CN112953344B - Unbalance vibration compensation control method for bearingless asynchronous motor rotor - Google Patents
Unbalance vibration compensation control method for bearingless asynchronous motor rotor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P2207/01—Asynchronous machines
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Abstract
The invention discloses a compensation control method for rotor unbalance vibration of a bearingless asynchronous motor, which comprises the steps of extracting a rotor unbalance vibration fundamental frequency signal through a filter according to a rotor displacement signal acquired by a displacement sensor; comparing the rotor displacement variation with a threshold value to serve as a judgment basis, and calculating a compensation signal through a PD iterative algorithm; the coordinate system searching algorithm replaces the fixed-step parameter in the PD iterative algorithm with the directional variable-step parameter to quickly search the optimal compensation value so as to realize quick and effective suppression of the rotor vibration.
Description
Technical Field
The invention belongs to the technical field of electric transmission control equipment, and particularly relates to a method for compensating unbalance vibration of a rotor of a bearingless asynchronous motor.
Background
The bearing-free asynchronous motor is a technical innovation in the field of motors, changes the supporting mode of a traditional motor rotor, has the advantages of an asynchronous motor, has the advantages of no mechanical contact, no friction, no need of lubrication and the like of a magnetic bearing, can meet the bearing-free supporting operation in special environments such as clean environment, corrosive environment, high-speed and ultrahigh-speed and the like, and has huge application prospects in the fields of flywheel energy storage, chemical engineering, transportation, aerospace and the like.
Because rotor mass distribution is inhomogeneous, machining error and produce deformation in the rotatory process, rotor barycenter skew stator geometric centre can produce the unbalanced excitation force with the rotational speed co-frequency this moment, arouses the unbalanced vibration of rotor system, and this kind of unbalanced vibration force is directly proportional with the square of rotational speed, and when the motor was moved at a high speed, the rotor can not stably suspend and can cause even and decide, the rotor friction, rotor barycenter skew has not only restricted the further promotion of rotational speed, and seriously influences motor suspension performance and operation safety moreover. Therefore, the method has important theoretical value and practical significance for the research on the unbalanced vibration suppression of the rotor of the bearingless asynchronous motor.
At present, the current imbalance displacement compensation control methods mainly include generalized wave traps, minimum mean square algorithms and the like. The notch filter can effectively inhibit the vibration of the rotor, but because the notch filter needs to be provided with the central frequency and can only work near the central frequency, the notch filter is not suitable for occasions with the change of the rotating speed of the motor; the adaptive filter algorithm based on the least mean square algorithm is complex, an expensive controller is needed, the system cost is increased, the iteration step length in the iterative algorithm is a fixed value, and the convergence speed of the algorithm cannot be accelerated while the identification precision of the algorithm is guaranteed. Therefore, in order to improve the speed and the accuracy of the unbalanced vibration suppression of the bearingless asynchronous motor, a simple and practical unbalanced vibration suppression method needs to be designed, which is an urgent need for improvement in the industry at present.
Disclosure of Invention
In order to solve the problem of unbalanced vibration of the rotor of the bearingless asynchronous motor, the invention provides a compensation control method for the unbalanced vibration of the rotor of the bearingless asynchronous motor.
The technical scheme adopted by the invention is as follows:
a vibration compensation control method for unbalance of a rotor of a bearingless asynchronous motor comprises the following steps:
s1, extracting basic frequency signals e in the x-axis direction in rotor vibration signals at two radial ends of the rotor based on unbalanced vibration signals x and y by utilizing the rotor vibration signals x and y obtained by the displacement sensorxFundamental frequency signals e in the (t) and y-axis directionsy(t)；
S2, and using the fundamental frequency signal e in the rotor vibration signal obtained in S1x(t) and ey(t) as a judgment basis by iterative calculation of PDMethod for iterative calculation and output of unbalance compensation signal coefficient [ alpha ] of rotorc,βc]。
Further, the fundamental frequency signal e is extracted in the step S1x(t) and eyThe method of (t) is:
s1.1, measuring unbalanced vibration signals x and y by a displacement sensor;
s1.2, introducing a reference signal with the same frequency as the rotor, multiplying the reference signal by the unbalanced vibration signal x and y respectively, and multiplying the reference signal by a multiplier to obtain a direct current component containing the amplitude and the phase of a fundamental frequency signal; inputting the product of the unbalanced vibration signal and the reference signal with the same frequency of the rotor into a low-pass filter, filtering out alternating current components by using the low-pass filter and reserving direct current components;
s1.3, and then the direct current signals are respectively corresponding to sin (omega)rt)、cos(ωrt) multiplying to obtain a fundamental frequency signal e in the displacement signal detected by the sensorx(t) and ey(t), expressed as: .
