基于自适应浸入和不变理论的转子多频振动靶向抑制

doi:10.3901/JME.2023.18.111

机械工程学报 ›› 2023, Vol. 59 ›› Issue (18): 111-120.doi: 10.3901/JME.2023.18.111

• 特邀专栏：人工自愈与装备自主健康 • 上一篇下一篇

扫码分享

基于自适应浸入和不变理论的转子多频振动靶向抑制

暴一帆^1,2, 姚剑飞^1,2,3, 高金吉^1,2,3

1. 北京化工大学机电工程学院北京 100029;
2. 北京化工大学高端机械装备健康监控与自愈化北京市重点实验室北京 100029;
3. 北京化工大学发动机健康监控及网络化教育部重点实验室北京 100029

收稿日期:2022-11-10 修回日期:2023-05-02 出版日期:2023-09-20 发布日期:2023-12-07
通讯作者: 姚剑飞(通信作者),男,1979年出生,博士,教授。主要研究方向为旋转机械动力学分析与振动控制、故障诊断及自愈调控、智能材料与结构。E-mail:yaojf@mail.buct.edu.cn
作者简介:暴一帆,男,1996年出生。主要研究方向为电磁轴承主动控制算法设计、转子动力学。E-mail:yfbao@mail.buct.edu.cn
基金资助:
国家自然科学基金面上资助项目(51975037)。

Targeting Suppression of Multi-frequency Rotor Vibration Based on Adaptive Immersion and Invariance Theory

BAO Yifan^1,2, YAO Jianfei^1,2,3, GAO Jinji^1,2,3

1. School of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100029;
2. Beijing Key Laboratory of High-end Mechanical Equipment Health Monitoring and Self-recovery, Beijing University of Chemical Technology, Beijing 100029;
3. Key Lab of Engine Health Monitoring-Control and Networking of Ministry of Education, Beijing University of Chemical Technology, Beijing 100029

Received:2022-11-10 Revised:2023-05-02 Online:2023-09-20 Published:2023-12-07

摘要/Abstract

摘要： 旋转机械转子在运行过程中受到周期性干扰力的激励，振动频率多与转子转速相关，呈现出同频、整数倍频和分频的特点。针对旋转机械所受的多频激励，将转子振动的各频率成分作为抑制靶点，将电磁作动器作为执行机构，提出一种基于自适应浸入和不变理论的转子多频振动靶向抑制方法。该方法在笛卡尔转换坐标系下对多频激励进行矢量分解，将高阶非线性系统浸入到低阶目标系统，且设计的控制算法使目标系统的像具有不变流形吸引性。设计陷波滤波器，提取振动信号的频率成分，该滤波器可根据实时转速自调整陷波频率，以应对转速波动的影响，满足多转速抑制的需要。建立转子-轴承-电磁作动器系统的有限元模型以及实时控制试验台，仿真和试验结果表明，所提方法可以有效地抑制转子多频振动，且鲁棒性较好。

关键词: 转子多频振动, 浸入和不变理论, 主动抑制, 电磁作动器

Abstract: Rotor is excited by periodic disturbances in the rotating machine during operation. The frequencies of vibration of rotor are mainly related to the speed of the rotor. The excitation frequencies present the characteristics of integral multiple or integral fraction of rotate speed. Aiming at the multi-frequency excitations in the rotating machinery, the multiple frequency components of the rotor vibration are set as the suppression target in this work. A multi-frequency rotor vibration targeting suppression approach is proposed based on the adaptive immersion and invariance theory using the active magnetic actuator. A Cartesian transformation coordinate method is used for the disturbing force vector decomposition, and the higher-order nonlinear system is immersed into a lower-order target system. The designed control law makes the image of the target system become an invariant and attractive manifold. Notch filters are designed from the view of the frequency domain to extract the frequency components of vibration signal, this filter can self-adjust its notch frequency based on the real-time rotate speed to satisfy the need for multi-speed control and avoid the effect of speed fluctuation. The model of the rotor-bearing-active magnetic actuator finite element model and real-time control test rig are established respectively. The results simulations and experiments show that the proposed method can suppress the multi-frequency rotor vibration effectively, and the algorithm has better robustness.

Key words: multi-frequency rotor vibration, immersion and invariance theory, active suppression, active magnetic actuator

中图分类号:

TH113

暴一帆, 姚剑飞, 高金吉. 基于自适应浸入和不变理论的转子多频振动靶向抑制[J]. 机械工程学报, 2023, 59(18): 111-120.

BAO Yifan, YAO Jianfei, GAO Jinji. Targeting Suppression of Multi-frequency Rotor Vibration Based on Adaptive Immersion and Invariance Theory[J]. Journal of Mechanical Engineering, 2023, 59(18): 111-120.

