CN115857362B - Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller - Google Patents
Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller Download PDFInfo
- Publication number
- CN115857362B CN115857362B CN202310180896.5A CN202310180896A CN115857362B CN 115857362 B CN115857362 B CN 115857362B CN 202310180896 A CN202310180896 A CN 202310180896A CN 115857362 B CN115857362 B CN 115857362B
- Authority
- CN
- China
- Prior art keywords
- trap
- frequency
- transfer function
- energy storage
- flywheel rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Landscapes
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The application discloses a common-frequency vibration suppression method of an energy storage flywheel rotor and a magnetic bearing controller. The method comprises the following steps: determining a gain function of the trap according to the original transfer function of the trap; multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap is adjusted; the frequency characteristic of the transfer function after adjustment is that the maximum value of the phase lag at the notch center frequency is the value of a preset phase parameter, and the amplitude value of the low frequency band is one; and carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the regulated wave trap. The problems that the common-frequency suppression effect is poor due to the fact that the phase lag and the notch bandwidth cannot be considered simultaneously in the mode of performing common-frequency suppression on the energy storage flywheel rotor through the conventional wave trap in the related art are solved.
Description
Technical Field
The application relates to the field of magnetic suspension, in particular to a common-frequency vibration suppression method of an energy storage flywheel rotor and a magnetic bearing controller.
Background
The working principle of the magnetic suspension energy storage flywheel control system is as follows: when the position sensor detects that the rotor deviates from the geometric center, the control algorithm calculates a current instruction required by the magnetic bearing coil according to the deviation, the current instruction is closed-loop by the power circuit, and then the magnetic bearing outputs electromagnetic force with a certain size to restore the rotor to the geometric center, so that collision accidents are avoided.
The active control capability of the magnetic bearing is utilized, and the same-frequency vibration is restrained by combining a certain control algorithm, so that the rotor is forced to rotate around the inertial main shaft, and the self-balancing algorithm is called. Fig. 1 is a block diagram of a control system according to the prior art, and as shown in fig. 1, a conventional common-frequency rejection algorithm is generally a conventional trap, and the disadvantage is quite obvious: the selection of the damping ratio of the wave trap has contradiction, the large damping ratio can widen the bandwidth of the wave trap, but the phase lag before the center frequency is very serious; the small damping ratio can reduce phase lag before the center frequency, but can lead to extremely narrow notch bandwidth and higher requirements on rotating speed precision. This disadvantage results in that the conventional trap hardly suppresses the same frequency.
Aiming at the problems that the common-frequency suppression effect is poor due to the fact that the phase lag and the notch bandwidth cannot be considered in the same-frequency suppression mode of the energy storage flywheel rotor through the conventional wave trap to change the damping ratio in the related art, no effective solution is proposed at present.
Disclosure of Invention
The main purpose of the application is to provide a method for suppressing same-frequency vibration of an energy storage flywheel rotor and a magnetic bearing controller, so as to solve the problems that in the related art, the common-frequency suppression mode is carried out on the energy storage flywheel rotor through changing the damping ratio by a conventional wave trap, and the phase lag and the trapped wave bandwidth cannot be considered, so that the common-frequency suppression effect is poor.
In order to achieve the above object, according to one aspect of the present application, there is provided a method for suppressing co-frequency vibration of an energy storage flywheel rotor, the method comprising: determining a gain function of the trap according to an original transfer function of the trap; multiplying the gain function with the original transfer function of the trap to construct a transfer function adjusted by the trap; when the Laplace operator is zero, the amplitude of the frequency characteristic is one, and when the imaginary part of the Laplace operator is the same-frequency rotating speed, the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter; and carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the regulated wave trap.
Optionally, the determining the gain function of the trap according to the original transfer function of the trap includes: acquiring an original transfer function of the trap, wherein the original transfer function comprises a Laplacian operator, the current rotating speed of an energy storage flywheel rotor, a damping ratio and preset phase parameters; setting the Laplacian of the original transfer function to be zero, and determining a relation among the current rotating speed of the energy storage flywheel rotor, the damping ratio and a preset phase parameter; and constructing the gain function according to the relation.
Optionally, the constructing the gain function according to the relation includes: and taking an expression obtained by inverting the relation as a gain function of the gain, wherein the gain function comprises the current rotating speed, a damping ratio and a preset phase parameter.
