CN100392268C - Highly-reliable integrated low-power consumption magnetic levitation flywheel magnetic bearing numerical control device - Google Patents
Highly-reliable integrated low-power consumption magnetic levitation flywheel magnetic bearing numerical control device Download PDFInfo
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- CN100392268C CN100392268C CNB2006101651611A CN200610165161A CN100392268C CN 100392268 C CN100392268 C CN 100392268C CN B2006101651611 A CNB2006101651611 A CN B2006101651611A CN 200610165161 A CN200610165161 A CN 200610165161A CN 100392268 C CN100392268 C CN 100392268C
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Abstract
A magnetic levitation flywheel magnetic bearing digital control device which is used in initiative control for the magnetic levitation flywheel magnetic bearing system comprises a interface circuit, a A/D conversion chip, a FPGA module, wherein the interface circuit and the chip get the bit shift single data, the coil current data, the rate signal data of the magnetic bearing rotor; the FPGA module creates a controlling quantity under the hardware assembler of the FPGA chip; wherein the FRGA export to the power amplifier ring basing on the association of the controlling quantity and the current single export and basing on the modulation of PWM, the FPGA module create a control current for the magnetic bearing coil to reach the initiative control of the magnetic levitation flywheel magnetic bearing system. The invention has high reliability, integration, low power consumption.
Description
Technical field
The present invention relates to a kind of integrated magnetic suspension flywheel magnetic bearing digital controller, be used for magnetic bearing systems such as magnetically levitated flywheel are controlled, be applicable to applications such as high reliability, high integration, low power consumption, be particularly suitable for space flight and space and use.
Background technique
Flywheel is an attitude control actuator basic on the middle-size and small-size satellite.Magnetically levitated flywheel compare with the conventional mechanical bearings flywheel have contactless, do not have friction, need not to lubricate, advantages such as highi degree of accuracy, long lifetime, thereby on satellite, have broad application prospects.
The conventional magnetic levitation flywheel controller is divided into analog controller and digital controller two big classes.Analog controller exists power consumption big, and poor anti jamming capability, Control Parameter are revised difficulty, and the debug process complexity is difficult to realize the shortcomings such as control algorithm of more complicated.The advantage of digital controller shows: parameter modification is convenient, is fit to integratedly, and power consumption obviously reduces, and this haves a great attraction for AEROSPACE APPLICATION.
Existing digital controller has two classes again.The magnetic bearing controller that present C2000 series DSP with Ti is a core is commonplace, it has advantages such as parameter testing is convenient, level of integration is high, power consumption is little, but because of its algorithm is realized by dsp software, often there is the problem of poor reliability for special circumstances such as environment, temperature in space flight and the space application, so can't be applied in space flight and the space environment.Another kind of digital controller adopts the C3000 floating type DSP of Ti to do control algorithm, adopts fpga chip control peripheral components, simultaneously with the DSP communication.This type of controller has advantages such as high-performance, but because of the required magnetic bearing rotor displacement of its control algorithm, control signals such as magnetic bearing coil current are obtained by FPGA, and its control algorithm will be realized by the inner software that adopts of DSP, the controlled quentity controlled variable that control algorithm generates also will be sent FPGA again back to and be carried out the PWM modulation, so between DSP module and the FPGA module frequent data communication must be arranged, this uses the problem that also has poor reliability for space flight and space, and owing to adopted dsp chip and fpga chip simultaneously, to compare its level of integration relatively poor with other digital controller, power consumption is higher.
Summary of the invention
Technology of the present invention is dealt with problems: overcome existing two class digital controllers for space flight and problem such as the space reliability of applying is poor, level of integration is poor, power consumption is higher, a kind of magnetically levitated flywheel numerical control device of highly reliable, integrated, low power consumption is provided.
Technical solution of the present invention: a kind of integrated magnetic suspension flywheel magnetic bearing digital controller is characterized in that: comprising:
Interface circuit: join with current signal modulus conversion chip and displacement signal modulus conversion chip, comprise current sensor interface circuit and displacement transducer interface circuit, will convert the analog voltage signal of 0～5V to by the displacement signal that the current signal and the displacement transducer of current sensor input are imported;
Current signal modulus conversion chip and displacement signal modulus conversion chip: the analog voltage signal of 0～5V of interface circuit output is converted to the digitized current signal of 0～5V and displacement signal is exported to electrical level transferring chip;
Electrical level transferring chip: join with current signal modulus conversion chip, displacement signal modulus conversion chip, Hall transducer and FPGA module, with the digitizing current signal of 0～5V and displacement signal and be converted to 0～3.3V by the flywheel tach signal of 0～5V of Hall transducer output and deliver to the FPGA module;
The FPGA module: control current signal modular converter and displacement signal modular converter are to being sampled by the current signal of current sensor input and the displacement signal of displacement transducer input; Logic is carried out revolution speed calculating to the 0～3.3V flywheel tach signal after the electrical level transferring chip conversion according to testing the speed; Digitizing displacement signal after level conversion and tach signal are carried out calculation process, obtain the required controlled quentity controlled variable of power amplifier.
