0107] In the embodiment of the present application, the first transfer matrix is ​​0, and the electronic device can determine N transfer matrices after the first transfer matrix in sequence according to the first transfer matrix, the transfer relationship and the boundary conditions.

[0108] In the embodiment of the present application, the boundary conditions of the rotor include a first-end boundary condition and a second-end boundary condition; wherein the first end of the rotor is the first end of the first equivalent unit, and the second end of the rotor is the second end of the Nth equivalent unit. The left-end boundary condition includes: the internal force parameter of the first equivalent unit is 0, and the deformation parameter is not 0. The right-end boundary condition includes: the internal force parameter of the N+1th equivalent unit is 0, and the deformation parameter is not 0.

[0109] In the embodiment of the present application, according to the boundary conditions and the first transfer matrix being 0, it can be obtained that the non-trivial solution of formula (39) should satisfy S N+1 For the condition that the determinant of is 0, see formula (40).

[0110] Δ1=|S| N+1 =0 Formula (40)

[0111] In the embodiment of the present application, there are many infinite singularities of different signs in the residual curve. These singularities will cause the intervals of different signs and the intervals where roots exist to not correspond one to one, that is, wrong roots or missing roots will occur. Therefore, it is necessary to convert the infinite singularities of different signs in the residual curve into infinite singularities of the same sign.

[0112] In some embodiments of the present application, the product of the modulus of the transfer matrix of the N+1th unit and the screening formula is 0; the screening formula is the result of the continuous multiplication of N sub-screening formulas; the i-th sub-screening formula in the N sub-screening formulas is the u of the i-th two-terminal matrix 21 Multiply it with the i-th transfer matrix and then with u 22 The modulus of the sum of the additions. In this way, the dynamic equation of the rotor can be obtained, see formula (41).

[0113] Where sign is the sign function. Formula (41) represents a complex polynomial, which can be solved by solving the polynomial roots.

[0114] In the embodiment of the present application, the process of obtaining formula (41) can be implemented by programming. In some embodiments, the programming can adopt the parabola method and be in the form of complex variables.

[0115] In an embodiment of the present application, the electronic device can determine each root through multiple iterations based on formula (41). Successive iterations for a particular root can be performed by finding a closer solution to the quadratic curve of the last three points of the residual curve. If the difference between two consecutive values ​​of the root is less than or equal to a preset convergence error, the root can converge to a certain value, which is the solution.

[0116] In an embodiment of the present application, the electronic device may extract the conjugate complex roots that have been found from the polynomial before searching for roots each time, thereby reducing the search time and improving the search efficiency.

[0117] In the embodiment of the present application, according to formula (1), the complex frequency corresponding to each transfer matrix can determine the state vector of a corresponding equivalent unit, thereby determining the state of the rotor.

[0118] The embodiments of the present application take into account the influence of the support damping and support anisotropy of the rotor on the dynamic characteristics of the rotor; thus, when predicting the rotor state, the accuracy of the prediction can be improved.

[0119] In the embodiment of the present application, since the dimension of the system matrix does not increase with the number of rotor degrees of freedom, the prediction process is simplified, thereby increasing the efficiency of predicting the rotor state.

[0120] In an embodiment of the present application, after determining the solution of formula (41), that is, the complex frequency, the electronic device can determine the natural frequency ω and damping index σ of the rotor according to formula (2).

[0121] Since the supporting force generated by the bearing is taken into account for the disk in any equivalent unit, the supporting force includes the elastic force corresponding to the stiffness coefficient and the damping force corresponding to the damping coefficient; in this way, the influence of the damping force on the rotor is taken into account, thereby improving the accuracy of determining the rotor state.

[0122] For example, the bearing stiffness is 1×107 N / m and the damping is 50 Ns / m; the first three-order bending natural frequencies of the high-speed motor rotor system calculated by finite element method and the first three-order bending natural frequencies of the high-speed motor rotor system obtained by the method in the embodiment of the present application are shown in Table 1.

[0123] Table 1

[0124] It can be seen from Table 1 that the relative error between the third-order natural frequency calculated by the embodiment of the present application and the finite element method is less than 4%.

