电工技术学报  2020, Vol. 35 Issue (9): 1900-1911    DOI: 10.19595/j.cnki.1000-6753.tces.190386
电机及其控制 |
基于自适应变步长最小均方算法的磁悬浮高速电机不平衡补偿
周天豪1, 陈磊2, 祝长生1, 李鹏飞1
1. 浙江大学电气工程学院 杭州 310027;
2. 中国船舶重工集团第704研究所 上海 200031
Unbalance Compensation for Magnetically Levitated High-Speed Motors Based on Adaptive Variable Step Size Least Mean Square Algorithm
Zhou Tianhao1, Chen Lei2, 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
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摘要 该文针对磁悬浮高速电机的不平衡振动,提出一种基于自适应变步长最小均方误差(LMS)算法的不平衡补偿方法。首先,通过分析步长和频率对LMS算法特性的影响,给出合适的步长计算公式。之后,利用基于变步长LMS算法的自适应滤波器,在线识别转子位移信号中与转速同频的振动分量,并通过反馈对转子的同频振动进行不平衡补偿,以实现最小位移控制。然后,利用广义根轨迹法分析了引入不平衡补偿后转子系统的闭环稳定性。通过切换步长符号,实现转子系统在全转速范围内的闭环稳定运行。最后,分别在频率匹配、频率失配、存在噪声和恒加速四个条件下,将该方法应用于四自由度转子的仿真模型中,并且在磁悬浮高速电机实验平台上进行了相关实验。仿真和实验结果均表明,该方法能够有效地抑制转子的不平衡振动。
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关键词 磁悬浮高速电机不平衡补偿最小均方误差根轨迹    
Abstract:For unbalance vibration in magnetically levitated high-speed motors, a modified adaptive variable step-size least mean square (LMS) algorithm was proposed to achieve unbalance compensation. Firstly, a formula to get appropriate step size was given by analyzing the influence of step size and frequency on the characteristics of LMS algorithm. Then, with the help of an adaptive filter based on variable step-size LMS algorithm, the minimum displacement control was achieved by online identifying speed-frequency component in displacement signal and adding feedback control. In addition, the stability of closed-loop system was analyzed using generalized root locus. In order to achieve unbalance compensation within the whole speed range, a varying step-size sign strategy was used. Finally, the proposed method was applied to the simulation model of four-degree-of-freedom rotor under the four conditions of frequency matching, frequency mismatching, noise existing and constant acceleration, and relevant experiments were carried out on the magnetically levitated high-speed motor rotor system test platform. Simulation and experimental results show that the proposed method can effectively suppress the imbalance synchronous vibration.
Key wordsMagnetically levitated high-speed motor    unbalance compensation    least mean square (LMS)    root locus   
收稿日期: 2019-04-08      出版日期: 2020-05-12
PACS: TM351  
基金资助:国家自然科学基金(116320154)和国家重点研发计划(2018YF0905500)资助项目
通讯作者: 祝长生 男,1963年生,教授,博士生导师,研究方向为转子系统动力学、高速电机及飞轮储能等。E-mail: zhu_zhang@zju.edu.cn   
作者简介: 周天豪 男,1996年生,博士研究生,研究方向为高速转子系统振动主动控制。E-mail: zhouth419@163.com
引用本文:   
周天豪, 陈磊, 祝长生, 李鹏飞. 基于自适应变步长最小均方算法的磁悬浮高速电机不平衡补偿[J]. 电工技术学报, 2020, 35(9): 1900-1911. Zhou Tianhao, Chen Lei, Zhu Changsheng, Li Pengfei. Unbalance Compensation for Magnetically Levitated High-Speed Motors Based on Adaptive Variable Step Size Least Mean Square Algorithm. Transactions of China Electrotechnical Society, 2020, 35(9): 1900-1911.
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