Unified suppression method for external disturbances and internal levitation force ripples of magnetic levitation motor system

Abstract

The present invention relates to the technical field of automatic control, and provides a unified suppression method for external disturbances and internal levitation force ripples of a magnetic levitation motor system, comprising: acquiring time-varying levitation force data of a magnetic levitation motor, and converting the time-varying levitation force data of the magnetic levitation motor into nominal levitation force feedback data of a time-invariant levitation force; designing a Kalman observer on the basis of the nominal levitation force feedback data; the Kalman observer observing and acquiring external disturbance and internal levitation force ripple data of a magnetic levitation motor system; and forwards feeding and supplementing the external disturbance and internal levitation force ripple data of the magnetic levitation motor system into a levitation control system of the magnetic levitation motor, thereby achieving unified suppression of external disturbances and internal levitation force ripples of the magnetic levitation motor system. The present invention can effectively reduce the influence of external disturbances and internal levitation force ripples on a magnetic levitation switched reluctance motor, thereby effectively improving the levitation precision and the anti-disturbance performance of a magnetic levitation switched reluctance motor system.

Description

Unified suppression method for external disturbance and internal suspension force pulsation of magnetic levitation motor system Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a method for uniformly suppressing external disturbances and internal suspension force pulsations of a magnetic levitation motor system. Background Art

[0002] The magnetically levitated switched reluctance motor (SRM) is an integrated device of a switched reluctance motor and a magnetic bearing. While retaining the advantages of the SRM, such as a wide speed regulation range and high mechanical strength, it can also provide levitation force to enable contactless operation of the rotor, offering broad application prospects. However, the SRM is affected by both external disturbances and internal levitation force pulsations. To address this issue, traditional approaches generally equate the levitation force model with the steady-state levitation force model of the magnetic bearing. This type of levitation force model is related to the rotor displacement and levitation force control current, but not to the rotor position. While this method allows for the convenient and quick application of existing magnetic bearing control technology, it ignores the time-varying characteristics of the levitation force, making it difficult to further improve levitation accuracy and anti-interference performance. Summary of the Invention

[0003] The purpose of the present invention is to solve at least one technical problem in the background technology and provide a method for uniformly suppressing external disturbances and internal suspension force pulsations of a magnetic levitation motor system.

[0004] To achieve the above objectives, the present invention provides a method for uniformly suppressing external disturbances and internal levitation force pulsations of a magnetic levitation motor system, comprising:

[0005] Obtaining time-varying data of the levitation force of the magnetic levitation motor, and converting the time-varying data of the levitation force of the magnetic levitation motor into nominal feedback data of the levitation force with time-invariant levitation force;

[0006] designing a Kalman observer based on the nominal feedback data of the suspension force;

[0007] Obtaining external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through the Kalman observer;

[0008] The external disturbance and internal suspension force pulsation data of the magnetic levitation motor system are fed forward and supplemented to the suspension control system of the magnetic levitation motor, so as to realize the unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

[0009] According to one aspect of the present invention, the nominal feedback data of the suspension force is obtained by calculating the current stiffness coefficient k from the time-varying data of the suspension force within the range of 0 to 2π mechanical angles. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is obtained;

[0010] The time-varying data of the levitation force of the magnetic levitation motor is:

[0011]

[0012] Where i y is the suspension current, y1 is the offset displacement, k iy (θ), k y (θ) is the radial current stiffness coefficient and radial displacement stiffness coefficient:

[0013]

[0014] The current stiffness coefficient k is obtained by using the above time-varying data of the suspension force within the range of 0 to 2π mechanical angle. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is used to obtain the nominal feedback data of the suspension force:

[0015]

[0016] Where k' iy , k' y are the radial current stiffness coefficient and radial displacement stiffness coefficient of the nominal feedback data of the suspension force, and the specific form is:

[0017]

[0018] In the above formula, k m B is the suspension force correction factor considering the effect of magnetic saturation. r is the remanence of the permanent magnet, h pm is the magnetization thickness of the permanent magnet ring, S1 is the area of ​​the permanent magnet, S m is the area of ​​the main magnetic flux, g0 is the length of the main magnetic flux path, g1 is the length of the edge magnetic flux path, N is the number of winding turns, S f (θ) is the fringe flux area.

[0019] According to one aspect of the present invention, designing a Kalman observer based on the nominal feedback data of the suspension force includes:

[0020] Establish a single degree of freedom state space equation based on the nominal feedback data of the suspension force;

[0021] Discretize the state space equations;

[0022] The Kalman observer is designed based on the discretized state space equation.