Wherein, ω isrIs the motor rotation angular velocity; t is time; r isx1、Rx2Respectively, a direct current signal in the x-direction, Ry1、Ry2Direct current signals in the y direction respectively; a. the0、B0Are the amplitude of the fundamental frequency signal, phi, respectively0Is the phase of the base frequency signal.
Further, the method of calculating and outputting the imbalance compensation signal coefficient of the rotor in S2 is:
s2.1, based on the radial suspension force winding current i of the motors2dAnd is2qConstruction of a Compensation Signal ic(t)：
ic(t)＝acsin(ωt+φ)+βccos(ωt+φ)；
Wherein alpha isc，βcAll are compensation signal coefficients, omega is the angular speed of the motor, and phi is a phase angle;
s2.2, iterating through a PD iterative algorithmNew compensation signal coefficient alphac、βcBy rotor displacement variations e during iterative updatingk(t) as a judgment basis.
Further, the process of iteratively updating the compensation signal coefficients in S2.2 is
S2.2.1, presetting a compensation signal coefficient alphac、βcThe corresponding compensation amounts are respectively Sα、Sβ；
S2.2.2, original compensation signal coefficient alphac、βcOn the compensation quantity SαAnd SβThe new compensation signal coefficient is obtained as: a isc+SαAnd betac+Sβ(ii) a And substituting the new compensation signal coefficient into the compensation signal ic(t) obtaining a new compensation signal;
s2.2.3, inputting new compensation current into the suspension control module of the motor, and detecting the displacement variation delta a in the x and y directionse、ΔβeAnd based on Δ ae、ΔβeCalculating the displacement variation e of the rotork(t)，
S2.2.4, if increasing the compensation amount SαAnd SβPost-displacement variation e of rotork(t) becomes smaller, the compensation signal coefficient after the compensation amount is superimposed is saved, that is, a is savedc+SαAnd betac+Sβ(ii) a And performing PD iteration on the compensation signal coefficient after the compensation quantity is superposed, as follows:
wherein alpha isk、βkCompensating signal coefficients, i.e. alpha, for k iterationsk＝ac+Sα；βk＝βc+Sβ；kp、k'pAre respectively proportional coefficients; gP、G'PA weight coefficient matrix for adjusting the proportional link weight; gD、G'DA weight coefficient matrix for adjusting the weight of the differential link; a (S) is represented by SαAnd SβComposed full rank matrix(ii) a And repeating the steps 2.2.2-2.2.3 to perform compensation calculation of the next period.
If the compensation amount S is increasedαAnd SβPost-displacement variation e of rotorkWhen (t) becomes large, the compensation signal coefficient obtained by superimposing the compensation amount is not stored, that is, a is not storedc+SαAnd betac+Sβ(ii) a And repeating the steps 2.2.2-2.2.3 to perform compensation calculation of the next period.
Stopping iteration when the iteration meets the iteration end condition, and outputting the imbalance compensation signal coefficient [ alpha ] at the momentc,βc]. In the application, the end condition of the PD iterative algorithm is that the iterative algorithm is stopped when the rotor displacements x and y can meet the set motor operation accuracy requirement after the kth compensation signal is input.
Further, S2.2.3, a rotor displacement variation e is calculatedkThe method of (t) is:
wherein T is the sampling period, N is the number of sampling periods, aek、βekAre the values of the rotor displacement in the x and y directions in the k-th sampling period, ex(t)、eyAnd (t) respectively measuring the rotor fundamental frequency displacement in the x direction and the y direction in real time.
