Low Frequency Vibration Mechanism for AMB High-speed Motor Rotor Systems and Its Compensation Strategy

doi:10.3969/j.issn.1004-132X.2022.17.006

Abstract

Abstract: In industrial applications， a nonsynchronous low frequency vibration occured frequently for high-speed motor systems with AMB. The low frequency vibration was analyzed from two aspects of mathematical model and external excitations. The results show that the low frequency vibration is determined by the natural frequency of the AMB control system， and it is excited by the external noise. Then the compensation strategy was present based on the ESO， and the stability of the AMBs control system was studied. For verification， the simulations and experiments regarding to low frequency vibration were carried out. The results show that under the same white noise excitation， the vibration amplitude of rotor with compensator decreases about 21% compared with that with PID controller. During the speed of 30 000 r/min， the compensator is more effective， and the vibration amplitude of the rotor is reduced by 26.6%.

Key words: , active magnetic bearing（AMB） based motor, low frequency vibration, vibration suppression, extended state observer（ESO）

摘要： 在实际工业应用中，磁悬浮电机转子时常出现与转速无关的低频振动。针对该问题，从数学模型及外部激励两个层面对该低频振动进行了分析，结果表明磁悬浮电机转子的低频振动由闭环控制系统的固有频率决定，且该振动会在噪声的激励下被激发。研究了基于扩展状态观测器的振动补偿策略，并提出了引入扩展状态观测器后控制系统稳定性的判据方法。通过仿真与试验对提出的振动补偿策略进行了验证。结果表明：在同样白噪声激励下，加入补偿器后转子最大振动量较单独使用PID控制时下降约21%；在30 000 r/min转速下，补偿器的作用更为明显，转子最大振动量减少了26.6%。

关键词: 磁悬浮电机, 低频振动, 振动补偿, 扩展状态观测器

CLC Number:

TH133.3

JI Li, MA Xueqing, CHEN Zhenmin. Low Frequency Vibration Mechanism for AMB High-speed Motor Rotor Systems and Its Compensation Strategy[J]. China Mechanical Engineering, 2022, 33(17): 2053-2060.

纪历, 马雪晴, 陈震民. 磁悬浮高速电机转子低频振动机理及补偿方法[J]. 中国机械工程, 2022, 33(17): 2053-2060.

