磁悬浮高速电机转子低频振动机理及补偿方法

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%。

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

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%.