CN-116317760-B - Multi-frequency vibration compensation control method for permanent magnet auxiliary bearingless synchronous reluctance motor

Abstract

The invention discloses a multi-frequency vibration compensation control method of a permanent magnet auxiliary bearingless synchronous reluctance motor, which comprises the steps of carrying out Fourier decomposition on a levitation force current error and a given multi-frequency vibration compensation current set value in the x and y directions to obtain a real part coefficient and an imaginary part coefficient, calculating the error between the levitation force error current and the multi-frequency vibration compensation current set value to obtain a multi-frequency error current, carrying out Fourier decomposition on the multi-frequency error current to obtain a multi-frequency current coefficient, calculating a real part coefficient amplitude and an imaginary part coefficient amplitude by the multi-frequency current coefficient and the real part coefficient and the imaginary part coefficient, constructing a current evaluation function according to the real part coefficient amplitude and the imaginary part coefficient amplitude, searching and differentiating the multi-frequency current coefficient by adopting a variable angle search algorithm, calculating multi-frequency vibration compensation current based on the finally optimized multi-frequency current coefficient, and realizing multi-frequency vibration compensation of a rotor, so that the motor realizes high-precision stable levitation operation.

Inventors

• MAO BO
• ZHU HUANGQIU
• HUA YIZHOU
• LIU YICHEN

Assignees

• 江苏大学

Dates

Publication Date

20260512

Application Date

20230403

Claims (9)

1. 1. A multi-frequency vibration compensation control method for a permanent magnet auxiliary bearingless synchronous reluctance motor is characterized by comprising the following steps: Step 1), carrying out difference between reference displacement and actual displacement in the x and y directions to obtain a levitation force current error, and carrying out Fourier decomposition on the levitation force current error and given multi-frequency vibration compensation current set values in the x and y directions to obtain a real part coefficient and an imaginary part coefficient; step 2), calculating the error between the levitation force error current and the given value of the multi-frequency vibration compensation current to obtain a multi-frequency error current, and carrying out Fourier decomposition on the multi-frequency error current to obtain a multi-frequency current coefficient; Step 3), calculating a real part coefficient amplitude and an imaginary part coefficient amplitude according to the multifrequency current coefficient and the real part coefficient and the imaginary part coefficient, and constructing a current evaluation function according to the real part coefficient amplitude and the imaginary part coefficient amplitude; step 4), searching the multi-frequency current coefficient by adopting a variable angle searching algorithm, and outputting the multi-frequency current coefficient after the variable angle searching; Step 5), further optimizing the multi-frequency current coefficient obtained by the variable angle search by adopting a differential evolution algorithm, and outputting the finally optimized multi-frequency current coefficient; and 6) calculating the multi-frequency vibration compensation current based on the final optimized multi-frequency current coefficient, and enabling the multi-frequency vibration compensation current to act with the levitation force reference current and the levitation force feedback current of the motor together to realize multi-frequency vibration compensation of the rotor.
2. 2. The method for multi-frequency vibration compensation control of a permanent magnet-assisted bearingless synchronous reluctance motor according to claim 1, wherein in step 1), taking the x direction as an example, the suspension force current error i ex in the x direction is fourier decomposed into: Alpha x_uξ 、β x_uξ is the zeta-order Fourier series real part coefficient of the real part of the x-direction levitation force error current i ex , beta x_vξ 、α x_vξ is the zeta-order Fourier series imaginary part coefficient of the imaginary part of the x-direction levitation force error current, n is the highest order of error current Fourier expansion, and j is the imaginary unit.
3. 3. The method for controlling the multi-frequency vibration compensation of the permanent magnet auxiliary bearingless synchronous reluctance motor according to claim 2, wherein the given value i csx of the multi-frequency vibration compensation current in the given x direction is subjected to Fourier decomposition into: Alpha c_x_uξ 、β c_x_uξ 、β c_x_vξ 、α c_x_vξ is the multifrequency current coefficient.
4. 4. The method for multi-frequency vibration compensation control of a permanent magnet auxiliary bearingless synchronous reluctance motor according to claim 3, wherein the multi-frequency error current i ecx is Fourier decomposed into:
5. 5. The method of multi-frequency vibration compensation control for a permanent magnet-assisted bearingless synchronous reluctance motor of claim 4, wherein the real coefficient amplitude is Amplitude of imaginary coefficient
6. 6. The method for multi-frequency vibration compensation control of a permanent magnet-assisted bearingless synchronous reluctance motor according to claim 5, wherein the current evaluation function is
7. 7. The method of claim 6, wherein the variable angle search is performed by taking real part coefficient alpha x_uξ 、β x_uξ as an example, the abscissa represents real part coefficient alpha x_uξ , the ordinate represents real part coefficient beta x_uξ , the current evaluation function E Aξ is calculated according to the first step length and the end point obtained by the angle search, the current evaluation function E Aξ is compared with the target evaluation function value, if the current evaluation function E Aξ is greater than the target evaluation function value E obj1 , the search is continued, otherwise, the search is ended, and n multi-frequency current coefficients (alpha c_x_u1 、β c_x_u1 )、(α c_x_u1 、β c_x_u1 )...(α c_x_un 、β c_x_un ) of the real part are output.
8. 8. The method of claim 7, wherein the objective evaluation function E obj2 of the differential evolution algorithm is set, the objective evaluation function E Aξ is compared with the objective evaluation function E obj2 , if the objective evaluation function E Aξ is smaller than the objective evaluation function E obj2 , the optimization is completed, n final optimized multifrequency current coefficients (alpha oc_x_u1 、β oc_x_u1 )、(α oc_x_u1 、β oc_x_u1 )...(α oc_x_un 、β oc_x_un ) of the real part are output, and n final optimized multifrequency current coefficients of the imaginary part are obtained by the same method [(α oc_x_v1 、β oc_x_v1 ),(β oc_x_v1 、α oc_x_v1 )]、[(α oc_x_u2 、β oc_x_u2 ),(β oc_x_v2 、α oc_x_v2 )]、...、[(α oc_x_νn 、β oc_x_un ),(β oc_x_vn 、α oc_x_vn )].
9. 9. The method for multi-frequency vibration compensation control of a permanent magnet-assisted bearingless synchronous reluctance motor according to claim 8, wherein the method is characterized by comprising the following steps of The multi-frequency vibration compensation current i csd is calculated.