Further, the calculation of the unbalanced vibration compensation signal of the rotor is accelerated by utilizing the coordinate system searching algorithm with directional variable step length to replace the invariable step length parameter in the S2 and combining with the PD iterative algorithm;
further, the directional variable step length R is used to replace the S2 constant preset compensation amount, and the specific process of calculating the compensation signal coefficient by combining the PD iteration method is as follows:
s3.1, overlapping the variable step length R to a preset compensation quantity Sα,Sβ]In the initial stateSetting an initial compensation amount (S)0,S0)＝(α0,β0) (0,0) and (S)1,S1)＝(S0,S0)+R0，R0Is set to 10-5The angle is 0 degrees (0.00001,0), and the comparison value in each step is as follows:
setting an algorithm threshold value as E;
will (S)1,S1) Inputting the parameter as step length into motor PD iterative compensation algorithm, if measured E1(t)-E0(t) is less than or equal to E, the current searching direction is not changed, the step length is continuously increased according to the current direction, and R is enabled to be simultaneously1＝R0＝10-5∠0；
N thaIn step, if Ea(t)-E(a-1)(t)>E, adjusting the search direction, i.e. making Ra＝10-5120 DEG, and then continuously searching the value of the compensation coefficient along the direction of 120 DEG (S)a,Sa)＝(Sa-1,Sa-1)+10-5∠120°；
N thbWhen in step (c), if not satisfying E in 120 DEG directionb(t)-E(b-1)When t is less than or equal to E, the direction is continuously adjusted, i.e. R is enabledb＝10-5Continuously searching for the angle 240 degrees (S)b,Sb)＝(Sb-1,Sb-1)+10-5∠240°；
N thcWhen step (c), if E is not satisfied in the direction of 240 DEGc(t)-E(c-1)When the (t) is less than or equal to E, the direction is adjusted to continue searching;
s3.2, in order to avoid the search result circulating in a triangle, every time the direction is converted into a circle, the search step length R is changed into:
wherein n is the number of switching circles when the rotor is deflected ek(t) when greater, R is searched rapidly with greater steps, when rotor offset ek(t) comparingWhen the algorithm is small, R is accurately searched in a small step length, so that the repetition of an algorithm search area and the convergence of an acceleration coefficient are avoided;
and S3.3, when the rotor displacement x and y can meet the set requirement of the motor operation precision, stopping the calculation of the algorithm, and inputting the unbalanced compensation current into the motor suspension winding to realize the unbalanced vibration suppression of the rotor.
Further, the algorithm threshold value E is 1.5 × 10-5。
Further, the displacement sensor is a non-contact displacement sensor.
The invention has the beneficial effects that:
1. the method is suitable for suppressing the vibration of the rotor of the bearingless motor, and in the working process of the bearingless asynchronous motor, the compensation signal is calculated in an iterative mode through the iterative algorithm of the directional variable step length parameter, so that the calculation speed of the unbalance compensation signal is increased while the compensation precision is considered.
2. The step factor adjusting function has the characteristics of simple and convenient algorithm and small calculation amount, and can effectively improve the real-time performance of compensation signal calculation.
3. The method for inhibiting the unbalanced vibration of the rotor can effectively inhibit the unbalanced vibration caused by the mass center offset, realizes the good running of the motor, is suitable for other types of bearingless motors and various types of motors supported by magnetic bearings, and has wide application value.
Drawings
FIG. 1 is a schematic diagram of rotor displacement fundamental frequency signal extraction;
FIG. 2 is a vibration compensation signal calculation equivalent model;
FIG. 3 is a schematic diagram of a search algorithm;
FIG. 4 is a block diagram of a coordinate system search algorithm flow.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 2 shows a method for compensating unbalance vibration of a rotor of a bearingless asynchronous motor, which comprises the following steps:
s1, acquiring an unbalanced vibration signal: extracting to obtain a fundamental frequency signal e in the x-axis direction in rotor vibration signals at two radial ends of the rotor based on unbalanced vibration signals x and y by utilizing rotor vibration signals x and y obtained by a displacement sensorxFundamental frequency signals e in the (t) and y-axis directionsy(t) of (d). The specific process shown in fig. 1 is as follows:
s1.1, in the rotating motion process of the rotating shaft, the rotor mass eccentricity can excite an excitation force which is in proportion to the square of the rotating speed along the eccentricity direction, and the excitation force is a periodic sinusoidal signal with the same frequency as the rotating speed in a static coordinate system. In view of the symmetry of the bearingless motor structure, the excitation force can cause the axis of the rotor to generate unbalanced vibration displacement, and unbalanced displacement signals of the rotor in the horizontal direction and the vertical direction are changed at the same frequency. Therefore, the characteristic model structure for constructing the unbalanced vibration displacement fundamental frequency signal is as follows:
wherein x ismAnd ymDisplacement in the x-direction and y-direction of the formation, respectively; a and B are the amplitude of the fundamental frequency signal in the x and y directions respectively; omega is angular velocity; t is time; θ is the phase.