[0125] Figures 8a, 8b, and 8c are formation diagrams obtained at three moments using the finite element method, and Figures 8d, 8e, and 8f are formation diagrams obtained at three moments using the embodiment of the present application. Figures 8d, 8e, and 8f show the relationship curves between dimensionless displacement and axial length. Figure 8d is the formation diagram obtained by the embodiment of the present application at the same moment as Figure 8a, Figure 8e is the formation diagram obtained by the embodiment of the present application at the same moment as Figure 8b, and Figure 8f is the formation diagram obtained by the embodiment of the present application at the same moment as Figure 8c. As can be seen from the figures, the rotor morphology in the formation diagram obtained by the embodiment of the present application is basically consistent with the rotor morphology in the formation diagram obtained by the finite element method.

[0126] When the bearing stiffness is 1×10 7 N / m, the curves of the first two damping critical speeds of the rotor system with the change of damping are shown in Figure 9. As can be seen from Figure 9, when the damping is small, as the damping increases, the first-order damping critical speed remains almost unchanged, and the second-order damping critical speed gradually decreases; when the damping is large, as the damping increases, the first-order damping critical speed decreases slowly, while the second-order damping critical speed decreases rapidly. When the bearing stiffness is 1×10 7 N / m, the logarithmic decrement corresponding to the first two damping critical speeds of the rotor system varies with damping, as shown in Figure 10. As can be seen from Figure 10, the first-order logarithmic decrement increases slowly with damping, while the second-order logarithmic decrement increases slowly and then rapidly with damping. This indicates that bearing damping has a strong inhibitory effect on the system's second-order damping critical speed, causing it to eventually disappear. Compared to the second-order damping critical speed, bearing damping has a weaker inhibitory effect on the system's first-order damping critical speed.

[0127] In order to verify the correctness of the damping critical speed characteristic analysis, the transient response of the rotor system is studied under two different bearing damping conditions. 7 When the rotor assembly is in the middle of the axial direction, a force of 1×10 -5 The imbalance amount of Kgm, when the bearing damping is 50Ns / m and 8200Ns / m respectively, the critical speed of the first two damping orders of the system and the logarithmic decrement rate are shown in Table 2.

[0128] Table 2

[0129] For these two different damping values, the rotor is accelerated from zero to 30,000 r / min according to the exponential law shown in formula (42). The transient response of the rotor at the location of the unbalance within the first second of the acceleration process is shown in FIG11 . FIG11 a shows the temporal trend of the vertical displacement of the rotor with a damping of 50 Ns / m; FIG11 b shows the temporal trend of the vertical displacement of the rotor with a damping of 8200 Ns / m.

[0130] Ω(t)=30000(1-e -1.5t ) Formula (42)

[0131] Table 2 shows that when the damping is 50 Ns / m, the rotor system has only a first-order damping critical speed of 12,723 r / min within the 30,000 r / min range. The corresponding logarithmic decrement rate is very low, and the rotor vibration is quite intense. This is confirmed by the fact that there is only one obvious peak in the rotor response in Figure 11a. The speed corresponding to this peak is the rotor system's first-order damping critical speed. When the damping is 8,200 Ns / m, the rotor system has the first two damping critical speeds within the 30,000 r / min range, and the corresponding logarithmic decrements are 4.085 and 28.971, respectively, both of which are far greater than 1. This indicates that the rotor system's vibration is well suppressed at this point. Therefore, the rotor response does not show a significant peak during acceleration, as shown in Figure 11b.

[0132] Based on the above embodiment, the present application further provides a device for determining a rotor state. As shown in FIG12 , the device 100 may include:

[0133] Determination module 1001 is used to determine the i-th disk matrix according to the force condition of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the force borne by the i-th disk includes: shear force, and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; determine the i-th beam matrix according to the bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; determine the state relationship at both ends of the i-th equivalent unit according to the i-th disk matrix and the i-th beam matrix; determine the state vectors of the N equivalent units based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit; the state vectors of the N equivalent units are used to represent the rotor state.

[0134] In some embodiments, the state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes a first disk state relationship and a second disk state relationship; the determination module 1001 is also used to determine the first disk state relationship based on the force applied to the i-th disk; the first disk state relationship represents the relationship between the disk linear displacement, the disk shear force at the first end and the disk shear force at the second end; the second disk state relationship is determined based on the moment of the i-th disk; the second disk state relationship represents the relationship between the disk angular displacement, the disk bending moment at the first end and the disk bending moment at the second end.