[0023] According to one aspect of the present invention, the state space equation for establishing a single degree of freedom based on the nominal feedback data of the suspension force is: ;

[0024] Where, , , , , x r1 is the displacement state variable, x r2 is the differential of displacement, x is given by x r1 with x r2 The state variables are: u is the input current i, f is the sum of the external disturbance and the internal suspension force pulsation, and m is the rotor mass;

[0025] Expand the state space equation and take , where x r3 For f, considering the influence of noise, the expanded state space equation is: ;

[0026] In the formula, w is the process noise, v is the measurement noise, after expansion, , , .

[0027] According to one aspect of the present invention, the discretized state space equation is:

[0028]

[0029] In the formula, M=I+TA, N=TB, where T represents the discrete sampling time, U k-1 represents the value of u at time k-1, W k-1 represents the value of process noise w at time k-1, V k-1 represents the value of the measurement noise v at time k-1, X k-1 represents the value of x at time k-1, X k represents the value of x at time k, Z k represents the measurement value at time k, and I represents the third-order unit matrix.

[0030] According to one aspect of the present invention, the Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes a prediction part;

[0031] The prediction equation of the prediction part includes:

[0032]

[0033]

[0034] Among them, X represents the state variable after the discretization of x, is the state one-step prediction equation, It means predicting the value of X at time k from time k-1. Represents the predicted value of X at time k-1. For the initial time, the predicted value is a zero vector; is the one-step prediction covariance equation, P represents the variance matrix of the filtering error, P k-1 represents the value of P at time k-1, P k / k-1 It represents the value of P at time k predicted by time k-1, and Q represents the covariance matrix of process noise.

[0035] According to one aspect of the present invention, the Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes an updating part;

[0036] The update equation of the update part includes:

[0037]

[0038]

[0039]

[0040] in, is the Kalman gain equation, where K k represents the Kalman gain at time k, and R represents the covariance matrix of the measurement noise; is the state estimation equation, where represents the predicted value of X at time k; is the estimated mean square error equation, where I represents the third-order unit matrix.

[0041] To achieve the above-mentioned object, the present invention further provides a system for uniformly suppressing external disturbances and internal suspension force pulsations of a magnetic levitation motor system, comprising:

[0042] The suspension force time-varying data acquisition and conversion module acquires the time-varying data of the suspension force of the magnetic suspension motor and converts the time-varying data of the suspension force of the magnetic suspension motor into the suspension force nominal feedback data with constant suspension force;

[0043] A Kalman observer design module is used to design a Kalman observer based on the nominal feedback data of the suspension force;

[0044] An external disturbance and internal suspension force pulsation data acquisition module, which acquires the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through the Kalman observer;

[0045] The suppression module feeds forward the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system to the suspension control system of the magnetic levitation motor, thereby realizing unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

[0046] To achieve the above-mentioned purpose, the present invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the above-mentioned method for unified suppression of external disturbances and internal suspension force pulsations of the magnetic levitation motor system.

[0047] To achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, a unified suppression method for external disturbances and internal suspension force pulsations of the above-mentioned magnetic levitation motor system is implemented.

[0048] According to the solution of the present invention, the present invention designs a Kalman observer based on the nominal feedback data of the suspension force, uniformly observes the external disturbance and the internal suspension force pulsation through the Kalman observer, and uniformly feedforwards the observation values ​​to the suspension control system of the magnetic levitation motor. Such a solution can effectively reduce the influence of the external disturbance and the internal suspension force pulsation on the magnetic levitation switched reluctance motor, and effectively improve the suspension accuracy and anti-interference performance of the magnetic levitation switched reluctance motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] FIG1 schematically shows a flow chart of a method for uniformly suppressing external disturbances and internal levitation force pulsations of a magnetic levitation motor system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are only intended to enable those skilled in the art to better understand and implement the present invention, rather than to imply any limitation on the scope of the present invention.

[0051] As used herein, the term "including" and variations thereof are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment."