In the unbalanced vibration signals x, y measured by the displacement sensor, besides the required fundamental frequency signal, there are also direct current, different frequency multiplication harmonic signals, random noise with a certain bandwidth, etc. which affect the feedback accuracy, and are expressed as:
wherein C is the direct current component of the displacement signal; n (t) isMachine noise; a. the0sin(ω0t+φ0)、B0cos(ω0t+φ0) For the fundamental frequency signal, A0、B0Respectively the amplitude, omega, of the fundamental frequency signal0Is the angular velocity of the base frequency signal, phi0Is the phase of the fundamental frequency signal; a. theisin(ωit+φi)、Bicos(ωit+φi) Respectively, harmonic sets of various frequency multipliers, Ai、BiAmplitude, ω, of the i-th frequency-multiplied signaliIs the angular velocity, phi, of the ith frequency-multiplied signaliThe phase of the ith frequency multiplication signal; t is time; n is a frequency multiple.
S1.2, introducing a reference signal with the same frequency as the rotor, multiplying the reference signal by the unbalanced vibration signal respectively, and multiplying the reference signal by a multiplier to obtain a direct current component containing the amplitude A of the fundamental frequency signal0And phase phi0. The reference signals corresponding to the unbalanced vibration signal x are respectively: x is the number of1(t)＝sin(ωrt)、x2(t)＝cos(ωrt), inputting the unbalanced vibration signal x into the multiplier and the reference signal x respectively1(t)、x2(t) are multiplied to give the formula:
similarly, the reference signals corresponding to the unbalanced vibration signal y are respectively: y is1(t)＝sin(ωrt)、y2(t)＝cos(ωrt), inputting the unbalanced vibration signal y into the multiplier and the reference signal y respectively1(t)、y2(t) to give the following formula:
wherein, ω isrIs the motor rotation angular velocity; x is a radical of a fluorine atom1(t)、x2(t)、y1(t)、y2(t) are reference signals for the unbalanced vibration signals x and y, respectively. The products obtained in the formulas (3) and (4) are input into a low-pass filterThe low-pass filter can filter out alternating current components, and only the direct current components are reserved as follows:
wherein R isx1、Rx2Respectively, a direct current signal in the x-direction, Ry1、Ry2Respectively, a direct current signal in the y-direction.
S1.3, and respectively corresponding sin (omega) to the direct current signals in the two directionsrt)、cos(ωrt) multiplying to obtain a fundamental frequency signal e in the displacement signal detected by the sensorx(t) and ey(t), expressed as: .
The displacement sensor selected in the present embodiment is a non-contact displacement sensor.
S2, calculating an unbalanced vibration compensation signal: the fundamental frequency signal e in the rotor vibration signal obtained in S1 is usedx(t) and ey(t) as a judgment basis, iteratively calculating and outputting the imbalance compensation signal coefficient [ alpha ] of the rotor through a PD iterative algorithmc,βc]. The specific process is as follows:
s2.1, the radial suspension force equation of the motor is as follows:
as can be seen from the radial suspension force equation of the motor, the winding current i is changed by changing the radial suspension forces2dAnd is2qThe suspension force can be controlled. So based on radial levitation force winding current is2dAnd is2qConstruction of a Compensation Signal ic(t)：
ic(t)＝acsin(ωt+φ)+βccos(ωt+φ) (7)
Wherein alpha isc，βcAre all the coefficients of the compensation signal, and,omega is the angular speed of the motor, phi is the phase angle.