[0135] In some embodiments, the first disk state relationship includes a first disk state relationship in a first direction and a first disk state relationship in a second direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the bearing of the rotor; the determination module 1001 is also used to determine the disk shear force at the first end in the first direction through the disk shear force at the second end in the first direction, the mass of the disk, the first rigidity parameter and the first damping parameter in the first direction that affect the first direction, the second rigidity parameter and the second damping parameter in the first direction that affect the second direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the The complex frequency characterization of the rotor; the disk shear force at the first end in the second direction is characterized by the disk shear force at the second end in the second direction, the third rigidity parameter and the third damping parameter in the second direction affecting the second direction, the fourth rigidity parameter and the fourth damping parameter in the second direction affecting the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction and the complex frequency characterization of the rotor; when the bearing is not included in the equivalent unit, the first rigidity parameter, the second rigidity parameter, the third rigidity parameter, the fourth rigidity parameter, the first damping parameter, the second damping parameter, the third damping parameter and the fourth damping parameter are all 0.

[0136] In some embodiments, the second disk state relationship includes a second disk state relationship in a first direction and a second disk state relationship in a second direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the bearing of the rotor; the determination module 1001 is also used to characterize the disk bending moment at the first end in the second direction by the disk bending moment at the second end in the second direction, the disk angular displacement based on the diameter moment of inertia, the polar moment of inertia and the rotational speed, the disk angular displacement in the second direction, the disk angular displacement in the first direction and the complex frequency of the rotor; the disk bending moment at the first end in the first direction is characterized by the disk bending moment at the second end in the first direction, the diameter moment of inertia, the polar moment of inertia, the rotational speed, the disk angular displacement in the first direction, the disk angular displacement in the second direction and the complex frequency of the rotor.

[0137] In some embodiments, the state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam; the determination module 1001 is also used to construct the bending deformation formula based on the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, the shear force of the beam, the equivalent elastic modulus, the moment of inertia and the length of the beam to obtain the i-th beam matrix.

[0138] In some embodiments, the relationship between the state vectors at both ends of the i-th beam includes: the shear force at the first end of the beam is the same as the shear force at the second end of the beam; the bending moment at the first end of the beam, and the sum of the product of the shear force at the first end of the beam and the length of the beam is equal to the bending moment at the second end of the beam; the linear displacement of the first end of the beam is characterized by the linear displacement of the second end of the beam, the angular displacement of the first end of the beam, the length of the beam, the bending moment of the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus and the moment of inertia; the angular displacement of the first end of the beam is characterized by the angular displacement of the second end of the beam, the length of the beam, the bending moment of the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus and the moment of inertia.

[0139] In some embodiments, the determination module 1001 is further used to take the product of the i-th disk matrix and the i-th beam matrix as the i-th two-terminal matrix; the i-th two-terminal matrix represents the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th unit and the second end of the i-th equivalent unit; the second end of the i-th equivalent unit is the first end of the i+1-th equivalent unit.

[0140] In some embodiments, the determining module 1001 is further configured to determine a transfer relationship between an i+1th transfer matrix and an ith transfer matrix based on the Riccati transformation relationship and the ith two-terminal matrix; the transfer matrix being a function of the complex frequency;

[0141] According to the boundary conditions of the rotor and the transfer relationship, N complex frequencies are obtained; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

[0142] In some embodiments, the determinant of the transfer matrix of the N+1th unit is zero.

[0143] In some embodiments, the two-terminal matrix is ​​a second-order matrix U; the product of the modulus of the transfer matrix of the N+1th unit and the screening formula is 0; the screening formula is the result of the continuous multiplication of N sub-screening formulas; the i-th sub-screening formula among the N sub-screening formulas is the modulus of the sum of the multiplication of u21 of the i-th two-terminal matrix and the i-th transfer matrix, and the addition of u22.

[0144] Figure 13 is a structural diagram of an electronic device provided in an embodiment of the present application. The electronic device 1200 includes: a memory 1207, a processor 1208, and a computer program stored in the memory 1207 and executable on the processor 1208; wherein the processor 1208 is configured to execute the bus arbitration method in the aforementioned embodiment when executing the computer program.