[0052] FIG1 schematically shows a flow chart of a method for uniformly suppressing external disturbances and internal levitation force pulsations of a magnetic levitation motor system according to an embodiment of the present invention. As shown in FIG1 , in this embodiment, the method for uniformly suppressing external disturbances and internal levitation force pulsations of a magnetic levitation motor system includes:

[0053] a. Obtain the time-varying data of the levitation force of the magnetic levitation motor, and convert the time-varying data of the levitation force of the magnetic levitation motor into the nominal feedback data of the levitation force that is time-invariant;

[0054] b. Designing a Kalman observer based on the nominal feedback data of the suspension force;

[0055] c. Obtain external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through Kalman observer observation;

[0056] d. Feedforward the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system to the suspension control system of the magnetic levitation motor to achieve unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

[0057] According to an embodiment of the present invention, in the above step a, the nominal feedback data of the suspension force is obtained by calculating the current stiffness coefficient k from the time-varying data of the suspension force within the mechanical angle range of 0 to 2π. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is obtained;

[0058] The time-varying data of the levitation force of the magnetic levitation motor is:

[0059]

[0060] Where i y is the suspension current, y1 is the offset displacement, k iy (θ), k y (θ) is the radial current stiffness coefficient and radial displacement stiffness coefficient:

[0061]

[0062] The current stiffness coefficient k is obtained by using the above time-varying data of the suspension force within the range of 0 to 2π mechanical angle. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is used to obtain the nominal feedback data of the suspension force:

[0063]

[0064] Where k' iy , k' y are the radial current stiffness coefficient and radial displacement stiffness coefficient of the nominal feedback data of the suspension force, and the specific form is:

[0065]

[0066] In the above formula, k m B is the suspension force correction factor considering the effect of magnetic saturation. r is the remanence of the permanent magnet, h pm is the magnetization thickness of the permanent magnet ring, S1 is the area of ​​the permanent magnet, S m is the area of ​​the main magnetic flux, g0 is the length of the main magnetic flux path, g1 is the length of the edge magnetic flux path, N is the number of winding turns, S f(θ) is the fringe flux area.

[0067] Furthermore, according to an embodiment of the present invention, in the above step b, designing a Kalman observer based on the nominal feedback data of the suspension force includes:

[0068] b1. Establish a single-degree-of-freedom state-space equation based on the nominal feedback data of the suspension force;

[0069] b2. Discretize the state space equations;

[0070] b3. Design the Kalman observer based on the discretized state-space equation.

[0071] Furthermore, according to an embodiment of the present invention, in the above step b1, the state space equation of a single degree of freedom is established based on the nominal feedback data of the suspension force: ;

[0072] Where, , , , , x r1 is the displacement state variable, x r2 is the differential of displacement, x is given by x r1 with x r2 The state variables are: u is the input current i, f is the sum of the external disturbance and the internal suspension force pulsation, and m is the rotor mass;

[0073] Expand the state space equation and take , where x r3 For f, considering the influence of noise, the expanded state space equation is: ;

[0074] In the formula, w is the process noise, v is the measurement noise, after expansion, , , .

[0075] Furthermore, according to one embodiment of the present invention, in the above step b2, the discretized state space equation is:

[0076]

[0077] In the formula, M=I+TA, N=TB, where T represents the discrete sampling time, U k-1 represents the value of u at time k-1, W k-1 represents the value of process noise w at time k-1, V k-1 represents the value of the measurement noise v at time k-1, X k-1 represents the value of x at time k-1, Xk represents the value of x at time k, Z k represents the measurement value at time k, and I represents the third-order unit matrix.

[0078] Furthermore, according to an embodiment of the present invention, in the above step b3, a Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes a prediction part;

[0079] The prediction equation of the prediction part includes:

[0080]

[0081]

[0082] Among them, X represents the state variable after the discretization of x, is the state one-step prediction equation, It means predicting the value of X at time k from time k-1. Represents the predicted value of X at time k-1. For the initial time, the predicted value is a zero vector; is the one-step prediction covariance equation, P represents the variance matrix of the filtering error, P k-1 represents the value of P at time k-1, P k / k-1 It represents the value of P at time k predicted by time k-1, and Q represents the covariance matrix of process noise.

[0083] Furthermore, according to an embodiment of the present invention, in the above step b3, a Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes an updating part;

[0084] The update equations of the update part include:

[0085]

[0086]

[0087]

[0088] in, is the Kalman gain equation, where K k represents the Kalman gain at time k, and R represents the covariance matrix of the measurement noise; is the state estimation equation, where represents the predicted value of X at time k; is the estimated mean square error equation, where I represents the third-order unit matrix.