S2.2, compensating the signal coefficient alpha by changing a certain momentc、βcWill cause a change in the amplitude of the radial rotor offset, and so the compensation signal coefficient alpha is iteratively updated by a PD iterative algorithmc、βcVarying the value e by the rotor displacement during the iterative updating processk(t) as a judgment basis. The specific process of iteratively updating the compensation signal coefficient is as follows:
s2.2.1, presetting a compensation signal coefficient alphac、βcThe corresponding compensation amounts are respectively Sα、Sβ；
S2.2.2, original compensation signal coefficient alpha in PD iterative computationc、βcOn the compensation quantity SαAnd SβAnd obtaining a new compensation signal coefficient: a isc+SαAnd betac+Sβ(ii) a And substituting the new compensation signal coefficient into formula (7) to obtain new compensation signal ic(t) is expressed as:
ic(t)＝(ac+Sα)sin(ωt+φ)+(βc+Sβ)cos(ωt+φ) (8)
s2.2.3, inputting the new compensation current in the formula (8) into the motor suspension control module, and simultaneously detecting the displacement variation delta a in the x and y directionse、ΔβeAnd based on Δ ae、ΔβeCalculating the rotor displacement variation ek(t), expressed as follows:
wherein T is the sampling period, N is the number of sampling periods, aek、βekAre the values of the rotor displacement in the x and y directions in the k-th sampling period, ex(t)、ey(t) rotors in x and y directions, respectivelyAnd measuring the displacement of the fundamental frequency in real time.
S2.2.4, if increasing the compensation amount SαAnd SβPost-displacement variation e of rotorkWhen (t) becomes smaller, the compensation signal coefficient after the superimposition of the compensation amount is stored (i.e., a is stored)c+SαAnd betac+Sβ) (ii) a And performing PD iteration on the compensation signal coefficient after the compensation amount is superposed, wherein the formula is as follows:
wherein alpha isk、βkCompensating signal coefficients, i.e. alpha, for k iterationsk＝ac+Sα；βk＝βc+Sβ；kp、k'pAre respectively proportional coefficients; gP、G'PA weight coefficient matrix for adjusting the proportional link weight; gD、G'DA weight coefficient matrix for adjusting the weight of the differential link; a (S) is represented by SαAnd SβForming a full rank matrix; and repeating the steps 2.2.2-2.2.3 to perform compensation calculation of the next period.
If the compensation amount S is increasedαAnd SβPost-displacement variation e of rotorkWhen (t) becomes large, the compensation signal coefficient on which the compensation amount is superimposed is not stored (that is, a is not stored)c+SαAnd betac+Sβ) (ii) a And repeating the steps 2.2.2-2.2.3 to perform compensation calculation of the next period.
Stopping iteration when the iteration meets the iteration end condition, and outputting the imbalance compensation signal coefficient [ alpha ] at the momentc,βc]. In the application, the end condition of the PD iterative algorithm is that the iterative algorithm is stopped when the rotor displacements x and y can meet the set motor running accuracy requirement after the kth compensation signal is input.
In order to increase the speed of obtaining the imbalance compensation signal coefficient in the method S2, the invention further provides an optimization scheme, directional variable step length of a coordinate system searching algorithm is used for replacing the unchanged step length parameter in the S2, and the calculation of the imbalance vibration compensation signal of the rotor is accelerated by combining with a PD iterative algorithm. The specific process is as follows:
and S3.1, establishing a rectangular coordinate system as shown in FIG. 3, replacing the unchanged preset compensation amount of S2 with the directional variable step length R, and calculating a compensation signal coefficient by combining the PD iterative method. Superimposing the variable step size R to a preset offset Sα,Sβ]In the initial state, an initial compensation amount (S) is set0,S0)＝(α0,β0) (S) when the result is (0,0)1,S1)＝(S0,S0)+R0，R0Is set to 10-5The angle is 0 degrees, namely (0.00001,0), and the comparison value at each step is as follows:
the threshold of the algorithm is E-1.5 multiplied by 10-5。
Will (S)1,S1) Inputting the step length parameter into motor PD iterative compensation algorithm, if measured E1(t)-E0(t) is less than or equal to E, the current searching direction is not changed, the step length is continuously increased according to the current direction, and R is enabled to be simultaneously1＝R0＝10-5∠0。
N thaIn step, if Ea(t)-E(a-1)(t)>E, adjusting the search direction, i.e. making Ra＝10-5The angle is 120 degrees, at the moment, the value of the compensation coefficient is continuously searched along the direction of 120 degrees, (S)a,Sa)＝(Sa-1,Sa-1)+10-5∠120°。
N thbWhen step (c), if not satisfying E in 120 deg. directionb(t)-E(b-1)When t is less than or equal to E, the direction is continuously adjusted, i.e. R is enabledb＝10-5Continuously searching for the angle 240 degrees (S)b,Sb)＝(Sb-1,Sb-1)+10-5∠240°。
N thcWhen in step (d), if the angle does not satisfy E in the direction of 240 DEGc(t)-E(c-1)If t is less than or equal to E, adjusting the direction to continue searching.