参考文献

[1] 高金吉. 人工自愈概论[J]. 机械工程学报,2021,57(2):1-10. GAO Jinji. Overview on artificial self-recovery[J]. Journal of Mechanical Engineering,2021,57(2):1-10.
[2] SCHWEITZER G,MASLEN E H. Magnetic bearings theory,design and application to rotating machinery[M]. Berlin:Springer-Verlag,2009.
[3] HEINDEL S,MÜLLER P C,RINDERKNECHT S. Unbalance and resonance elimination with active bearings on general rotors[J]. Journal of Sound and Vibration,2018,431:422-440.
[4] YAO Jianfei,DAI Jiabao,LIU Liang. Unbalanced vibration response reduction of rotor using active magnetic actuator based on PD control[J]. International Journal of Acoustic and Vibration,2019,24(2):327-333.
[5] SHAO Xing,WANG Weimin,LI Weibo,et al. Active fast vibration control of rotating machinery via a novel electromagnetic actuator[J]. Structural Control and Health Monitoring,2021,28(5):e2707.
[6] JIANG Kejian,ZHU Changsheng. Multi-frequency periodic vibration suppressing in active magnetic bearing-rotor systems via response matching in frequency domain[J]. Mechanical Systems and Signal Processing,2011,25(4):1417-1429.
[7] YAO Jianfei,GAO Jinji,WANG Weimin. Multi-frequency rotor vibration suppressing through self-optimizing control of electromagnetic force[J]. Journal of Vibration and Control,2017,23(5):701-715.
[8] KUMAR P,TIWARI R. Dynamic analysis and identification of unbalance and misalignment in a rigid rotor with two offset discs levitated by active magnetic bearings:A novel trial misalignment approach[J]. Propulsion and Power Research,2021,10(1):58-82.
[9] KUMAR P,TIWARI R. Finite element modelling,analysis and identification using novel trial misalignment approach in an unbalanced and misaligned flexible rotor system levitated by active magnetic bearings[J]. Mechanical Systems and Signal Processing,2021,152:107454.
[10] 王晓波,祝长生. 基于相位偏移自适应LMS算法的电磁轴承柔性转子系统多频激励补偿控制[J]. 机械工程学报,2021,57(17):110-119. WANG Xiaobo,ZHU Changsheng. Multi-frequency compensation for active magnetic bearing-flexible rotor system based on adaptive least mean square algorithm with a phase shift[J]. Journal of Mechanical Engineering,2021,57(17):110-119.
[11] 王金健,徐晖,祝长生. 多跨转子系统多频传递力变步长神经网络控制[J]. 机械工程学报,2021,57(4):10-20. WANG Jinjian,XU Hui,ZHU Changsheng. Variable-step neural network control for multi-frequency transmission forces of multi-span rotor systems[J]. Journal of Mechanical Engineering,2021,57(4):10-20.
[12] ASTOLFI A,ORTEFA R. Immersion and Invariance:A new tool for stabilization and adaptive control of nonlinear systems[J]. IEEE Transactions on Automatic Control,2003,48(4):590-606.
[13] ASTOLFI A,KARAGIANNIS D,ORTEFA R. Nonlinear and adaptive control with applications[M]. London:Springer,2007.
[14] 刘振,谭湘敏,易建强,等. 浸入与不变方法原理及其在非线性自适应控制中的应用[J]. 智能系统学报,2013,8(5):400-407. LIU Zhen,TAN Xiangmin,YI Jianqiang,et al. Immersion and invariance theory and its applications in nonlinear adaptive control[J]. CAAI Transactions on Intelligent Systems,2013,8(5):400-407.
[15] CHEN S L,LIN S Y. Imbalance compensation for an AMB system with adaptive immersion & invariance control[C]//The 27th Chinese Control and Decision Conference,July 23-25,2015,2015:1530-1534.
[16] CHEN S L,LIN S Y,TOH C S,et al. Adaptive unbalance compensation for a three-pole active magnetic bearing system[J]. IEEE Transactions on Industrial Electronics,2020,67(3):2097-2106.
[17] 暴一帆,国玉林,姚剑飞. 基于电磁力的转子不平衡-不对中振动靶向抑制[J]. 轴承,2022,3:23-28. BAO Yifan,GUO Yulin,YAO Jianfei. Targeting suppression of rotor vibration induced by coupled unbalance and misalignment using electromagnetic force[J]. Bearing,2022,3:23-28.
[18] PRECUP R E,RADAC M B,DRAGOS C A,et al. Model-free tuning solution for sliding mode control of servo systems[C]//2014 IEEE International Systems Conference Proceedings,March 31-April 3,2014,2014:30-35.
[19] FLIESS M,JOIN C. Model-free control and intelligent PID controllers:Towards a possible trivialization of nonlinear control[J]. IFAC Proceedings Volumes,2009,42(10):1531-1550.
[20] MIRAS J D,JOIN C,FLIESS M,et al. Active magnetic bearing:A new step for model-free control[C]//52nd IEEE Conference on Decision and Control,December 10-13,2013,2013:7449-7454.
[21] 甄满,田拥胜,孙涛,等. 具有不对中故障的双跨转子系统非线性动力学特性[J]. 机械工程学报,2020,56(16):109-117. ZHEN Man,TIAN Yongsheng,SUN Tao,et al. Nonlinear dynamics of two-span rotor-bearing system with flexible coupling misalignment[J]. Journal of Mechanical Engineering,2020,56(16):109-117.
[22] GAO H,XU L X,ZHU Y L. Unbalance vibratory displacement compensation for active magnetic bearings[J]. Chinese Journal of Mechanical Engineering,2013,26(1):95-103.

基于自适应浸入和不变理论的转子多频振动靶向抑制

Targeting Suppression of Multi-frequency Rotor Vibration Based on Adaptive Immersion and Invariance Theory

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	李永涛, 杨波, 木合塔尔·克力木. 液压系统流体脉动抑制方法综述[J]. 机械工程学报, 2022, 58(16): 344-359.
[2]	傅涛, 上官文斌, 丁乙, RAKHEJA Subhash, AHMED Waizuddin. 比例电磁式主动吸振器的设计方法研究[J]. 机械工程学报, 2021, 57(19): 147-154.