Optionally, the primary transfer function of the trap is:
wherein->
For the transfer function of the trap, < >>
For the Laplacian, +.>
For the current rotational speed of the energy-storing flywheel rotor, < >>
For the damping ratio, +.>
And the preset phase parameter is set.
Optionally, the gain function is:
wherein->
Is the gain function.
Optionally, the multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap adjustment includes: multiplying the gain function by the original transfer function of the trap, and determining the formula of the adjusted transfer function as follows:
wherein->
For the adjusted transfer function, in +.>
In the case of->
In->
In the case of (a) the number of the cells,
wherein->
Is a complex unit of->
The phase of the frequency characteristic of the notch filter at the notch center frequency is adjusted.
Optionally, performing the same-frequency suppression on the energy storage flywheel rotor according to the adjusted notch filter includes: determining a phase margin of a frequency characteristic of a preset control algorithm, wherein the control algorithm is used for carrying out same-frequency suppression on the energy storage flywheel rotor; and compensating the phase margin of the control algorithm by setting the preset phase parameter of the adjusted trap, so that the compensated phase margin reaches a preset phase threshold.
To achieve the above object, according to another aspect of the present application, there is provided a magnetic bearing controller for suppressing co-frequency vibration of an energy storage flywheel rotor, comprising: the gain module is used for determining the gain function of the trap according to the original transfer function of the trap; the adjusting module is used for multiplying the gain by the transfer function to construct an adjusted transfer function of the trap, wherein the amplitude of the frequency characteristic is one when the Laplacian is zero, and the maximum value of the phase lag of the frequency characteristic at the trap center frequency is the value of a preset phase parameter when the imaginary part of the Laplacian is the same-frequency rotating speed; and the control module is used for carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the adjusted wave trap.
In order to achieve the above object, according to another aspect of the present application, there is provided a computer-readable storage medium for storing a program, wherein the program performs the same-frequency vibration suppression method of the energy storage flywheel rotor of any one of the above.
In order to achieve the above object, according to another aspect of the present application, there is provided an electronic device including one or more magnetic bearing controllers and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more magnetic bearing controllers, cause the one or more magnetic bearing controllers to implement the method of suppressing the same frequency vibration of the energy storage flywheel rotor as described in any of the above.
According to the original transfer function of the trap, determining the gain function of the trap; multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap is adjusted; the amplitude of the frequency characteristic is one when the Laplace operator is zero, and the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter when the imaginary part of the Laplace operator is the same-frequency rotating speed; and carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the regulated wave trap.
The method has the advantages that the original transfer function of the trap is adjusted through the gain function, the maximum value of the phase lag of the frequency characteristic of the adjusted transfer function at the trap center frequency is the value of a preset phase parameter, instability caused by excessively low margin is avoided, the amplitude of the frequency characteristic in a low frequency range is one, the frequency characteristic of the low frequency range is not changed, the frequency characteristic of an original forward channel is kept, the trap effect is guaranteed, the effect of the frequency characteristic of the original forward channel is not influenced, the problem that the frequency characteristic of the original forward channel is not changed due to bidirectional parameter adjustment is avoided, the problem that the damping ratio is low is not related to the fact that the preset phase lag is achieved, the technical effect of a wider trap bandwidth is achieved, and further the problem that the same-frequency inhibition effect is poor due to the fact that the common-frequency inhibition effect cannot be achieved due to the fact that the phase lag and the trap bandwidth are too wide in the mode that the common-frequency inhibition is carried out on the energy storage flywheel rotor in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a block diagram of a control system according to the prior art;
FIG. 2 is a flow chart of a method for damping co-frequency vibration of an energy storing flywheel rotor according to an embodiment of the present application;
FIG. 3 is a schematic illustration of dynamic balancing of a rotor single-sided cross-section according to an embodiment of the present application;
FIG. 4 is a bode plot of an adjusted phase shift trap according to an embodiment of the present application;
FIG. 5 is a schematic diagram of the position, current signal before and after the addition of the phase shift trap in a high-speed experiment according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a magnetic bearing controller for damping co-frequency vibrations of an energy storing flywheel rotor according to an embodiment of the present application;
fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The present invention is described below in connection with preferred implementation steps, and fig. 2 is a flowchart of a method for suppressing co-frequency vibration of an energy storage flywheel rotor according to an embodiment of the present application, as shown in fig. 2, where the method includes the following steps:
step S201, determining a gain function of the trap according to an original transfer function of the trap;
step S202, multiplying the gain by a transfer function to construct a transfer function after the trap is adjusted, wherein the amplitude of the frequency characteristic is one when the Laplace operator is zero, and the maximum value of the phase lag of the frequency characteristic at the trap center frequency is the value of a preset phase parameter when the imaginary part of the Laplace operator is the same frequency rotating speed;
and step S203, the same-frequency vibration suppression is carried out on the energy storage flywheel rotor according to the adjusted wave trap.