Description

Multi-frequency vibration compensation control method for permanent magnet auxiliary bearingless synchronous reluctance motor Technical Field The invention belongs to the technology of electric transmission control equipment, relates to a permanent magnet auxiliary bearingless synchronous reluctance motor suspension system, and in particular relates to a vibration compensation control method of a permanent magnet auxiliary bearingless synchronous reluctance motor, which is suitable for high-performance control of the permanent magnet auxiliary bearingless synchronous reluctance motor suspension system. Background The permanent magnet auxiliary bearingless synchronous reluctance motor is characterized in that a levitation force winding is embedded in a stator core of a traditional permanent magnet auxiliary synchronous reluctance motor, and the permanent magnet auxiliary bearingless synchronous reluctance motor has rotation and self-levitation supporting capabilities through a power electronic device and a digital control system. Besides the inherent advantages of the synchronous reluctance motor, the permanent magnet auxiliary bearingless synchronous reluctance motor also well solves the bearing supporting problem caused by long-time high-speed and ultra-high-speed operation of the conventional high-speed motor, and has important application prospects in the fields of precision numerical control machine tools, aerospace, flywheel energy storage and the like. The special fields put higher requirements on the suspension operation of the permanent magnet auxiliary bearingless synchronous reluctance motor, and the performance of the suspension system directly influences the operation performance of the whole system. Regarding rotor imbalance vibration compensation of a permanent magnet-assisted bearingless synchronous reluctance motor, the prior art mostly carries out compensation control on imbalance vibration caused by rotor mass eccentricity, and in fact, multifrequency vibration caused by installation errors of a motor sensor and irregular roundness of a rotor surface is serious, and usually more than one frequency signal is caused to cause motor vibration. The document of Chinese patent publication No. CN112803852A discloses a control method for realizing the compensation of unbalanced vibration of a rotor by a variable-step and variable-angle search algorithm of a bearingless motor, and compensating a frequency signal caused by rotating speed. The unbalanced vibration caused by rotor mass eccentricity and dead zone is compensated by the Chinese patent publication No. CN113037162A, unbalanced vibration signals with the frequency of omega and 6 omega are compensated, and the unbalanced vibration compensation precision of the motor is improved. However, the signals causing the motor to vibrate often have a few frequencies, and it is difficult to achieve higher vibration compensation accuracy by compensating only a few of the frequencies. In addition, the step length of each step of iteration of the traditional iterative search algorithm is too large, so that the algorithm accuracy is not high easily, and the convergence time is too long easily due to too small step length. Disclosure of Invention The invention aims to solve the problems of unbalanced vibration compensation of the existing permanent magnet auxiliary bearingless synchronous reluctance motor, and provides a multi-frequency vibration compensation control method for realizing high-precision compensation of a rotor. The technical scheme adopted by the multi-frequency vibration compensation control method of the permanent magnet auxiliary bearingless synchronous reluctance motor comprises the following steps: Step 1), carrying out difference between reference displacement and actual displacement in the x and y directions to obtain a levitation force current error, and carrying out Fourier decomposition on the levitation force current error and given multi-frequency vibration compensation current set values in the x and y directions to obtain a real part coefficient and an imaginary part coefficient; step 2), calculating the error between the levitation force error current and the given value of the multi-frequency vibration compensation current to obtain a multi-frequency error current, and carrying out Fourier decomposition on the multi-frequency error current to obtain a multi-frequency current coefficient; Step 3), calculating a real part coefficient amplitude and an imaginary part coefficient amplitude according to the multifrequency current coefficient and the real part coefficient and the imaginary part coefficient, and constructing a current evaluation function according to the real part coefficient amplitude and the imaginary part coefficient amplitude; step 4), searching the multi-frequency current coefficient by adopting a variable angle searching algorithm, and outputting the multi-frequency current coefficient after the variable angle s