Automatic Balancing for Rigid Rotor of Magnetically Levitated High-Speed Motors Based on Adaptive Notch Filter with Polarity Switching
Gong Lei1, Yang Zhi2, Zhu Changsheng1, Li Pengfei1
1. College of Electrical Engineering Zhejiang University Hangzhou 310027 China; 2. No.704 Research Institute China Shipbuilding Industry Corporation Shanghai 200031 China
Abstract：For unbalance vibration of rigid rotor system on magnetically levitated high-speed motors,an algorithm based on adaptive notch filter with polarity switching is proposed to achieve automatic balancing. Firstly, according to radial dynamic model of a rigid rotor system with a magnetically levitated high-speed motor, the principle of adaptive notch filter and the strategy of automatic balancing are analyzed. Then a polarity switching strategy is proposed by using of generalized root locus based the magnetically levitated high-speed rigid rotor system, stable operation and automatic balancing in the whole rotational speed range are achieved by adopting adaptive notch filter feedback control and feedforward control. Finally, simulation and experiment results show that the proposed method could suppress the synchronous imbalance vibration and transmitter force to the base effectively in case of different operation conditions.
巩磊, 杨智, 祝长生, 李鹏飞. 基于极性切换自适应陷波器的磁悬浮高速电机刚性转子自动平衡[J]. 电工技术学报, 2020, 35(7): 1410-1421.
Gong Lei, Yang Zhi, Zhu Changsheng, Li Pengfei. Automatic Balancing for Rigid Rotor of Magnetically Levitated High-Speed Motors Based on Adaptive Notch Filter with Polarity Switching. Transactions of China Electrotechnical Society, 2020, 35(7): 1410-1421.
[1] 张涛, 刘欣凤, 莫丽红, 等. 磁悬浮高速电机系统建模与控制[J]. 电机与控制学报, 2018, 22(4): 98-104. Zhang Tao, Liu Xinfeng, Mo Lihong, et al.Modeling and control of magnetic suspension high-speed motor[J]. Electric Machines and Control, 2018, 22(4): 98-104. [2] 秦伟, 范瑜, 徐洪泽, 等. 高温超导运动磁场电磁Halbach初级结构直线感应磁悬浮电机[J]. 电工技术学报, 2018, 33(23): 5427-5434. Qin Wei, Fan Yu, Xu Hongze, et al.A linear induction maglev motor with HTS traveling magnetic electromagnetic Halbach array[J]. Transactions of China Electrotechnical Society, 2018, 33(23): 5427-5434. [3] 吴磊涛, 王东, 苏振中, 等. 异极式永磁偏置径向磁轴承的建模与实验[J]. 电工技术学报, 2018, 33(5): 1051-1057. Wu Leitao, Wang Dong, Su Zhenzhong, et al.Modeling and experiment of permanent magnetic biased radial heter-polar magnetic bearing[J]. Transactions of China Electrotechnical Society, 2018, 33(5): 1051-1057. [4] Mao Chuan, Zhu Changshen.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. [5] Jiang Kejian, Zhu Changshen, Chen Liangliang.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. [6] Taiki N, Shinji W, Yukinori N.An interpretation of unbalance vibration compensator for five-axes active magnetic bearing systems based on internal model principle[C]//Proceedings of the 2015 International Conference on Advanced Mechatronic Systems, Beijing, China, 2015: 137-142. [7] Taiki N, Shinji W, Yukinori N.A phase stabilization method for unbalance vibration control of five-axes active magnetic bearing systems[C]//Proceedings of the 2014 International Conference on Advanced Mechatronic Systems, Besacon, France, 2014: 150-155. [8] Fang Jiancheng, Wang Yingguang, Han Bangcheng, et al.Field balancing of magnetically levitated rotors without trial weights[J]. Sensors, 2013, 13(12): 16000-16022. [9] 孙玉坤, 于丰源, 袁野, 等. 一种混合双定子磁悬浮开关磁阻电机[J]. 电工技术学报, 2019, 34(1): 1-10. Sun Yukun, Yu Fengyuan, Yuan Ye, et al.A hybrid double stator bearingless switched reluctance motor[J]. Transactions of China Electrotechnical Society, 2019, 34(1): 1-10. [10] 蓝益鹏, 陈其林, 胡学成, 等. 