The step of determining the gain function of the trap according to the original transfer function of the trap; multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap is adjusted; the amplitude of the frequency characteristic is one when the Laplace operator is zero, and the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter when the imaginary part of the Laplace operator is the same-frequency rotating speed; and carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the regulated wave trap.
The method has the advantages that the original transfer function of the trap is adjusted through the gain function, the maximum value of the phase lag of the frequency characteristic of the adjusted transfer function at the trap center frequency is the value of a preset phase parameter, instability caused by too low margin is avoided, the amplitude of the transfer function in the low frequency range is one, the frequency characteristic of the low frequency range is not changed, the frequency characteristic of an original forward channel is kept, the trap effect is guaranteed, the effect of the frequency characteristic of the original controller connected in series is not influenced, the problem that the frequency characteristic of the original forward channel is not changed due to bidirectional parameter adjustment is avoided, the problem that the damping ratio is low is solved, the preset phase lag is realized, the technical effect of a wider trap bandwidth is realized, and further the problem that the common frequency inhibition effect is poor due to the fact that the phase lag and the trap bandwidth cannot be considered in the mode of common frequency inhibition on the energy storage flywheel rotor in the related art is solved.
The execution subject of the above steps may be a magnetic bearing controller, which may include a processing means to execute the data processing operations in the above steps, such as step S201 to step S203.
It should be noted that more than one data processing device may be provided in the magnetic bearing controller, and even a data connection with a remote device or a cloud device is possible. The data processing operations described above may be assigned to different data processing execution subjects for operation according to actual conditions.
The trap moves according to the frequency characteristic of the transfer function, and the same-frequency vibration of the energy storage flywheel rotor is restrained. The original transfer function of the trap has the problem of difficult selection of damping ratio, and particularly, the large damping ratio can widen the trap bandwidth, but the phase lag before the center frequency is very serious; a small damping ratio, while reducing the phase lag before the center frequency, results in a very narrow notch bandwidth.
Therefore, there is a need for a trap whose maximum phase lag at the notch center frequency can be arbitrarily set by parameters, avoiding situations where the phase margin is too low; meanwhile, the amplitude before the center frequency is kept to be 1 by introducing a certain gain, and the frequency characteristic of the original forward channel is not changed.
The frequency characteristics of the trap include amplitude frequency characteristics and phase frequency characteristics, and according to the above requirements, the amplitude frequency characteristics of the trap are required to be such that the amplitude of the low frequency band before the center frequency is 1. Thus, the amplitude frequency characteristic of the wave trap is unchanged in the low frequency band. The required phase frequency characteristic of the trap is that the maximum value of the phase lag at the center frequency is the value of the preset phase parameter, which can be preset, what is the setting, what is the phase lag of the trap at the center frequency.
Optionally, the original transfer function of the trap is:
wherein->
For the transfer function of the trap, +.>
For Laplace operator>
For the current rotational speed of the energy-storing flywheel rotor, +.>
For damping ratio->
Is a preset phase parameter. />
In this embodiment, the characteristics of the original transfer function of the trap are combined, and the gain function of the trap is determined when the laplace operator is zero, so that when the value of the laplace operator is 0, the original transfer function is equal to 1, that is, the gain before the center frequency is kept to be 1, and the frequency characteristics of the original forward channel are not affected. The specific analysis is as follows:
considering that the phase shift trap is often used with other controllers, it is desirable that the frequency characteristics of the original controller are not changed as much as possible, so that the phase shift trap and the original controller are prevented from bi-directional tuning. The expression (3) shows that the gain is introduced in the low frequency band
So that the low frequency gain is quantized to 1, i.e. the original controller gain before the center frequency is not changed.