S3.2, in order to avoid the search result circulating in a triangle, every time the direction is converted into a circle, the search step length R is changed into:
wherein n is the number of switching circles when the rotor is deflected ek(t) when greater, R is searched rapidly with greater steps, when rotor offset ek(t) when smaller, R is searched exactly in smaller steps, thus avoiding repetition of the algorithm search region and convergence of the acceleration factor.
And S3.3, when the rotor displacement x and y can meet the set requirement of the motor operation precision, stopping the calculation of the algorithm, and inputting the unbalanced compensation current into a motor suspension winding to realize the suppression of the unbalanced vibration of the rotor. The algorithm flow chart is shown in fig. 4.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications based on the principles and design concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (5)
1. A vibration compensation control method for unbalance of a rotor of a bearingless asynchronous motor is characterized by comprising the following steps:
s1, extracting and obtaining a fundamental frequency signal e in the x-axis direction in rotor vibration signals at two radial ends of the rotor based on the unbalanced vibration signals x and y by utilizing the rotor vibration signals x and y obtained by the displacement sensorxFundamental frequency signals e in the (t) and y-axis directionsy(t)；
S2, and using the fundamental frequency signal e in the rotor vibration signal obtained in S1x(t) and ey(t) as a judgment basis, and iteratively calculating and outputting the imbalance compensation signal coefficient alpha of the rotor by a PD iterative algorithmcAnd betac(ii) a The method for calculating and outputting the imbalance compensation signal coefficient of the rotor in S2 includes:
s2.1, based on the radial suspension force winding current i of the motors2dAnd is2qConstruction of a Compensation Signal ic(t)：
ic(t)＝acsin(ωt+φ)+βccos(ωt+φ)；
Wherein alpha isc、βcAll are compensation signal coefficients, omega is the angular speed of the motor, phi is a phase angle, and t is time;
s2.2, iteratively updating the compensation signal coefficient alpha through a PD iterative algorithmc、βcBy rotor displacement variations e during iterative updatingk(t) as a judgment basis;
the process of iteratively updating the compensation signal coefficient in S2.2 is:
s2.2.1, presetting a compensation signal coefficient alphac、βcThe corresponding compensation amounts are respectively Sα、Sβ；
S2.2.2, original compensation signal coefficient alphac、βcOn the compensation quantity SαAnd SβThe new compensation signal coefficient is obtained as: a isc+SαAnd betac+Sβ(ii) a And substituting the new compensation signal coefficient into the compensation signal ic(t) obtaining a new compensation signal;
s2.2.3, inputting new compensation current into the motor suspension control module, and detecting the displacement variation delta a in x and y directionse、ΔβeAnd based on Δ ae、ΔβeCalculating the rotor displacement variation ek(t); s2.2.3, calculating the rotor displacement variation ekThe method of (t) is:
wherein T is the sampling period, N is the number of sampling periods, aek、βekAre the rotor displacement values in the x and y directions in the k-th sampling period respectively,ae(k-1)、βe(k-1)the value of the rotor displacement in the x and y directions in the k-1 th sampling period, ex(t)、ey(t) real-time measurement values of rotor fundamental frequency displacement in the x direction and the y direction respectively;
s2.2.4, if increasing the compensation amount SαAnd SβPost-displacement variation e of rotork(t) when the value becomes smaller, the compensation signal coefficient after the compensation amount is superimposed is stored, that is, a is storedc+SαAnd betac+Sβ(ii) a And performing PD iteration on the compensation signal coefficient after the compensation quantity is superposed, as follows:
wherein alpha isk、βkCompensating signal coefficients, i.e. alpha, for k iterationsk＝ac+Sα；βk＝βc+Sβ；αk+1、βk+1Compensating the signal coefficients for iteration k +1 times; k is a radical ofp、k'pAre respectively proportional coefficients; gP、G'PA weight coefficient matrix for adjusting the proportional link weight; gD、G'DA weight coefficient matrix for adjusting the weight of the differential link; a (S) is represented by SαAnd SβForming a full rank matrix; repeating the steps S2.2.2-2.2.3 to carry out compensation calculation of the next period;
if the compensation quantity S is increasedαAnd SβPost-displacement variation e of rotorkWhen (t) becomes large, the compensation signal coefficient on which the compensation amount is superimposed is not stored, that is, a is not storedc+SαAnd betac+Sβ(ii) a Repeating the steps S2.2.2-2.2.3 to carry out compensation calculation of the next period;
stopping iteration when the iteration meets the iteration end condition, and outputting the imbalance compensation signal coefficient [ alpha ] at the momentc,βc](ii) a The end condition of the PD iterative algorithm is that the iterative algorithm is stopped when the rotor displacement x and y can meet the set motor operation precision requirement after the k-th compensation signal is input.