[0145] Slave node 1200 also includes a bus system 1209. The various components in slave node 1200 are coupled together via bus system 1209. It will be appreciated that bus system 1209 is used to enable communication between these components. In addition to a data bus, bus system 1209 also includes a power bus, a control bus, and a status signal bus.

[0146] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM). The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), SyncLink dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

[0147] The methods disclosed in the above embodiments of the present application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above methods can be completed by hardware integrated logic circuits in the processor or instructions in software form. The above processor may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory. The processor reads the information in the memory and completes the steps of the above methods in combination with its hardware.

[0148] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a first processor, implements the steps of the communication method on the slave node side; and, when executed by a second processor, implements the steps of the communication method on the master node side.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or modules can be electrical, mechanical or other forms.

[0150] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and scope of the present application are included in the scope of protection of the present application.

Claims

1. A method for determining a rotor state, wherein: The rotor comprises N equivalent units; each of the equivalent units comprises: a disk and a beam; at least one of the equivalent units comprises a bearing; N≥2; and N is a positive integer; the method comprises: According to the force condition of the i-th disk, determine the i-th disk matrix; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the force borne by the i-th disk includes: shear force, and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; Determine an i-th beam matrix according to a bending deformation formula of the i-th beam; the i-th beam matrix is ​​used to characterize the relationship between the state vectors at both ends of the i-th beam; Determining a state relationship between two ends of the i-th equivalent unit according to the i-th disk matrix and the i-th beam matrix; Based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, the state vectors of the N equivalent units are determined; the state vectors of the N equivalent units are used to characterize the rotor state.

2. The method according to claim 1, wherein: The state vector of the disk includes: disk angular displacement, disk bending moment, disk linear displacement and disk shear force; the relationship between the state vectors at both ends of the i-th disk includes a first disk state relationship and a second disk state relationship; The step of determining the i-th disk matrix according to the stress condition of the i-th disk includes: Determine a first disk state relationship according to the force of the i-th disk; the first disk state relationship represents the relationship between the disk linear displacement, the disk shear force at the first end, and the disk shear force at the second end; A second disk state relationship is determined according to the moment of the i-th disk; the second disk state relationship represents the relationship between the disk angular displacement, the disk bending moment at the first end, and the disk bending moment at the second end.

3. The method according to claim 2, wherein: The first disk state relationship includes a first disk state relationship in a first direction and a first disk state relationship in a second direction; the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the bearing of the rotor; The determining the state relationship of the first disk according to the force on the i-th disk comprises: The disk shear force at the first end in the first direction is characterized by the disk shear force at the second end in the first direction, the mass of the disk, the first rigidity parameter and the first damping parameter in the first direction affecting the first direction, the second rigidity parameter and the second damping parameter in the first direction affecting the second direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor; The disk shear force at the first end in the second direction is characterized by the disk shear force at the second end in the second direction, the third rigidity parameter and the third damping parameter in the second direction affecting the second direction, the fourth rigidity parameter and the fourth damping parameter in the second direction affecting the first direction, the disk linear displacement in the first direction, the disk linear displacement in the second direction, and the complex frequency of the rotor; When the bearing is not included in the equivalent unit, the first rigidity parameter, the second rigidity parameter, the third rigidity parameter, the fourth rigidity parameter, the first damping parameter, the second damping parameter, the third damping parameter and the fourth damping parameter are all zero.

4. The method according to claim 2, wherein: The second disk state relationship includes a second disk state relationship in a first direction and a second disk state relationship in a second direction; the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the bearing of the rotor; The determining the state relationship of the second disk according to the torque of the i-th disk comprises: The disk bending moment at the first end in the second direction is characterized by the disk bending moment at the second end in the second direction, the diametric moment of inertia, the polar moment of inertia and the rotational speed, the disk angular displacement in the second direction, the disk angular displacement in the first direction and the complex frequency of the rotor; The disk bending moment at the first end in the first direction is characterized by the disk bending moment at the second end in the first direction, the diametrical moment of inertia, the polar moment of inertia, the rotational speed, the disk angular displacement in the first direction, the disk angular displacement in the second direction, and the complex frequency of the rotor.