Optionally, determining the gain function of the trap according to the original transfer function of the trap includes: acquiring an original transfer function of a trap, wherein the original transfer function comprises a Laplacian operator, the current rotating speed of an energy storage flywheel rotor, a damping ratio and a preset phase parameter; the Laplacian operator of the original transfer function is set to be zero, and the relation between the current rotating speed of the energy storage flywheel rotor, the damping ratio and the preset phase parameter is determined; and constructing a gain function according to the relation.
The value of the preset phase parameter can be any preset value, and when the imaginary part of the Laplace operator of the original transfer function is the same-frequency rotating speed, namely when the Laplace operator is jw, the phase frequency characteristic of the trap transfer function is calculated to obtain the value of the preset phase parameter of the phase lag of the frequency characteristic at the center frequency.
The value of the preset phase parameter can be set arbitrarily, so that the maximum phase lag of the trap at the trap center frequency can be set arbitrarily through the parameter, and the situation of excessively low phase margin is avoided. The specific analysis is as follows:
the trap is at the center frequency, and its frequency characteristics are:
theoretically, the gain is infinitesimal, and the phase is calculated as:
description of formula (4), parameters
So that the maximum phase lag at the center frequency is quantized to +.>
。
Optionally, constructing the gain function according to the relation includes: and taking an expression obtained by inverting the relation as a gain function of the gain, wherein the gain function comprises the current rotating speed of the energy storage flywheel rotor, the damping ratio and a preset phase parameter.
When the gain function is constructed, the relation is inverted to obtain an expression of the gain function. Let the gain function equal to the expression, construct the gain function.
Optionally, the gain function is:
wherein->
As a function of gain.
Optionally, multiplying the gain function with the original transfer function of the trap to construct a transfer function with the trap adjusted, including: multiplying the gain function with the original transfer function of the trap, and determining the formula of the adjusted transfer function as follows:
in the method, in the process of the invention,
for the adjusted transfer function, in +.>
In the case of->
In the following
In the case of->
Wherein->
Is a complex unit of->
The phase of the frequency characteristic of the notch filter at the notch center frequency is adjusted.
The original transfer function of the gain function is combined to obtain an adjusted transfer function, the adjusted transfer function has the maximum phase lag at the notch center frequency and can be set randomly through parameters, and the situation of excessively low phase margin is avoided; meanwhile, the amplitude before the center frequency is kept to be 1 by introducing a certain gain, and the frequency characteristic of the original forward channel is not changed.
Optionally, performing the same-frequency suppression on the energy storage flywheel rotor according to the adjusted wave trap includes: determining a phase margin of a frequency characteristic of a preset control algorithm, wherein the control algorithm is used for carrying out the same-frequency suppression on the energy storage flywheel rotor; and setting the preset phase parameter of the adjusted trap, and compensating the phase margin of the control algorithm to ensure that the compensated phase margin reaches a preset phase threshold.
And further, the common-frequency suppression of the energy storage flywheel rotor according to the adjusted wave trap is realized, and the energy storage flywheel rotor has a better common-frequency suppression effect. The energy storage flywheel rotor can be a magnetic suspension energy storage flywheel rotor.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in a different order than that illustrated herein.
It should be noted that this application also provides an alternative embodiment, and the following detailed description of this embodiment is provided.
The magnetic suspension energy storage flywheel control system mainly comprises five parts: the high-speed flywheel comprises a high-speed flywheel body, a magnetic bearing body, a position sensor, a control algorithm and a power circuit. Wherein the high-speed flywheel body is supported by a magnetic bearing and is sealed in a vacuum device. The working principle of the control system is as follows: when the position sensor detects that the rotor deviates from the geometric center, the control algorithm calculates a current instruction required by the magnetic bearing coil according to the deviation, the current instruction is closed-loop by the power circuit, and then the magnetic bearing outputs electromagnetic force with a certain size to restore the rotor to the geometric center, so that collision accidents are avoided.