[0089] From the above prediction and update equations, we can see that the Kalman gain, K, depends on the values ​​of Q and R. The larger Q, the closer K is to 1, indicating that the output trusts the measured value more. The larger R, the closer K is to 0, indicating that the output trusts the estimated value more. Therefore, by simply giving the initial values ​​of X (X0) and P (P0), and appropriately selecting Q and R, the Kalman observer can uniformly observe external disturbances and internal suspension force fluctuations, achieving unified suppression of both external disturbances and internal suspension force fluctuations.

[0090] According to the above-mentioned scheme of the present invention, the present invention designs a Kalman observer based on the nominal feedback data of the suspension force, uniformly observes the external disturbance and the internal suspension force pulsation through the Kalman observer, and uniformly feedforwards the observation values ​​to the suspension control system of the magnetic levitation motor. Such a scheme can effectively reduce the influence of the external disturbance and the internal suspension force pulsation on the magnetic levitation switched reluctance motor, and effectively improve the suspension accuracy and anti-interference performance of the magnetic levitation switched reluctance motor system.

[0091] Furthermore, to achieve the above-mentioned object, the present invention also provides a system for uniformly suppressing external disturbances and internal levitation force pulsations of a magnetic levitation motor system, comprising:

[0092] The suspension force time-varying data acquisition and conversion module acquires the time-varying data of the suspension force of the magnetic suspension motor and converts the time-varying data of the suspension force of the magnetic suspension motor into the suspension force nominal feedback data with constant suspension force;

[0093] A Kalman observer design module is used to design a Kalman observer based on the nominal feedback data of the suspension force;

[0094] An external disturbance and internal suspension force pulsation data acquisition module, which acquires the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through the Kalman observer;

[0095] The suppression module feeds forward the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system to the suspension control system of the magnetic levitation motor, thereby realizing unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

[0096] According to an embodiment of the present invention, in the above-mentioned suspension force time-varying data acquisition and conversion module, the suspension force nominal feedback data is obtained by calculating the current stiffness coefficient k from the suspension force time-varying data within the mechanical angle range of 0 to 2π. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is obtained;

[0097] The time-varying data of the levitation force of the magnetic levitation motor is:

[0098]

[0099] Where i yis the suspension current, y1 is the offset displacement, k iy (θ), k y (θ) is the radial current stiffness coefficient and radial displacement stiffness coefficient:

[0100]

[0101] The current stiffness coefficient k is obtained by using the above time-varying data of the suspension force within the range of 0 to 2π mechanical angle. iy (θ) and displacement stiffness coefficient k y The average value of (θ) is used to obtain the nominal feedback data of the suspension force:

[0102]

[0103] Where k' iy , k' y are the radial current stiffness coefficient and radial displacement stiffness coefficient of the nominal feedback data of the suspension force, and the specific form is:

[0104]

[0105] In the above formula, k m B is the suspension force correction factor considering the effect of magnetic saturation. r is the remanence of the permanent magnet, h pm is the magnetization thickness of the permanent magnet ring, S1 is the area of ​​the permanent magnet, S m is the area of ​​the main magnetic flux, g0 is the length of the main magnetic flux path, g1 is the length of the edge magnetic flux path, N is the number of winding turns, S f (θ) is the fringe flux area.

[0106] Furthermore, according to an embodiment of the present invention, in the above-mentioned Kalman observer design module, designing a Kalman observer based on the suspension force nominal feedback data includes:

[0107] Establish a single degree of freedom state space equation based on the nominal feedback data of the suspension force;

[0108] Discretize the state space equations;

[0109] The Kalman observer is designed based on the discretized state space equation.

[0110] Furthermore, according to one embodiment of the present invention, a single-degree-of-freedom state space equation is established based on the nominal feedback data of the suspension force: ;

[0111] Where, , , , , x r1is the displacement state variable, x r2 is the differential of displacement, x is given by x r1 with x r2 The state variables are: u is the input current i, f is the sum of the external disturbance and the internal suspension force pulsation, and m is the rotor mass;

[0112] Expand the state space equation and take , where x r3 For f, considering the influence of noise, the expanded state space equation is: ;

[0113] In the formula, w is the process noise, v is the measurement noise, after expansion, , , .

[0114] Furthermore, according to one embodiment of the present invention, the discretized state space equation is:

[0115]

[0116] In the formula, M=I+TA, N=TB, where T represents the discrete sampling time, U k-1 represents the value of u at time k-1, W k-1 represents the value of process noise w at time k-1, V k-1 represents the value of the measurement noise v at time k-1, X k-1 represents the value of x at time k-1, X k represents the value of x at time k, Z k represents the measurement value at time k, and I represents the third-order unit matrix.