The control algorithm part that described FPGA module comprises hardware circuit part and realizes based on hardware programming in fpga chip.Hardware circuit part comprises configuring chip and fpga chip, wherein fpga chip adopt a slice XinlinxXC3S * * chip; Realize the control algorithm part based on hardware programming, comprise the analog-to-digital conversion control algorithm, the revolution speed calculating algorithm, Decentralized PID+intersection feedback control algorithm and PWM modulation algorithm, fpga chip carries out analog-to-digital conversion by analog-to-digital conversion control algorithm control current signal modulus conversion chip and displacement signal modulus conversion chip to current signal and displacement signal; By the revolution speed calculating algorithm the given tach signal of Hall transducer is carried out revolution speed calculating simultaneously; Decentralized PID+intersection feedback control algorithm calculates displacement signal and tach signal, obtains the required controlled quentity controlled variable of PWM modulation algorithm; By the PWM modulation algorithm controlled quentity controlled variable of Decentralized PID+intersection feedback control algorithm generation and the current signal that the analog-to-digital conversion control algorithm obtains are carried out the PWM modulation, and modulation result is exported power amplifier, finish the control of 5 degrees of freedom of magnetically levitated flywheel rotor.
Principle of the present invention: fpga chip adopts analog-to-digital conversion control algorithm control current signal modulus conversion chip and the displacement signal modulus conversion chip of realizing based on hardware programming, current signal and displacement signal are sampled, and transformation result is read among the RAM in the fpga chip.When tach signal, revolution speed calculating algorithm in the fpga chip design will calculate tachometer value to rotating speed, at fpga chip based on hard-wired Decentralized PID+intersection feedback control algorithm according to displacement amount and tachometer value, carry out the controlled amount of control algorithm, the controlled quentity controlled variable that the PWM modulation algorithm of fpga chip design obtains according to control algorithm, and modulate in conjunction with the current signal sampled value, export to the power amplifier link after the PWM modulation, thereby in the magnetic bearing coil, obtain the control electric current of needs, realize the ACTIVE CONTROL of magnetic suspension flywheel magnetic bearing system.
Compare with two class digital controllers with the analog controller that the conventional magnetic levitation flywheel magnetic bearing generally adopts and to have following characteristics: the present invention adopt have high performance fpga chip XC3S * * make up the execution core of magnetically levitated flywheel control algorithm, realized control algorithm based on hardware programming, simultaneously peripheral components is controlled, obtain required magnetic bearing rotor displacement signal and the magnetic bearing coil current signal of control algorithm, and the required pwm signal of power model is modulated according to control algorithm gained controlled quentity controlled variable.Because the present invention is achieved control algorithm by hardware, and the calculating of the obtaining of sensor signal, controlled quentity controlled variable and pwm signal are modulated in the same chip and carry out, reduce the link of middle software and hardware communication, therefore had highly reliable, integrated, advantage of low power consumption.The present invention's advantage compared with prior art is:
(1) more traditional is the analog controller of core with the operational amplifier, and the present invention has the advantage of digital controller: debugging is flexible, convenient, volume is little, in light weight, be convenient to realize complicated control algorithm.More existing fixed DSP is the digital controller of core and the Floating-point DSP digital controller in conjunction with FPGA, control algorithm of the present invention is realized based on hardware programming by fpga chip, and the calculating of the obtaining of sensor signal, controlled quentity controlled variable and pwm signal modulation are all carried out in same chip, reduced the link of middle software and hardware communication, so its reliability obviously improves, can satisfy space flight and space use in to the requirement of reliability.
(2) this invention has realized the digitizing of system and integrated, has reduced the controller power consumption, has improved the reliability of control system, is specially adapted to Aero-Space etc. have strict demand to power consumption, reliability field.