Residual dynamic balance inevitably exists in the processing process of the high-speed rotor, and the daily high-speed operation also can lead to a certain degree of material deformation, so that the dynamic balance effect is aggravated. The dynamic balance effect can generate a great common-frequency centrifugal force at high speed, and the control principle proves that the common-frequency centrifugal force finally needs to be counteracted by the output force of the magnetic bearing, and the stator of the magnetic bearing needs to bear a great common-frequency control force according to the Newton's second law. The above problems may result in:
1. when the control algorithm is unreasonable, the coil current is far higher than the magnetic bearing bias current, so that the output force is saturated;
2. the same-frequency reaction force is applied to the magnetic bearing stator, so that the service life of the magnetic bearing can be reduced after long-time operation;
3. the magnetic bearing stator is fixed to the flywheel housing, which may cause vibration and noise of the external environment, affecting the look and feel of the product and even the safety of operators.
In the related art, the active control capability of the magnetic bearing is utilized, and the same-frequency vibration is restrained by combining a certain control algorithm, so that the rotor is forced to rotate around the inertia main shaft, and the self-balancing algorithm is called. The conventional common-frequency suppression algorithm is generally a conventional wave trap, and the defects of the conventional common-frequency suppression algorithm are quite obvious: the selection of the damping ratio of the wave trap has contradiction, the large damping ratio can widen the bandwidth of the wave trap, but the phase lag before the center frequency is very serious; the small damping ratio can reduce phase lag before the center frequency, but can lead to extremely narrow notch bandwidth and higher requirements on rotating speed precision. This disadvantage results in that conventional traps hardly suppress the same frequency, most of which are used to suppress the higher order frequency multiplication. Various improved phase shift wave traps are proposed by the following parties, namely, the frequency characteristics are not symmetrically distributed about the central frequency any more, but hysteresis at the central frequency is reduced by adjusting the wave trap parameters, but the situation of undefined parameter tuning meaning exists, and the field debugging is influenced.
In the actual speed increasing and decreasing process of the energy storage flywheel, the angular momentum causes the flywheel to have gyroscopic effects with different degrees, and the open loop gain and the cut-off frequency which are positive and negative frequency characteristics are time-varying when the rotor frequency characteristics are reflected. The constant-coefficient PID control law can provide a phase advance region of a fixed frequency band, and if the parameter tuning meaning of the trap is not clear, the phase advance provided by differentiation at a certain cut-off frequency can be offset by the hysteresis of the trap, so that the phase margin at a certain rotating speed is too low, and instability is caused.
Aiming at the problem, the embodiment provides a phase shift trap capable of quantitatively adjusting parameters, which is used for inhibiting the same-frequency vibration, and the maximum phase lag at the center frequency of the trap can be set randomly through parameters, so that the situation of excessively low phase margin is avoided; meanwhile, the gain before the center frequency is kept to be 1 by introducing a certain gain, and the frequency characteristic of the original forward channel is not changed.
The dynamic balance of the magnetic suspension flywheel rotor is mainly the same-frequency disturbance, a dynamic balance force model is built by using a cross section view of one side of the rotor, as shown in fig. 3, and fig. 3 is a schematic diagram of the dynamic balance of the cross section of one side of the rotor according to an embodiment of the application.
The O-point is the geometric center, the coordinates (x O ,y O ) The G point is the centroid, the coordinates (x g ,y g )。
Is the initial phase and the rotor rotates at the speed
Run time->
. The eccentricity OG is marked->
. The coordinate relationship of the centroid and the geometric center is:
the secondary derivation can be obtained:
and then the same-frequency interference force is obtained as follows:
the phase shift wave trap capable of quantitatively adjusting parameters provided by the embodiment can inhibit the same-frequency interference force of the formula (1), so that the performance of an original controller (such as a common PID algorithm) is not affected while the same-frequency interference is attenuated. The phase shift wave trap capable of quantifying and adjusting parameters is shown in a formula (2).
The phase shift trap
In (I)>
For Laplace operator>
For the current rotational speed +.>
By introducing a gain +.>
And preset phase parameter->
And respectively quantitatively adjusting the amplitude and the phase. The specific quantitative analysis is as follows:
a) And (5) amplitude quantization calculation:
considering that the phase shift trap is often used with other controllers, it is desirable that the frequency characteristics of the original controller are not changed as much as possible, so that the phase shift trap and the original controller are prevented from bi-directional tuning.