[0117] Furthermore, according to one embodiment of the present invention, a Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes a prediction part;

[0118] The prediction equation of the prediction part includes:

[0119]

[0120]

[0121] Among them, X represents the state variable after the discretization of x, is the state one-step prediction equation, It means predicting the value of X at time k from time k-1. Represents the predicted value of X at time k-1. For the initial time, the predicted value is a zero vector; is the one-step prediction covariance equation, P represents the variance matrix of the filtering error, Pk-1 represents the value of P at time k-1, P k / k-1 It represents the value of P at time k predicted by time k-1, and Q represents the covariance matrix of process noise.

[0122] Furthermore, according to one embodiment of the present invention, a Kalman observer is designed based on the discretized state space equation, and the Kalman observer includes an updating part;

[0123] The update equations of the update part include:

[0124]

[0125]

[0126]

[0127] in, is the Kalman gain equation, where K k represents the Kalman gain at time k, and R represents the covariance matrix of the measurement noise; is the state estimation equation, where represents the predicted value of X at time k; is the estimated mean square error equation, where I represents the third-order unit matrix.

[0128] From the above prediction and update equations, we can see that the Kalman gain, K, depends on the values ​​of Q and R. The larger Q, the closer K is to 1, indicating that the output trusts the measured value more. The larger R, the closer K is to 0, indicating that the output trusts the estimated value more. Therefore, by simply giving the initial values ​​X0 and P0 and selecting Q and R appropriately, the Kalman observer can uniformly observe external disturbances and internal suspension force fluctuations, achieving unified suppression of both external disturbances and internal suspension force fluctuations.

[0129] According to the above-mentioned scheme of the present invention, the present invention designs a Kalman observer based on the nominal feedback data of the suspension force, uniformly observes the external disturbance and the internal suspension force pulsation through the Kalman observer, and uniformly feedforwards the observation values ​​to the suspension control system of the magnetic levitation motor. Such a scheme can effectively reduce the influence of the external disturbance and the internal suspension force pulsation on the magnetic levitation switched reluctance motor, and effectively improve the suspension accuracy and anti-interference performance of the magnetic levitation switched reluctance motor system.

[0130] Furthermore, to achieve the above-mentioned purpose, the present invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and runnable on the processor. When the computer program is executed by the processor, a unified method for suppressing external disturbances and internal suspension force pulsations of the above-mentioned magnetic levitation motor system is implemented.

[0131] Furthermore, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a unified method for suppressing external disturbances and internal suspension force pulsations of the above-mentioned magnetic levitation motor system is implemented.

[0132] Those skilled in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0133] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0134] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, 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 integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0135] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of these modules may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

[0136] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0137] If the functions are implemented as software modules and sold or used as standalone products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the 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 instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the energy-saving signal transmission / reception method of each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk.

[0138] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

[0139] It should be understood that the size of the serial numbers of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A unified suppression method for external disturbances and internal suspension force pulsations of a maglev motor system, characterized in that Including: Obtain the time-varying data of the suspension force of the magnetic levitation motor, and convert the time-varying data of the suspension force of the magnetic levitation motor into the suspension force nominal feedback data with invariant suspension force; Design a Kalman observer according to the suspension force nominal feedback data; Observe and obtain the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through the Kalman observer; Feed forward and supplement the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system to the suspension control system of the magnetic levitation motor to achieve unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

2. The unified suppression method for external disturbances and internal suspension force pulsations of the maglev motor system according to claim 1, wherein The nominal feedback data of the suspension force is obtained by taking the average value of the current stiffness coefficient k iy (θ) and the displacement stiffness coefficient k y (θ) from the suspension force time-varying data within the mechanical angle range of 0 to 2π; The time-varying data of the suspension force of the magnetic levitation motor is: ， Where, i y is the suspension current, y1 is the offset displacement, k iy (θ), k y (θ) are the radial current stiffness coefficient and the radial displacement stiffness coefficient: ， Obtain the average values of the current stiffness coefficient k iy (θ) and the displacement stiffness coefficient k y (θ) within the mechanical angle range from 0 to 2π for the above-mentioned suspension force time-varying data, and obtain the nominal feedback data of the suspension force: ， where k' iy and k' y are the radial current stiffness coefficient and the radial displacement stiffness coefficient of the nominal feedback data of the levitation force, and the specific form is: ， Wherein, k m is the suspension force correction coefficient considering the influence of magnetic saturation, B r is the remanence of the permanent magnet, h pm is the magnetization thickness of the permanent magnet ring, S1 is the area of the permanent magnet, S m is the area of the main magnetic flux, g0 is the length of the main magnetic flux path, g1 is the length of the fringe magnetic flux path, N is the number of winding turns, S f (θ) is the fringe magnetic flux area.