Description of drawings
Fig. 1 is a structure composition frame chart of the present invention;
Fig. 2 is a control principle block diagram of the present invention;
Fig. 3 is based on hard-wired control algorithm block diagram in the fpga chip of the present invention;
Fig. 4 is the circuit theory diagrams of displacement transducer interface circuit of the present invention;
Fig. 5 is the circuit theory diagrams of current sensor interface circuit of the present invention;
Fig. 6 is the circuit of displacement signal modulus conversion chip of the present invention and current signal modulus conversion chip;
Fig. 7 is the circuit diagram that fpga chip of the present invention is connected with other device signal;
The analog-to-digital conversion control algorithm flow chart that Fig. 8 adopts for the present invention;
Decentralized PID+intersection feedback control principle block diagram that Fig. 9 adopts for the present invention;
The revolution speed calculating algorithm flow chart that Figure 10 adopts for the present invention;
The PWM modulation algorithm theory diagram that Figure 11 adopts for the present invention.
Embodiment
As shown in Figure 1, magnetic levitation flywheel magnetic bearing numerical control device of the present invention mainly is made up of interface circuit 8, displacement signal modulus conversion chip 6, current signal modulus conversion chip 13, electrical level transferring chip 14 and FPGA module 3, wherein interface circuit 8 comprises displacement transducer interface circuit 7 and current sensor interface circuit 12, and FPGA module 3 comprises configuring chip 1 and fpga chip 2.Displacement transducer interface circuit 7 becomes displacement signal modulus conversion chip 6 desired 0V～5V scopes with displacement transducer 10 detected magnetic bearing rotor displacement signal conversion, current sensor interface circuit 12 converts current sensor 11 detected magnetic bearing coil current signals to current signal modulus conversion chip 13 desired 0V～5V scopes, fpga chip 2 control bit shifting signal modulus conversion chips 6 and current signal modulus conversion chip 13 are sampled to magnetic bearing rotor displacement signal and magnetic bearing coil signal respectively, sampled result is converted to fpga chip 2 desired 0V～3.3V scopes through electrical level transferring chip 14, in the fpga chip 2 by realizing that based on hardware programming control algorithm is with to magnetic bearing rotor displacement signal, tach signal carries out computing and generates controlled quentity controlled variable, and modulate in conjunction with the current signal sampled value, export to the power amplifier link after the PWM modulation, thereby generate the required control electric current of magnetic bearing coil, realize the ACTIVE CONTROL of magnetic suspension flywheel magnetic bearing system.
As shown in Figure 2, provided control principle of the present invention, FPGA module 3 control bit shifting signal modulus conversion chips 6 and current signal modulus conversion chip 13 pairs of magnetic bearing rotor displacements signal and magnetic bearing coil current signal are sampled, and FPGA 3 pairs of flywheel tach signals of module detects simultaneously.Carry out the PWM modulation in conjunction with current signal after calculating controlled quentity controlled variable according to the magnetic bearing rotor displacement signal that records and tach signal, convert the respective coil electric current to according to the pwm signal of FPGA module 3 outputs, realize the ACTIVE CONTROL of magnetically levitated flywheel by power amplifier 4.
As shown in Figure 3, comprise based on hard-wired control algorithm in the fpga chip: analog-to-digital conversion control algorithm 18, revolution speed calculating algorithm 17, Decentralized PID+intersection feedback control algorithm 16 and PWM modulation algorithm 19.Wherein fpga chip 2 carries out analog-to-digital conversion by analog-to-digital conversion control algorithm 18 control current signal modulus conversion chips 13 and 6 pairs of current signals of displacement signal modulus conversion chip and displacement signal; Carry out revolution speed calculating by 17 pairs of Hall transducers of revolution speed calculating algorithm, 9 given tach signals simultaneously; Calculate based on hard-wired Decentralized PID+16 pairs of displacement signals of intersection feedback control algorithm and tach signal in the fpga chip 2, obtain the required controlled quentity controlled variable of PWM modulation algorithm 19; Carry out the PWM modulation by the controlled quentity controlled variable of 19 pairs of Decentralized PID of PWM modulation algorithm+intersection feedback control algorithm 16 generations and the current signal that analog-to-digital conversion control algorithm 18 obtains, and modulation result is exported power amplifier 4, finish the control of 5 degrees of freedom of magnetically levitated flywheel rotor.
As shown in Figure 4, behind the magnetic bearing rotor displacement signal process transformation of scale that displacement transducer 10 obtains, level deviation, the amplitude limit, become the required 0V～5V voltage signal of displacement signal modulus conversion chip 6, deliver to displacement signal modulus conversion chip 6 after removing high-frequency noise through anti-aliasing lower pass-filter then.
As shown in Figure 5, behind the magnetic bearing coil current signal process transformation of scale that current sensor 11 obtains, level deviation, the amplitude limit, become the required 0V～5V voltage signal of current signal modulus conversion chip 13, deliver to current signal modulus conversion chip 13 after removing high-frequency noise through anti-aliasing lower pass-filter then.