5. The method according to claim 1, wherein: The state vector of the beam includes: the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam and the shear force of the beam; the direction of the linear displacement of the beam is perpendicular to the beam; The step of determining the i-th beam matrix according to the bending deformation formula of the i-th massless beam comprises: Based on the angular displacement of the beam, the bending moment of the beam, the linear displacement of the beam, the shear force of the beam, the equivalent elastic modulus, the moment of inertia and the length of the beam, the bending deformation formula is constructed to obtain the i-th beam matrix.

6. The method according to claim 5, wherein: The relationship between the state vectors at both ends of the i-th beam includes: The shear force at the first end of the beam is the same as the shear force at the second end of the beam; The sum of the bending moment at the first end of the beam and the product of the shear force at the first end of the beam and the length of the beam is equal to the bending moment at the second end of the beam; The first end line displacement of the beam is obtained by the second end line displacement of the beam, the first end angle displacement of the beam, the length of the beam, The bending moment at the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus and the moment of inertia characterization; The angular displacement at the first end of the beam is characterized by the angular displacement at the second end of the beam, the length of the beam, the bending moment at the second end of the beam, the shear force at the second end of the beam, the equivalent elastic modulus and the moment of inertia.

7. The method according to any one of claims 1 to 6, wherein: Determining the state relationship between two ends of the i-th equivalent unit according to the i-th disk matrix and the i-th beam matrix includes: The product of the i-th disk matrix and the i-th beam matrix is ​​taken as the i-th two-terminal matrix; the i-th two-terminal matrix represents the state relationship between the two ends of the i-th equivalent unit; the two ends of the i-th equivalent unit include: the first end of the i-th unit and the second end of the i-th equivalent unit; the second end of the i-th equivalent unit is the first end of the i+1-th equivalent unit.

8. The method according to claim 7, wherein: The determining the state vectors of the N units based on the Riccati transformation relationship and the i-th transfer state relationship includes: Based on the Riccati transformation relationship and the i-th two-terminal matrix, determining a transfer relationship between the i+1-th transfer matrix and the i-th transfer matrix; the transfer matrix is ​​a function of the complex frequency; According to the boundary conditions of the rotor and the transfer relationship, N complex frequencies are obtained; each of the N complex frequencies is used to determine the state vector of a corresponding unit, thereby obtaining the state vectors of the N units.

9. The method according to claim 8, wherein: The determinant of the transfer matrix of the N+1th unit is 0.

10. The method according to claim 8, wherein: The two-terminal matrix is ​​a second-order matrix U; the product of the modulus of the transfer matrix of the N+1th unit and the screening formula is 0; the screening formula is the result of the continuous multiplication of N sub-screening formulas; the i-th sub-screening formula among the N sub-screening formulas is the modulus of the sum of the multiplication of u21 of the i-th two-terminal matrix and the i-th transfer matrix and the addition of u22.

11. A device for determining a rotor state, wherein: The rotor comprises N equivalent units; each of the equivalent units comprises: a disk and a beam; at least one of the equivalent units comprises a bearing; N≥2; and N is a positive integer; the device comprises: A determination module is used to determine the i-th disk matrix according to the force condition of the i-th disk; the i-th disk matrix represents the relationship between the state vectors at both ends of the i-th disk; the force borne by the i-th disk includes: shear force, and the supporting force generated by the bearing in the equivalent unit to which the i-th disk belongs; N≥i≥1; and i is an integer; according to the bending deformation formula of the i-th beam, the i-th beam matrix is ​​determined; the i-th beam matrix is ​​used to represent the relationship between the state vectors at both ends of the i-th beam; according to the i-th disk matrix and the i-th beam matrix, the state relationship at both ends of the i-th equivalent unit is determined; based on the Riccati transformation relationship and the state relationship at both ends of the i-th equivalent unit, the state vectors of the N equivalent units are determined; the state vectors of the N equivalent units are used to represent the rotor state.

12. An electronic device, wherein: The electronic device comprises: Memory for storing computer programs; A processor is used to execute the method for determining the rotor state according to any one of claims 1 to 10 when the computer program is running.

13. A computer storage medium, wherein: Executable instructions are stored thereon, which are used to implement the method for determining the rotor state as described in any one of claims 1 to 10 when executed by a processor.

Images