磁悬浮永磁直线电动机控制系统非脆弱鲁棒控制的研究[J]. 电工技术学报, 2016, 31(7): 26-32. Lan Yipeng, Chen Qilin, Hu Xuecheng, et al.Research on non-fragile robust control for magnetic levitation permanent magnet linear motor control system[J]. Transactions of China Electrotechnical Society, 2016, 31(7): 26-32. [11] 孙鲲鹏, 葛琼璇, 王晓新, 等. 磁悬浮列车在双端供电模式下的无速度传感器控制[J]. 电工技术学报, 2018, 33(18): 4249-4258. Sun Kunpeng, Ge Qiongxuan, Wang Xiaoxin, et al.Speed sensorless control of maglev train with double-end power supply[J]. Transactions of China Electrotechnical Society, 2018, 33(18): 4249-4258. [12] 孙玉坤, 林文威, 袁野, 等. 磁悬浮开关磁阻电机二阶滑模直接转矩控制[J]. 电机与控制学报, 2018, 22(10): 76-86. Sun Yukun, Lin Wenwei, Yuan Ye, et al.Direct torque control based on second order sliding mode for bearingless switched reluctance motor[J]. Electric Machines and Control, 2018, 22(10): 76-86. [13] 宋腾, 韩邦成, 郑世强, 等. 基于最小位移的磁悬浮转子变极性LMS反馈不平衡补偿[J]. 振动与冲击, 2015, 34(7): 24-32. Song Teng, Han Bangcheng, Zheng Shiqiang, et al.Variable polarity LMS feedback based on displacement nulling to compensate unbalance of magnetic bearing[J]. Journal of Vibration and Shock, 2015, 34(7): 24-32. [14] 宋立伟, 李书培. 力耦合特性对混合式磁轴承的影响[J]. 电工技术学报, 2017, 32(1): 190-196. Song Liwei, Li Shupei.Coupling mechanical characteristics and its effect on hybrid magnetic bearings[J]. Transactions of China Electrotechnical Society, 2017, 32(1): 190-196. [15] Saito D, Wakui S.Trial of applying the unbalance vibration compensator to axial position of the rotor with AMB[C] //Proceedings of the 2017 International Conference on Advanced Mechatronic Systems, Xiamen, China, 2017: 249-254. [16] Chen S L, Lin S Y.Adaptive imbalance compensation for a three-pole AMB system[C] //Proceedings of 12th IEEE International Conference on Control and Automation, Kathmandu, Nepal, 2016: 962-965. [17] Mohamed S K, Maxime R D, Loicq S B, et al.Application of second-order sliding-mode concepts to active magnetic bearings[J]. IEEE Transactions on Industrial Electronics, 2018, 65(1): 855-864. [18] Zheng Shiqiang, Han Bangcheng, Feng Rui, et al.Vibration suppression control for AMB-supported motor driveline system using synchronous rotating frame transformation[J]. IEEE Transactions on Industrial Electronics, 2015, 62(9): 5700-5708. [19] Zheng Shiqiang, Li Haitao, Cong Peng, et al.Experimental investigations of resonance vibration control for noncollocated AMB flexible rotor systems[J]. IEEE Transactions on Industrial Electronics, 2017, 64(3): 2226-2235. [20] Amin N, Juan S, Wee S L, et al.System identification and robust control of multi-input multi-output active magnetic bearing systems[J]. IEEE Transactions on Control Systems Technology, 2016, 24(4): 1227-1239. [21] Liu Chao, Liu Gang.Field dynamic balancing for rigid rotor-AMB system in a magnetically suspended flywheel[J]. IEEE/ASME Transactions on Mechatronics, 2016, 21(2): 1140-1150. [22] Gao Hui, Xu Longya.Real-time feed-forward force compensation for active magnetic bearings system based on H∞ controller[J]. Chinese Journal of Mechanical Engineering, 2011, 24(1): 58-66. [23] Zheng Shiqiang, Feng Rui.Feedforward compensation control of rotor imbalance for high-speed magnetically suspended centrifugal compressors using a novel adaptive notch filter[J]. Journal of Sound and Vibration, 2016, 366: 1-14. [24] Chen Qi, Liu Gang, Han Bangcheng.Suppression of imbalance vibration in AMB-rotor systems using adaptive frequency estimator[J]. IEEE Transactions on Industrial Electronics, 2015, 62(12): 7696-7705.
2020, Vol. 35 