References

［1］纪历，徐龙祥，金超武. 六极异极性径向永磁偏置磁悬浮轴承的研究［J］. 中国机械工程， 2013， 24（6）：730-735.
JI Li， XU Longxiang， JIN Chaowu. Research on Six Magnetic Poles Heteropolar Radial Permanent Magnet Biased Magnetic Bearing［J］. China Mechanical Engineering， 2013， 24（6）：730-735.
［2］纪历. 低温余热磁悬浮发电机转子轴系振动机理研究［J］. 电机与控制学报. 2019（11）：67-75.
JI Li. Vibration Mechanism Analysis of Magnetic Levitation Rotor System for Low Temperature Waste Heat Power Generation［J］. Electric Machines and Control， 2019（11）：67-75.
［3］JI L， XU L， JIN C. Research on a Low Power Consumption Six-pole Heteropolar Hybrid Magnetic Bearing［J］. IEEE Transactions on Magnetics， 2013， 49（8）：4918-4926.
［4］CHEN Q， LIU G， HAN B. Unbalance Vibration Suppression for AMBs System Using Adaptive Notch Filter［J］. Mechanical Systems and Signal Processing， 2017， 93：136-150.
［5］PENG C， SUN J， SONG X， et al. Frequency Varying Current Harmonics Elimination for Active Magnetic Bearing System via Multiple Resonant Controllers［J］. IEEE Transactions on Industrial Electronics， 2017， 64（1）：517-526.
［6］CUI P， HAN D， ZHANG G， et al. Robust Odd Repetitive Controller for Magnetically Suspended Rotor System［J］. IEEE Transactions on Industrial Electronics， 2019， 66（3）：2025-2033.
［7］WANG Z， MAO C， ZHU C. Current Compensation Control of Multiple Frequency Vibrations of the Rotor in Active Magnetic Bearing High Speed Motors［J］. Proceedings of the CSEE， 2018， 38（1）：275-284.
［8］LIU C， LIU G. Autobalancing Control for MSCMG Based on Sliding-mode Observer and Adaptive Compensation［J］. IEEE Transactions on Industrial Electronics， 2016， 63（7）：4346-4356.
［9］YOON S Y， DI L， LIN Z. Unbalance Compensation for AMB Systems with Input Delay：an Output Regulation Approach［J］. Control Engineering Practice， 2016， 46（40）：166-175.
［10］王忠博，毛川，祝长生. 电磁轴承高速电机转子多频振动的电流补偿控制［J］. 中国电机工程学报， 2018， 38（1）：275-284.
WANG Zhongbo， MAO Chuan， ZHU Changsheng. Current Compensation Control of Multiple Frequency Vibrations of the Rotor in Active Magnetic Bearing High Speed Motors［J］. Proceedings of the CSEE， 2018， 38（1）：275-284.
［11］JIANG K， ZHU C， CHEN L. Unbalance Compensation by Recursive Seeking Unbalance Mass Position in Active Magnetic Bearing-Rotor System［J］. IEEE Transactions on Industrial Electronics， 2015， 62（9）：5655-5664.
［12］MAO C， ZHU C. Unbalance Compensation for Active Magnetic Bearing Rotor System Using a Variable Step Size Real-time Iterative Seeking Algorithm［J］. IEEE Transactions on Industrial Electronics， 2018， 65（5）：4177-4186.
［13］王忠博，祝长生，陈亮亮. 基于不平衡系数辨识的电磁轴承-刚性飞轮转子系统不平衡补偿控制［J］. 中国电机工程学报， 2018， 38（12）：3699-3707.
WANG Zhongbo， ZHU Changsheng， CHEN Liangliang. Unbalance Compensation Control of Active Magnetic Bearing-Rigid Flywheel Rotor System Based on Unbalance Coefficients Identification［J］. Proceedings of the CSEE， 2018， 38（12）：3699-3707.
［14］JUGO J， LIZARRAGA I， ARREDONDO I. Nonlinear Modelling and Analysis of Active Magnetic Bearing Systems in the Harmonic Domain：A Case［J］. IET Control Theory Appl. ， 2008， 2（1）：61-71.
［15］QIU Y， JIANG S. Suppression of Low-frequency Vibration for Rotor-bearing System of Flywheel Energy Storage System［J］. Mechanical Systems and Signal Processing， 2019， 121：496-508.
［16］刘健，郑世强，房建成. 高速磁悬浮电机转子低频振动干扰观测与抑制研究［J］. 振动工程学报， 2014， 27（5）：741-747.
LIU Jian， ZHENG Shiqiang， FANG Jiancheng. Research on Low Frequency Vibration Disturbance Observing and Suppressing of High Speed Magnetic Suspension Motor Rotor［J］. Journal of Vibration Engineering， 2014， 27（5）：741-747.
［17］王军，徐龙祥. 磁悬浮轴承开关功率放大器等效数学模型［J］. 电工技术学报， 2010， 25（4）：53-64.
WANG Jun， XU Longxiang. Equivalent Mathematical Models of Switching Power Amplifier for Magnetic Bearing［J］. Transactions of China Electrotechnical Society， 2010， 25（4）：53-64.
［18］GAO Z. Scaling and Bandwidth-parameterization Based Controllertuning［J］. Proceedings of American Control Conference， 2003， 6：4989-4996.

