基于增广卡尔曼滤波器的柔性转子系统振动信息的联合重构

doi:10.3901/JME.2025.03.272

机械工程学报 ›› 2025, Vol. 61 ›› Issue (3): 272-283.doi: 10.3901/JME.2025.03.272

• 机械动力学 • 上一篇

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基于增广卡尔曼滤波器的柔性转子系统振动信息的联合重构

蒋明宏¹, 高象宏¹, 张鹏¹, 李翁衡¹, 陈武龙², 祝长生¹

1. 浙江大学电气工程学院杭州 310027;
2. 浙江省涡轮机械与推进系统研究院湖州 313200

收稿日期:2024-02-11 修回日期:2024-10-18 发布日期:2025-03-12
作者简介:蒋明宏，男，1997年出生，博士研究生。主要研究方向为转子振动控制。E-mail:mhjiang@zju.edu.cn;祝长生(通信作者)，男，1963年出生，博士，教授，博士研究生导师。主要研究方向为转子系统动力学、高速电机及飞轮储能。E-mail:zhu_zhang@zju.edu.cn
基金资助:
国家科技重大专项(J2019-IV-0005-0073)和基础科研(2019110C026)资助项目。

Joint Reconstruction on Vibration Information of Flexible Rotor Systems Based on Augmented Kalman Filter

JIANG Minghong¹, GAO Xianghong¹, ZHANG Peng¹, LI Wengheng¹, CHEN Wulong², ZHU Changsheng¹

1. College of Electrical Engineering, Zhejiang University, Hangzhou 310027;
2. Zhejiang Institute of Turbomachinery and Propulsion Systems, Huzhou 313200

Received:2024-02-11 Revised:2024-10-18 Published:2025-03-12

摘要/Abstract

摘要： 评估或抑制转子系统振动需要知道目标位置处转子的振动，然而转子结构或工作环境等因素可能导致目标位置难以安装振动传感器。为了用非目标位置传感器的信息重构目标位置处转子的振动，提出了将增广卡尔曼滤波器(Augmented Kalman filter, AKF)应用于柔性转子系统振动及不平衡激励的联合实时重构策略。首先，分析了转子系统不平衡激励对经典Luenberger观测器振动重构结果的影响，说明了过高增益可能导致的观测器不稳定问题；然后，将不平衡激励表示为不平衡参数分量设计了增广状态变量，建立了该增广系统的离散状态方程；最后，设计AKF来对该增广系统状态进行实时估计，通过仿真和实验验证了该策略的有效性。结果表明，各重构方法收敛速度快于转子系统动态变化速度，能够用于振动实时重构；不平衡激励将影响振动重构方法的精度，考虑了不平衡激励影响的AKF精度高于传统Luenberger观测器；通过将不平衡参数分量而不是不平衡激励值作为增广变量，所提出的AKF能够在较大的转速范围内实现对转子系统振动的实时重构。

关键词: 增广卡尔曼滤波器, 振动-激励力联合重构, 柔性转子, 不平衡, 干摩擦阻尼器

Abstract: Knowledge on rotor vibration at target positions is essential for evaluating or suppressing rotor vibration. However, limitations such as rotor structure or working environment may impede sensor installation at target positions. In order to reconstruct rotor vibrations at the target position using information collected from other positions, an augmented Kalman filter (AKF) is proposed for joint reconstruction on vibration and unbalanced excitations. Firstly, the influences of unbalance excitation on reconstruction results of classical Luenberger observer are investigated and the potential instability caused by excessive gain is elaborated. Then, a new augmented state variable is designed by expressing the unbalance excitation in the form of unbalance parameters and the discrete state equation of the augmented system is established accordingly. Finally, an AKF is designed to perform real-time estimation of the augmented system states, and the effectiveness of the joint reconstruction strategy is verified through simulation and experiments. The results show that the convergence speed of various observers is faster than dynamic changes of rotor systems, so they can be used for real-time reconstruction of rotor system vibration. Unbalance excitation will affect the reconstruction accuracy, and the accuracy of AKF considering the influence of unbalanced excitation is higher than that of traditional Luenberger observer. By using unbalance parameters instead of unbalanced excitation values as augmented variables, a Kalman filter based on the new augmented variable can achieve real-time reconstruction of rotor vibration over a large speed range.

Key words: augmented Kalman filter, vibration-excitation joint reconstruction, flexible rotor, unbalance, dry friction damper

中图分类号:

TH113

蒋明宏, 高象宏, 张鹏, 李翁衡, 陈武龙, 祝长生. 基于增广卡尔曼滤波器的柔性转子系统振动信息的联合重构[J]. 机械工程学报, 2025, 61(3): 272-283.

JIANG Minghong, GAO Xianghong, ZHANG Peng, LI Wengheng, CHEN Wulong, ZHU Changsheng. Joint Reconstruction on Vibration Information of Flexible Rotor Systems Based on Augmented Kalman Filter[J]. Journal of Mechanical Engineering, 2025, 61(3): 272-283.

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基于增广卡尔曼滤波器的柔性转子系统振动信息的联合重构

Joint Reconstruction on Vibration Information of Flexible Rotor Systems Based on Augmented Kalman Filter

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