Abstract
In a magnetically suspended rotor (MSR) system, harmonic current mainly caused by mass imbalance and sensor runout would produce harmonic vibration. Repetitive control (RC) is one remarkable approach for eliminating such harmonics. Conventional RC (CRC) attempts to compensate for all frequency components simultaneously. However, in the practical MSR system, it is usual that the current comprises only odd-harmonic components. This paper investigates a modified odd-harmonic RC (MORC) scheme to respond to this issue. The signal generator of arbitrary-order discrete-time periodic signal is established, by which the general forms of CRC and ORC can be obtained. Besides, it is proved that ORC with halved data memory possesses a faster convergence rate, higher repetitive gain, wider frequency bandwidth at the targeted frequency and greater robustness to frequency fluctuation than CRC. The stability criterion for the MORC-controlled MSR system is proved as well. Simulation and experimental results have highlighted the effectiveness of the proposed approach.
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