As shown in Figure 6, that the modulus conversion chip that the present invention adopts adopts is the ADS7861 of BB company, and this chip has 12 precision, the input of 4 tunnel difference, 8 independently transducer and the serial line interface of sampling holder, two 500KHZ, and its power consumption has only 25mW.The way that adopts three chips (totally 12 tunnel input) can satisfy current signal and displacement signal requires that (totally 10 the tunnel, wherein current signal 5 tunnel comprises radial current signal 4 tunnel, axial current signal 1 tunnel; Displacement signal 5 tunnel, comprise radial displacement signal 4 tunnel, axial displacement signal 1 tunnel), independently sampling holder has guaranteed the phase relationship of signal, the transducer of two 500KHz can satisfy the real-time requirement of system fully, HSSI High-Speed Serial Interface has guaranteed the high speed output of transformation result and has reduced noise to system that the low power consumption of 25mW makes this chip be fit to very much AEROSPACE APPLICATION.The interface signal of these three chips is connected with fpga chip after electrical level transferring chip (present embodiment adopts 74LVC164245) is carried out level conversion.
As shown in Figure 7, fpga chip of the present invention is the XC3S400 of Xilinx company, this chip adopts the crystal oscillator of 50M as system clock, there are 400,000 logic gates inside, the 288K ram in slice, and be integrated with 16 18 * 18 multiplier, and having guaranteed that the high speed of control algorithm and PWM modulation is carried out, 264 User Defined I/O resources make with the interfaces of peripheral chip very convenient.The sampling of this chip controls displacement signal and current signal, when tach signal is imported, tach signal is calculated, and by control algorithm displacement signal, tach signal are carried out computing and generate controlled quentity controlled variable, the PWM modulation algorithm carries out exporting to the power amplifier link after the PWM modulation according to the control algorithm of controlled quentity controlled variable in conjunction with current signal sampled value execution power model then.
The analog-to-digital conversion control algorithm flow chart that fpga chip of the present invention 2 adopts is as shown in Figure 8: when the timing of setting (as 0.1ms) then, trigger modulus conversion chip (ADS7861) electric current and displacement signal carried out analog-to-digital conversion; After waiting for that delay time (as 0.5ns) arrives, analog-to-digital serial output result is read; When 12 bit data read finish after, finish this analog-to-digital conversion, wait for that next timing arrives.
Decentralized PID+intersection feedback control algorithm block diagram that the present invention adopts is as shown in Figure 9: detect flywheel radially X two ends displacement signal Xa, Xb and radially Y two ends displacement signal Ya, Yb by displacement transducer, wherein one the tunnel deliver to four Decentralized PID control modules respectively, be used to realize the static suspension of flywheel and the stable control under the slow-speed of revolution; Another road, Xa, Xb deliver to X to intersecting the feedback control module input end, Ya, Yb deliver to the input end of Y to the intersection feedback control module, X is output as OUTYa and OUTYb with Y to the output of intersection feedback control module respectively with opposite polarity after the output of two the Decentralized PID control modules in two ends is in parallel, be used for the input of PWM modulation algorithm, Y is output as OUTXa and OUTYb with X to the output of intersection feedback control module respectively with opposite polarity after the output of two the Decentralized PID control modules in two ends is in parallel, be used for the input of PWM modulation algorithm; Simultaneously, the revolution speed calculating algorithm calculates the hall signal that Hall transducer provides, obtain the flywheel tach signal, deliver to respectively X to Y to intersecting feedback control module, the feedback control module that is used to intersect is followed the tracks of the rotating speed of flywheel rotor, so that can regulate the leading amount of its phase place and the feedback quantity that intersects at any time.
The revolution speed calculating algorithm flow chart that fpga chip of the present invention 2 adopts is as shown in figure 10: present embodiment utilizes any two in three Halls of fly-wheel motor to calculate rotating speeds.When first hall signal then, start timer and count; When next hall signal then, count value is latched, and carries out revolution speed calculating, the revolution speed calculating formula is:
The PWM modulation algorithm theory diagram that fpga chip of the present invention 2 adopts is as shown in figure 11:, obtained carrying out the modulation voltage that PWM modulates by weighted sum by current signal and controlled quentity controlled variable that Decentralized PID+intersections feedback control is produced; The currency of modulation voltage and carrier signal counter is compared by comparator, and the output of comparator is the pwm signal that modulates.
Though the present invention is the control gear of magnetic suspension flywheel magnetic bearing system, but also can be used as the controller of a kind of general magnetic bearings control platform as other magnetic bearing systems, application person can design and realizes its function flexibly and easily by revising FPGA according to its special application.