3. The unified suppression method for external disturbances and internal suspension force pulsations of the maglev motor system according to claim 2, wherein The design of the Kalman observer according to the suspension force nominal feedback data includes: Establish a state space equation with a single degree of freedom based on the suspension force nominal feedback data; Discretize the state space equation; Design a Kalman observer according to the discretized state space equation.

4. The unified suppression method for external disturbances and internal suspension force pulsations of the magnetic levitation motor system according to claim 3, characterized in that The state - space equation of a single - degree - of - freedom established based on the nominal feedback data of the suspension force is as follows: ; In the formula, ， ， ， , x r1 is the displacement state variable, x r2 is the differential of displacement, x is the state variable composed of x r1 and x r2 The input current is i, f is the sum of the external disturbance and the internal suspension force pulsation, and m is the rotor mass; Expand the state space equation and take , where x r3 is f. Considering the influence of noise, the expanded state-space equation is as follows: ； where w is the process noise and v is the measurement noise. After expansion, ， ， 。 5. The unified suppression method for external disturbances and internal suspension force pulsations of the magnetic levitation motor system according to claim 4, characterized in that The discretized state space equation is: ， where M = I + TA, N = TB, where T represents the discrete sampling time, U k-1 represents the value of u at time k - 1, W k-1 represents the value of the process noise w at time k - 1, V k-1 represents the value of the measurement noise v at time k - 1, X k-1 represents the value of x at time k - 1, X k represents the value of x at time k, Z k represents the measured value at time k, and I represents the 3 - order identity matrix.

6. The unified suppression method for external disturbances and internal suspension force pulsations of the magnetic levitation motor system according to claim 5, wherein The design of the Kalman observer according to the discretized state space equation, the Kalman observer includes a prediction part; The prediction equation of the prediction part includes: ， ， where X represents the state variable after discretization of x, is the state one-step prediction equation, Denote the value of X predicted at time k from time k - 1. Denote the predicted value of X at time k-1. For the initial time, the predicted value is a zero vector; is the one-step prediction covariance equation, P represents the variance matrix of the filtering error, P k-1 represents the value of P at time k-1, P k / k-1 represents the value of P predicted from time k-1 to time k, and Q represents the covariance matrix of the process noise.

7. The unified suppression method for external disturbances and internal suspension force pulsations of the magnetic levitation motor system according to claim 6, wherein The design of the Kalman observer according to the discretized state space equation, the Kalman observer includes an update part; The update equation of the update part includes: ， ， ， Among them, is the Kalman gain equation, where K k represents the Kalman gain at time k, and R represents the covariance matrix of the measurement noise; is the state estimation equation, where Denote the predicted value of X at time k; It is the estimated mean square error equation, where I represents a 3rd-order identity matrix.

8. A unified suppression system for external disturbances and internal suspension force pulsations of a maglev motor system, characterized in that, Including: A suspension force time-varying data acquisition and conversion module, which acquires the time-varying data of the suspension force of the magnetic levitation motor and converts the time-varying data of the suspension force of the magnetic levitation motor into the suspension force nominal feedback data with invariant suspension force; A Kalman observer design module, which designs a Kalman observer according to the suspension force nominal feedback data; An external disturbance and internal suspension force pulsation data acquisition module, which observes and obtains the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system through the Kalman observer; A suppression module, which feeds forward and supplements the external disturbance and internal suspension force pulsation data of the magnetic levitation motor system to the suspension control system of the magnetic levitation motor to achieve unified suppression of the external disturbance and internal suspension force pulsation of the magnetic levitation motor system.

9. An electronic device, characterized in that, Including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the method for unified suppression of external disturbance and internal suspension force pulsation of the magnetic levitation motor system according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements the method for unified suppression of external disturbance and internal suspension force pulsation of the magnetic levitation motor system according to any one of claims 1 to 7.

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