2. The method for controlling unbalance vibration compensation of rotor of asynchronous motor without bearing according to claim 1, wherein the fundamental frequency signal e is extracted from S1x(t) and eyThe method of (t) is:
s1.1, measuring unbalanced vibration signals x and y by a displacement sensor;
s1.2, introducing a reference signal with the same frequency as the rotor, multiplying the reference signal by the unbalanced vibration signal x and y respectively, and multiplying the reference signal by a multiplier to obtain a direct current component containing the amplitude and the phase of a fundamental frequency signal; inputting the product of the unbalanced vibration signal and a reference signal with the same frequency of the rotor into a low-pass filter, filtering out alternating current components by using the low-pass filter, and reserving direct current components;
s1.3, and then the direct current signals are respectively corresponding to sin (omega)rt)、cos(ωrt) multiplying to obtain a fundamental frequency signal e in the displacement signal detected by the sensorx(t) and ey(t), expressed as:
wherein, ω isrIs the motor rotation angular velocity; t is time; r isx1、Rx2Respectively, a direct current signal in the x direction, Ry1、Ry2Direct current signals in the y direction respectively; a. the0、B0Are the amplitude of the fundamental frequency signal, phi, respectively0Is the phase of the base frequency signal.
3. The method for controlling the unbalance vibration compensation of the rotor of the bearingless asynchronous motor according to claim 1, wherein a directional variable step length R is used for replacing a preset compensation amount which is not changed by S2, and a specific process for calculating a compensation signal coefficient by combining a PD iteration method is as follows:
s3.1, superposing variable step length R on preset compensation quantity Sα,Sβ]In the initial state, an initial compensation amount (S) is set0,S0)＝(α0,β0) (0,0) and (S)1,S1)＝(S0,S0)+R0，R0Is set to 10-5The angle is 0 degrees, namely (0.00001,0), and the comparison value at each step is as follows:
setting an algorithm threshold value as E; t is a sampling period, and N is the number of times of the sampling period;
will (S)1,S1) Inputting the parameter as step length into motor PD iterative compensation algorithm, if measured E1(t)-E0(t) is less than or equal to E, the current searching direction is not changed, the step length is continuously increased according to the current direction, and R is enabled to be simultaneously1＝R0＝10-5∠0；
When step N is equal to step a, if Ea(t)-E(a-1)(t)>E, adjusting the search direction, i.e. making Ra＝10-5The angle is 120 degrees, at the moment, the value of the compensation coefficient is continuously searched along the direction of 120 degrees, (S)a,Sa)＝(Sa-1,Sa-1)+10-5∠120°；
When step N is b, if E is not satisfied in 120 DEG directionb(t)-E(b-1)When t is less than or equal to E, the direction is continuously adjusted, i.e. R is enabledb＝10-5Continuously searching for an angle of 240 degrees (S)b,Sb)＝(Sb-1,Sb-1)+10-5∠240°；
When step N is equal to step c, if E is not satisfied in the direction of 240 DEGc(t)-E(c-1)When t is less than or equal to E, adjusting the direction to continue searching;
s3.2, in order to avoid the search result circulating in a triangle, every time the direction is converted into a circle, the search step length R is changed into:
wherein n is the number of switching circles when the rotor is deflected ek(t) when larger, R is searched fast with larger step size, when rotor is deviated ek(t) when smaller, R is searched precisely in smaller steps, becauseThis avoids repetition of the algorithm search region and convergence of the acceleration coefficients;
and S3.3, when the rotor displacement x and y can meet the set requirement of the motor operation precision, stopping the calculation of the algorithm, and inputting the unbalanced compensation current into a motor suspension winding to realize the suppression of the unbalanced vibration of the rotor.
4. The method as claimed in claim 3, wherein the threshold E is 1.5 × 10-5。
5. The unbalance vibration compensation control method for the rotor of the bearingless asynchronous motor is characterized in that the displacement sensor is a non-contact displacement sensor according to any one of claims 1 to 4.
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