由转子质量不平衡和传感器跳动引起的谐波振动是磁悬浮转子系统中的主要扰动。为了抑制这些干扰，提出了一种基于重复控制和可变相位自适应陷波反馈的谐波振动抑制的复合控制方法。首先通过建立磁悬浮转子系统模型，分析了不同干扰振动力的产生机理。然后，设计了插入式重复控制器，抑制传感器跳动引起的谐波振动，利用自适应陷波滤波器在线提取同频信号自适应补偿不平衡，通过改变不同频率下的相位角来保持系统的稳定性，并对同频位移刚度进行补偿，使系统在较宽的速度范围内自抑制谐波振动。最后，通过仿真和实验对提出的控制方法进行了验证。实验结果表明，一次、三次和五次谐波振动分别减少94.4%，90.4%和85.9%，采用所提出的复合控制方法可以有效抑制谐波振动。验证了所提控制方法的有效性。

Harmonic vibrations caused by rotor mass imbalance and sensor runout， the main disturbances in magnetically suspended rotor systems. To suppress these disturbances， a compound control method based on repetitive control and variable phase adaptive notch filter feedback was proposed. Firstly， by establishing a model of the magnetic suspended rotor system， the generation mechanism of different disturbing vibration forces was analyzed. Then， taking the X-direction as an example for analysis， an inserted repetitive controller was designed to suppress the harmonic vibration caused by sensor runout. An adaptive notch filter was used to extract the synchronous signal online to adaptively compensate imbalance. The stability of the system was maintained by varying the phase angle at different frequencies， and to compensate the same-frequency displacement stiffness， so that the system can effectively suppress the harmonic vibration. Finally， the proposed control method was verified by simulation and experiment. The experimental results show that the first， third and fifth harmonic vibrations are reduced by 94.4%， 90.4% and 85.9%， respectively. The harmonic vibrations can be effectively suppressed using the proposed composite control method， whose effectiveness well verified.