Claims (2)
1. integrated magnetic suspension flywheel magnetic bearing digital controller is characterized in that: comprising:
Interface circuit (8): join with current signal modulus conversion chip (13) and displacement signal modulus conversion chip (6), comprise current sensor interface circuit (12) and displacement transducer interface circuit (7), will convert the analog voltage signal of 0～5V to by the displacement signal that the current signal and the displacement transducer (10) of current sensor (11) input are imported;
Current signal modulus conversion chip (13) and displacement signal modulus conversion chip (6): the analog voltage signal of 0～5V of interface circuit (8) output is converted to the digitized current signal of 0～5V and displacement signal is exported to electrical level transferring chip (14);
Electrical level transferring chip (14): join with current signal modulus conversion chip (13), displacement signal modulus conversion chip (6), Hall transducer (9) and FPGA module (3), with the digitizing current signal of 0～5V and displacement signal and be converted to 0～3.3V by the flywheel tach signal of 0～5V of Hall transducer (9) output and deliver to FPGA module (3);
FPGA module (3): control current signal modular converter (13) and displacement signal modular converter (6) are to being sampled by the current signal of current sensor (11) input and the displacement signal of displacement transducer (10) input; Logic is carried out revolution speed calculating to the 0～3.3V flywheel tach signal after electrical level transferring chip (14) conversion according to testing the speed; Digitizing displacement signal after level conversion and tach signal are carried out calculation process, obtain the required controlled quentity controlled variable of power amplifier (4).
2. integrated magnetic suspension flywheel magnetic bearing digital controller according to claim 1 is characterized in that: the control algorithm part that described FPGA module (3) comprises hardware circuit part and realizes based on hardware programming in fpga chip; Hardware circuit part comprises configuring chip (1) and fpga chip (2), wherein fpga chip (2) adopt a slice Xinlinx XC3S * * chip; Realize the control algorithm part based on hardware programming, comprise analog-to-digital conversion control algorithm (18), revolution speed calculating algorithm (17), Decentralized PID+intersection feedback control algorithm (16) and PWM modulation algorithm (19), fpga chip (2) carries out analog-to-digital conversion by analog-to-digital conversion control algorithm (18) control current signal modulus conversion chip (13) and displacement signal modulus conversion chip (6) to current signal and displacement signal; By revolution speed calculating algorithm (17) the given tach signal of Hall transducer (9) is carried out revolution speed calculating simultaneously; Decentralized PID+intersection feedback control algorithm (16) calculates displacement signal and tach signal, obtains the required controlled quentity controlled variable of PWM modulation algorithm (19); By PWM modulation algorithm (19) controlled quentity controlled variable of Decentralized PID+intersection feedback control algorithm (16) generation and the current signal that analog-to-digital conversion control algorithm (18) obtains are carried out the PWM modulation, and modulation result exported power amplifier (4), finish the control of 5 degrees of freedom of magnetically levitated flywheel rotor.
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| CNB2006101651611A CN100392268C (en) | 2006-12-14 | 2006-12-14 | Highly-reliable integrated low-power consumption magnetic levitation flywheel magnetic bearing numerical control device |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101196213B (en) * | 2007-12-26 | 2010-09-01 | 北京航空航天大学 | Integrated digital control system for high temperature superconducting magnetic suspension energy accumulation flywheel magnetic bearing |
| CN101931371B (en) * | 2010-08-06 | 2013-07-03 | 中国人民解放军国防科学技术大学 | Magnetic suspension bearing control power amplification integrated system |
| CN102013859B (en) * | 2010-12-01 | 2012-12-12 | 北京奇峰聚能科技有限公司 | Control digital system for high-reliability energy storage flywheel dragging motor |
| CN102122180B (en) * | 2011-02-16 | 2012-10-17 | 哈尔滨工业大学 | Flywheel simulator based on FPGA |
| CN102829116B (en) * | 2012-08-28 | 2015-01-14 | 清华大学 | Method for diminishing vibration of base in magnetic bearing system |
| FI127524B (en) * | 2014-06-06 | 2018-08-15 | Lappeenrannan Teknillinen Yliopisto | A control device and a method for controlling a magnetic levitation system |
| CN105065452B (en) * | 2015-07-13 | 2017-02-08 | 北京航空航天大学 | Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform |
| TWI627410B (en) | 2017-05-17 | 2018-06-21 | 財團法人工業技術研究院 | Rotor driving system and method for driving rotor |
| CN112833097B (en) * | 2020-11-27 | 2022-09-20 | 中国航发四川燃气涡轮研究院 | Integrated digital control method for electromagnetic bearing based on generalized control mode |
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