基于改进型双模分数阶重复控制器的高速磁悬浮电机谐波电流抑制

主动磁悬浮轴承系统的转子不平衡和传感器跳动会使系统产生谐波电流，从而导致谐波振动。重复控制器能同时抑制同频和倍频谐波，但传统重复控制器必须确保控制系统的采样频率与实际转频之比为整数，极大地限制了其适用性。为解决此问题，设计了一种改进型双模分数阶重复控制器。采用拉格朗日插值法将分数阶变为整数，解决了重复控制的非整数延迟问题；通过双支路独立地消除奇偶次谐波，第1次、2次、3次、4次和5次谐波分别降低了87.9%、61.3%、86.9%、36.9%和85.3%。仿真和试验结果验证了改进型重复控制器对谐波电流抑制的精确性和有效性。

Harmonic Current Suppression in the High-Speed Magnetically Suspended Motor Based on Improved Dual Mode Fractional Order Repetitive Controller

Harmonic currents in active magnetic bearing systems are caused by rotor imbalance and sensor runout, which consequently result in harmonic vibrations. Repetitive controller can suppress both same frequency and multiply frequency harmonics, but traditional repetitive controller must satisfy that the control system sampling frequency is an integer multiple of the actual rotor speed, which severely limits their applicability. To solve this problem, an improved dual mode fractional order repetitive controller is designed. The Lagrange interpolation method is utilized to convert the fractional order to an integer, addressing the non-integer delay issue in repetitive control. Even and odd harmonics are independently suppressed through dual channels, the 1st, 2nd, 3rd, 4th and 5th harmonics are respectively reduced by 87.9%, 61.3%, 86.9%, 36.9% and 85.3%. Simulation and experimental results verify the accuracy and effectiveness of the improved repetitive controller for harmonic current suppression.