The expression (3) shows that the gain is introduced in the low frequency band
At this time, the amplitude of the transfer function is 1, so that the gain of the low frequency band is quantized to 1, that is, the original controller gain before the center frequency is not changed.
b) Phase quantization calculation:
at the center frequency, its frequency characteristics are:
theoretically, the gain is infinitesimal, and the phase is calculated as:
description of formula (4), parameters
So that the maximum phase lag at the center frequency is quantized to +.>
。
The set of simulation parameters is assumed to be
，
，
The final bode plot is shown in fig. 4, fig. 4 being a bode plot of an adjusted phase shift trap according to an embodiment of the present application.
Fig. 4 illustrates that the proposed phase shift trap has a low frequency band amplitude of 0db and a phase lag of 0 degrees without changing the frequency characteristics of the original controller in series. And at the notch center frequency of 200Hz, the phase lags by 20 degrees. The quantization parameter complies with design expectations.
Fig. 5 is a schematic diagram of a position before and after adding a phase shift trap and a current signal in a high-speed experiment according to an embodiment of the present application, and as shown in fig. 5, it is illustrated that the phase shift trap of the present embodiment has a better co-channel suppression effect, and ensures that the performance of an original controller is not affected while the co-channel interference is attenuated.
The phase shift trap provided by the embodiment introduces gain
Quantizing the amplitude before adjusting the center frequency, introducing a parameter +.>
Quantization adjusts the maximum phase lag at the center frequency. Considering the high-speed rotor with strong gyroscopic effect, the frequency characteristic of the high-speed rotor is severely changed, and if the parameter adjustment cannot be quantized, high-speed instability is easily caused. The phase shift wave trap guarantees the wave trapping effect, does not affect the frequency characteristic of the original controller connected in series, and avoids the unknown change of the frequency characteristic of the original forward channel caused by bidirectional parameter adjustment.
Fig. 6 is a schematic diagram of a magnetic bearing controller for suppressing co-frequency vibration of an energy storage flywheel rotor according to an embodiment of the present application, and as shown in fig. 6, the embodiment of the present application further provides a magnetic bearing controller for suppressing co-frequency vibration of an energy storage flywheel rotor, for performing the method for suppressing co-frequency vibration of an energy storage flywheel rotor, where the magnetic bearing controller includes: the gain module 61, the adjustment module 62, the control module 63 are as follows.
A gain module 61, configured to determine a gain function of the trap according to an original transfer function of the trap; the adjusting module 62 is connected with the gain module 61 and is used for multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap is adjusted; the amplitude of the frequency characteristic is one when the Laplace operator is zero, and the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter when the imaginary part of the Laplace operator is the same-frequency rotating speed; and the control module 63 is connected with the adjustment module 62 and is used for carrying out the same-frequency vibration suppression on the energy storage flywheel rotor according to the adjusted wave trap.
The magnetic bearing controller determines a gain function of the trap according to an original transfer function of the trap; multiplying the gain function with the original transfer function of the trap to construct a transfer function after the trap is adjusted; the amplitude of the frequency characteristic is one when the Laplace operator is zero, and the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter when the imaginary part of the Laplace operator is the same-frequency rotating speed; and carrying out the same-frequency vibration inhibition on the energy storage flywheel rotor according to the regulated wave trap.
The method has the advantages that the original transfer function of the trap is adjusted through the gain function, the maximum value of the phase lag of the frequency characteristic of the adjusted transfer function at the trap center frequency is the value of a preset phase parameter, instability caused by too low margin is avoided, the amplitude of the transfer function in a low-frequency range is one, the frequency characteristic of the low-frequency range is not changed, the frequency characteristic of an original forward channel is kept, the trap effect is guaranteed, the frequency characteristic of a serial original controller is not influenced, the problem that the frequency characteristic of the original forward channel is not changed due to bidirectional parameter adjustment is avoided, the problem that the damping ratio is low is not related to, the technical effect of a wider trap bandwidth is achieved while the preset phase lag is achieved, and the problem that the same-frequency inhibition effect is poor due to the fact that the phase lag and the limited bandwidth are not compatible in the same-frequency inhibition mode of an energy storage flywheel rotor by changing the damping ratio through a conventional trap in the related technology is solved.
The magnetic bearing controller includes a processor and a memory, the gain module 61, the adjustment module 62, the control module 63, etc. are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problems that the phase lag and the bandwidth limit cannot be compatible, and the same frequency suppression effect is poor are solved by changing the damping ratio through a conventional wave trap in the related art through adjusting the inner core parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and the program is executed by a processor to realize the same-frequency vibration suppression method of the energy storage flywheel rotor.