[1]	LI Yingchun, NIE Aonan, YANG Mingxuan, ZHU Dingkang, QIU Ming, YANG Gengsheng. Research on Thermal Characteristics of Auxiliary Bearing in AMBs and Friction Reduction Design [J]. China Mechanical Engineering, 2024, 35(04): 646-655.
[2]	LIANG Yongbin, FU Guang, LIN Zhigui, HE Zhicheng, ZHANG Jialuo, CHEN Tao. Design of Lane Keeping Assist Systems Based on Improved Preview Control Model [J]. China Mechanical Engineering, 2024, 35(03): 548-558.
[3]	HUANG Wei, CHI Cheng. Analysis for Aero -elastic Characteristics of Prop-Rotor in Hover with a Swept Tip [J]. China Mechanical Engineering, 2024, 35(02): 191-200.
[4]	XU Zuolin, HUANG Chuanzhen, LIU Huanlian, LIU Dun. Coating Technology and Mechanism of Modified Diamond Powder by Surface Coating of WC Powders [J]. China Mechanical Engineering, 2024, 35(02): 208-214.
[5]	YUE Jianfeng, LONG Xinyu, HUANG Yunlong, GUO Jialong, LIU Wenji. On-line Identification of Narrow Gap P-GMAW Sidewall Fusion States Based on Arc Acoustic Signals [J]. China Mechanical Engineering, 2024, 35(02): 244-250，259.
[6]	DU Xu, CHANG Zexin, ZHENG Junqiang, REN Pengfei. A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints [J]. China Mechanical Engineering, 2024, 35(02): 280-286.
[7]	SUN Yuxiang, CHEN Li, LONG Bo, WANG Yanping, LIU Shihua, JIA Kun. Intelligent Layout for Pipeline Supports of Nuclear Power Plant under Complex Load [J]. China Mechanical Engineering, 2024, 35(02): 317-323，336.
[8]	LI Mozhi, ZHU Wenfeng, WANG Shunchao. Roller Pose Compensation in Automotive Body Roll-hemming Forming Process with Adhesive for Dimensional Deviation [J]. China Mechanical Engineering, 2024, 35(02): 364-370.
[9]	WANG Weijun, YANG Guilin, DU Qinghao, CHEN Qingying, . Design of 3K Planetary Gear Reducers with No Backlash [J]. China Mechanical Engineering, 2024, 35(01): 36-44,55.
[10]	GAO Jin, CUI Haibing, FAN Tao, LI Ang, DU Zunfeng. A Structural Reliability Calculation Method Based on Adaptive Kriging Ensemble Model [J]. China Mechanical Engineering, 2024, 35(01): 83-92.
[11]	SUN Haitao, ZHAN Mei, FAN Xiaoguang, GUO Jing, HAN Chao, ZHANG Jun. Research Progresses and Prospects of Compression Molding of High-performance PBX [J]. China Mechanical Engineering, 2024, 35(01): 160-180.
[12]	ZHU Fuxian, QIU Gang, ZHU Xingmin, XU Xianyi, ZHOU Jinyu. Failure Mode and Progressive Damage Analyses of Carbon-glass Hybrid Composite Single Nail and Single Shear Bolted Joints [J]. China Mechanical Engineering, 2023, 34(23): 2781-2793.
[13]	HAO Zhuangzhuang, ZHANG Qingchun, HU Yunbo, GUO Yibin, WANG Donghua, LI Wanyou. Research on Influences of Tooth Friction and Geometric Eccentricity Errors on Mesh Stiffness of Profile Shifted Spur Gear Pairs [J]. China Mechanical Engineering, 2023, 34(23): 2812-2823.
[14]	YU Shubo, LIU Zhansheng, ZHAO Chen. Dynamics Simulation Data Driven Domain Adaptive Intelligent Fault Diagnosis [J]. China Mechanical Engineering, 2023, 34(23): 2832-2841.
[15]	LIU Xiaobao, YAN Qingxiu, YI Bin, YAO Tingqiang, GU Wenjuan. Optimization of Process Parameters in Process Manufacturing Based on Ensemble Learning and Improved Particle Swarm Optimization Algorithm [J]. China Mechanical Engineering, 2023, 34(23): 2842-2853.