The embodiment of the invention provides a processor which is used for running a program, wherein the same-frequency vibration suppression method of an energy storage flywheel rotor is executed when the program runs.
Fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 7, the embodiment of the present application provides an electronic device 70, where the device includes a processor, a memory, and a program stored in the memory and capable of running on the processor, and the processor implements the steps of the method for suppressing co-frequency vibration of the energy storage flywheel rotor when executing the program:
the device herein may be a server, PC, PAD, cell phone, etc.
The present application also provides a computer program product adapted to perform a program initialized with any of the above-mentioned method steps when executed on an electronic device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable electronic device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable electronic device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable electronic device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (9)
1. The method for suppressing the same-frequency vibration of the energy storage flywheel rotor is characterized by comprising the following steps of:
determining a gain function of the trap according to an original transfer function of the trap;
multiplying the gain function with the original transfer function of the trap to construct a transfer function adjusted by the trap; when the Laplace operator is zero, the amplitude of the frequency characteristic is one, and when the imaginary part of the Laplace operator is the same-frequency rotating speed, the maximum value of the phase lag of the frequency characteristic at the notch center frequency is the value of a preset phase parameter;
the same-frequency vibration suppression is carried out on the energy storage flywheel rotor according to the adjusted wave trap;
wherein, carry out the same frequency to energy storage flywheel rotor and restrain according to the trapper after the adjustment includes:
determining a phase margin of a frequency characteristic of a preset control algorithm, wherein the control algorithm is used for carrying out same-frequency suppression on the energy storage flywheel rotor;
and compensating the phase margin of the control algorithm by setting the preset phase parameter of the adjusted trap, so that the compensated phase margin reaches a preset phase threshold.
2. The method of claim 1, wherein determining the gain function of the trap based on the original transfer function of the trap comprises:
acquiring an original transfer function of the trap, wherein the original transfer function comprises a Laplacian operator, the current rotating speed of the energy storage flywheel rotor, a damping ratio and preset phase parameters;
setting the Laplacian of the original transfer function to be zero, and determining a relation among the current rotating speed of the energy storage flywheel rotor, the damping ratio and a preset phase parameter;
and constructing the gain function according to the relation.
3. The method of claim 2, wherein said constructing said gain function according to said relationship comprises:
and taking an expression obtained by inverting the relation as a gain function of the gain, wherein the gain function comprises the current rotating speed, a damping ratio and a preset phase parameter.
4. The method of claim 2, wherein the original transfer function of the trap is:
in the method, in the process of the invention,
for the original transfer function of the trap, < >>
For the Laplacian, +.>
For the current rotational speed of the energy-storing flywheel rotor, < >>
For the damping ratio, +.>
And the preset phase parameter is set.
5. The method of claim 4, wherein the gain function is:
in the method, in the process of the invention,
is the gain function.
6. The method of claim 5, wherein multiplying the gain function with the original transfer function of the trap to construct the trap-adjusted transfer function comprises:
multiplying the gain function by the original transfer function of the trap, and determining the formula of the adjusted transfer function as follows:
in the method, in the process of the invention,
for the adjusted transfer function, in +.>
In the case of->
In the following
In the case of->
Wherein->
Is a complex unit of->
The phase of the frequency characteristic of the notch filter at the notch center frequency is adjusted.
7. A magnetic bearing controller for suppressing co-frequency vibration of an energy storing flywheel rotor, comprising:
the gain module is used for determining the gain function of the trap according to the original transfer function of the trap;
the adjusting module is used for multiplying the gain function with the original transfer function to construct an adjusted transfer function of the trap, wherein the amplitude of the frequency characteristic is one when the Laplacian is zero, and the maximum value of the phase lag of the frequency characteristic at the center frequency of the trap is the value of a preset phase parameter when the imaginary part of the Laplacian is the same-frequency rotating speed;
the control module is used for carrying out the same-frequency vibration suppression on the energy storage flywheel rotor according to the adjusted wave trap;
the control module is further used for determining a phase margin of frequency characteristics of a preset control algorithm, wherein the control algorithm is used for carrying out same-frequency suppression on the energy storage flywheel rotor; and compensating the phase margin of the control algorithm by setting the preset phase parameter of the adjusted trap, so that the compensated phase margin reaches a preset phase threshold.
8. A computer-readable storage medium for storing a program, wherein the program performs the same-frequency vibration suppression method of the energy storage flywheel rotor of any one of claims 1 to 6.
9. An electronic device comprising one or more magnetic bearing controllers and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more magnetic bearing controllers, cause the one or more magnetic bearing controllers to implement the method of co-frequency vibration suppression of an energy storage flywheel rotor of any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310180896.5A CN115857362B (en) | 2023-03-01 | 2023-03-01 | Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310180896.5A CN115857362B (en) | 2023-03-01 | 2023-03-01 | Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115857362A CN115857362A (en) | 2023-03-28 |
| CN115857362B true CN115857362B (en) | 2023-05-23 |
Family
ID=85659399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310180896.5A Active CN115857362B (en) | 2023-03-01 | 2023-03-01 | Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115857362B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102425563B (en) * | 2011-12-08 | 2014-03-12 | 北京中科科仪股份有限公司 | Method and system for synchronously inhibiting subcritical vibration of rotor of magnetic suspension molecular pump |
| CN108008745B (en) * | 2017-10-19 | 2019-06-04 | 南京航空航天大学 | Method and control system for suppressing co-frequency vibration force of magnetic levitation flywheel based on phase lag compensation |
| TWI692181B (en) * | 2018-10-16 | 2020-04-21 | 財團法人工業技術研究院 | Electric power regulating system and method thereof |
| CN111624888B (en) * | 2020-06-12 | 2021-09-03 | 中山大学 | Magnetic suspension rotor vibration force suppression method and system based on repetitive controller and compensation |
| CN115693967A (en) * | 2021-07-27 | 2023-02-03 | 国家电投集团科学技术研究院有限公司 | Flywheel energy storage and inertia conduction system with magnetorheological fluid device |
| CN115169028A (en) * | 2022-06-22 | 2022-10-11 | 本元智慧科技有限公司 | A kind of unbalance control method of flywheel energy storage active magnetic suspension bearing system |
-
2023
- 2023-03-01 CN CN202310180896.5A patent/CN115857362B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115857362A (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110768912B (en) | API gateway current limiting method and device | |
| CN109474865B (en) | Wind noise prevention method, earphone and storage medium | |
| Doh et al. | Design of a repetitive controller: an application to the track-following servo system of optical disk drives | |
| US8831755B2 (en) | System and method for feedback control | |
| CN109257675B (en) | Wind noise prevention method, earphone and storage medium | |
| CN116186772A (en) | Model training method and device based on federal learning | |
| CN115857362B (en) | Common-frequency vibration suppression method for energy storage flywheel rotor and magnetic bearing controller | |
| Lin et al. | Chattering reduced sliding mode control for a class of chaotic systems | |
| CN116191972A (en) | Position-free closed-loop starting method, system and equipment for permanent magnet synchronous motor | |
| Qiao et al. | Active control for multinode unbalanced vibration of flexible spindle rotor system with active magnetic bearing | |
| US20170261948A1 (en) | Motor control apparatus, motor control method, program, and recording medium | |
| Govind et al. | A comparative study of controllers for quanser qube servo 2 rotary inverted pendulum system | |
| US20230324885A1 (en) | Control assistance device, control system, and control assistance method | |
| CN113311708A (en) | Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters | |
| CN108093356B (en) | Howling detection method and device | |
| CN112731957A (en) | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle | |
| CN115258198B (en) | Spacecraft orbit determination method and device, processor and electronic equipment | |
| CN117555239A (en) | Longitudinal self-adaptive control method, device and storage medium for wide-speed-domain aircraft | |
| Wang et al. | Broad band controller design for remote vibration using a geometric approach | |
| Zhao et al. | Feedforward decoupling control for rigid rotor system of active magnetically suspended high‐speed motors | |
| CN111639812A (en) | Performance debugging method and device of electronic product and related product | |
| Yu | Luenberger observer design for uncertainty nonlinear systems | |
| CN119602368A (en) | Grid-connected control method and device, storage medium and electronic equipment | |
| Mando et al. | Structural stability and control at high speed regime of two-dimensional active magnetic bearing systems | |
| CN111900946B (en) | Automatic gain control method and device for signal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |