CN100516768C - Magnetic bearing sensor controlling system with fault tolerance function - Google Patents
Magnetic bearing sensor controlling system with fault tolerance function Download PDFInfo
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- CN100516768C CN100516768C CNB2007101767190A CN200710176719A CN100516768C CN 100516768 C CN100516768 C CN 100516768C CN B2007101767190 A CNB2007101767190 A CN B2007101767190A CN 200710176719 A CN200710176719 A CN 200710176719A CN 100516768 C CN100516768 C CN 100516768C
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Abstract
The invention relates to a magnetic bearing sensor control system with fault tolerance function, which is a magnetic bearing rotor position detection and control device and mainly comprises a controller, a current vortex sensor, a conditioning circuit, an A / D chip and a switch selection circuit. The system leads the output of a current vortex sensor probe to be connected into the switch selection circuit after being got through the conditioning circuit, after being got through the switch selection circuit, the output of the current vortex sensor probe is connected into the A / D chip to be sampled. The system decides the state of the switch selection circuit through the controller according to whether a sampled value is normal or not, and further decides whether the output of the current vortex sensor probe is adopted or not, and the sampled value is selected and processed through the controller according to a switch state signal. Thus, on the basis of not increasing the volume and the power consumption of the senor, the purpose of the fault tolerance of the sensor is realized.
Description
Technical field
The present invention relates to a kind of magnetic bearing sensor controlling system, be used for position probing and control the magnetic levitation flywheel magnetic bearing rotor with fault tolerance.
Background technology
Magnetically levitated flywheel has no rotating speed zero passage friction and can carry out the advantage of Active Vibration Control with respect to traditional mechanical bearing flywheel, so be widely used in spacecraft attitude topworks.Magnetic bearing is used to support flywheel rotor, to eliminate mechanical friction, improves rotor speed, thereby can improve the control accuracy of flywheel, prolongs the serviceable life of attitude control system.
In the magnetic levitation bearing system,, must provide rotor position accurately by displacement transducer in order to realize that magnetic bearing is carried out the stable suspersion of ACTIVE CONTROL, rotor and the purpose of raising speed.Existing magnetic bearing sensor mostly is inductance type transducer and eddy current sensor.
If the output of one or several direction of sensor is inaccurate or break down, controller will receive inaccurate or wrong positional information, and then will offer the incorrect electric current of magnetic bearing coil, the lighter causes the inaccurate or rotor oscillation of magnetic bearing rotor-position, and weight person can cause magnetic bearing rotor unstability.Therefore, be necessary to develop a kind of magnetic bearing sensor controlling system with fault tolerance.
Chinese patent application notification number " CN101009879 "-disclose " radial/axial six-position integrated electric eddy sensor ", as shown in Figure 1.In this patent, designed a kind of high integrated sensor, four paths all are integrated in the sensor holder to displacement transducer and two-way shaft position sensor, two sensor probes of each direction (X, Y, Z) partner, and survey the displacement signal of this direction simultaneously.Equidirectional two probes adopt the differential way of output, reduced sensor bulk, and differential mode can improve the temperature and the time stability of displacement transducer.But it does not consider fault-tolerant control when circuit design and control; that is: undesired or when damaging when any probe work of certain direction; the differential output signal of this direction is just undesired, and then can cause the magnetic bearing working rotor undesired or serious unstable phenomenon takes place.
In U.S. Patent application " US2006/0055259A1 "-disclosed " Fault-tolerant magnetic bearingposition and control ", adopt a direction that 6 sensor probes (3 pairs) are set, as shown in Figure 2.To all fault-tolerant control of the method realization sensor of sampling of sensor probe output of all backups, the shortcoming of this fault-tolerant control is volume and the power consumption that has increased sensor greatly, has increased the resource use amount and the working time of system in this patent.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiency that prior art exists, designed a kind of magnetic bearing sensor controlling system with fault tolerance, this system carries out whether normal judgement to the sampled value of sensor output, select circuit to select the sampled value of normal sensor output to carry out computing by switch, when a sensor (or sensor probe) work of certain direction is undesired, still can guarantee the operate as normal of magnetic bearing rotor, have fault tolerance, improved the reliability of magnetic bearing system.
Technical solution of the present invention: a kind of magnetic bearing sensor controlling system with fault tolerance, its characteristics are to comprise: controller, current vortex sensor, modulate circuit, switch are selected circuit, AD chip, wherein:
Controller: the sampled result to the AD chip is carried out control and treatment, exports switch state signal to switch then and selects circuit, and output pwm signal is to close power amplifier;
Current vortex sensor; Be used to detect the position of magnetic bearing rotor, export corresponding displacement signal to modulate circuit according to rotor-position;
Modulate circuit: be used for the magnetic bearing rotor displacement signal of input is carried out delivering to switch selection circuit after filtering and the processing and amplifying;
Switch is selected circuit: the switch state signal according to controller output is selected the signal after nursing one's health: if switch state signal is for high, export the displacement signal after this conditioning and deliver to the AD chip and wait for sampling, if switch state signal is low, be output as low level;
AD chip:, select the signal of circuit output to sample to switch, and sampled result is delivered to controller according to the mode of operation of controller decision.
The control and treatment process of described controller is: for directions X, it is low that whole switch state signals at first is set, read the sampled value of AD chip, then by judging whether two corresponding sampled values of probe of X forward or X negative sense have exceeded the scope of setting, if do not exceed setting range, then controller is done the computing that differs from laggard line position algorithm to two sampled values of this direction, and output pwm signal; If exceeded the scope of setting, then controller is exported corresponding switch state signal, make the corresponding sampling channel of undesired probe insert low level and be used to protect the AD chip, and when computing, only get the handle accordingly computing of laggard line position algorithm of the corresponding sampled value of normal probe; Also handle for Y direction and Z direction by above-mentioned way.
Described current vortex sensor adopts equidirectional two probes to be 180 degree and places, each probe is according to the direct carry-out bit shifting signal of rotor-position, this displacement signal is in modulate circuit transfers to the permission voltage range of AD chip, the reference voltage value of the magnitude of voltage corresponding A D chip of sensor carry-out bit shifting signal when making stable suspersion is about to the displacement signal conditioning to the reference voltage being the center variation.
Described controller is made up of DSP and FPGA, wherein: FPGA finishes the controlling of sampling of AD chip to the magnetic bearing displacement signal, and sampled result delivered to DSP, DSP handles accordingly sampled value and judges, and export corresponding switch state signal to switch by FPGA and select circuit, simultaneously DSP only adopts normal sampled value to handle accordingly, run location algorithm and operation result delivered to FPGA then, by the FPGA output pwm signal to close power amplifier.
Principle of the present invention: for realizing the stable suspersion of magnetically levitated flywheel rotor, need be in the top and bottom of stator respectively the installation position displacement sensor be used for the displacement of detection rotor upper and lower side, its installation site as shown in Figure 3, wherein: probe P1, P2, P3, P4 detect the X forward of upper end, the X negative sense of upper end, the Y forward of upper end, the Y negative sense displacement of upper end respectively; Probe P1 ', P2 ', P3 ', P4 ' detect the X forward of lower end, the X negative sense of lower end, the Y forward of lower end, the Y negative sense displacement of lower end respectively; Probe P5, P6 detect axle forward (Z+); Probe P5 ', P6 ' detect axle negative sense (Z-), the independent output of each probe, and difference is not done in inside.Be the process that example explanation the present invention realizes fault-tolerant control with upper end directions X and lower end directions X now: controller 1 at first upper end X direction and 4 probes P1, P2 of lower end directions X, the switch state signal that P1 ', P2 ' are corresponding is set to " 0000 ", promptly the position signalling of 4 probe outputs is sampled, respectively that P1 is corresponding with P2 then sampled value summation, the sampled value summation that P1 ' is corresponding with P2 ', and the sampled value of probe P1, P2, P1 ', P2 ' output asked for the absolute value of rate of change, be made as respectively: k
X1, k
X2, k
X3And k
X4The sampled value of now supposing the reference voltage correspondence of AD chip 5 is 2047, because all being the center with the reference voltage behind modulate circuit, the output of each probe changes, be that sampled value is that the center changes with 2047, and radially unidirectional two pop one's head in into 180 degree places, the detection rotor position has complementarity (for axially, P5 and P5 ', P6 and P6 ' are placed on axial positive and negative terminal respectively, have complementarity equally), so the sampled value when the P1 sampled value sum corresponding with P2 is 2 times of reference voltages: 4095; The sampled value sum that P1 ' is corresponding with P2 ' equally also is 4095.Because the error of the sum of errors modulate circuit of sampling itself, just often unidirectional two-way sampled value sum can be established threshold value 1 and be the fluctuation range of sampled value sum: 3690---4500 around 4095 fluctuations.Simultaneously, because the cycle that the output of each probe is sampled is identical, and the sampled value of P1 and P2, P1 ' and P2 ' has complementarity, so during operate as normal: k
X1=k
X2=k
X3=k
X4Since the influence of sampling error and disturbing factor, k
X1And k
X2Can be around 0.5* (k
X3+ k
X4) fluctuation, k
X3And k
X4Can be around 0.5* (k
X1+ k
X2) fluctuation, establish threshold value 2 and be k
X3, k
X4The fluctuation range of sum: 0.3* (kx
3+ k
X4)---0.7* (kx
3+ k
X4), threshold value 3 is k
X1, k
X2The fluctuation range of sum: 0.3* (kx
1+ k
X2)---0.7* (kx
1+ k
X2).Controller 1 reads upper end X direction two-way sampled value, if this two-way sampled value sum does not exceed the scope that threshold value 1 is set, thinks that then the output of two probes of this direction is normal, and controller 1 is got two sampled values of this direction and done the computing that differs from laggard line position algorithm; If two sampled value sums of upper end X direction have exceeded the scope that threshold value 1 is set, think that then two of this direction has a job undesired in popping one's head in, and passes through k this moment
X1And k
X2Judge is which work is undesired: if k
X2Exceeded the scope that threshold value 2 is set, then the switch state signal of controller 1 upper end X direction and 4 probes of lower end directions X is set to " 0100 ", the sampled value of promptly having given up second probe of upper end X direction is only got the sampled value that first probe of upper end X direction is exported.Owing to only adopt the sampled value of first probe output of upper end X direction, the amplitude of variation of sampled value reduces half when doing difference with respect to two normal probes of employing, and this probe detects X forward (identical with the direction that just often adopts two sampled values to do after differing from), so the sampled value of this probe output deducted multiply by 2 after 2047 and can reach the two just often identical effects of popping one's head in, carry out the computing of position algorithm then; If k
X1Exceeded the scope that threshold value 2 is set, then the switch state signal of controller 1 upper end X direction and 4 probes of lower end directions X is set to " 1000 ", the sampled value of promptly having given up first probe of upper end X direction is only got the sampled value that second probe of upper end X direction exported.Owing to only adopt the sampled value of second probe output, the amplitude of variation of displacement signal sampled value reduces half when doing difference with respect to two normal probes of employing, and this probe detects X negative sense (just often the direction done after the difference of sampled value is opposite with two probes), so the sampled value of this probe output deducted after 2047 multiply by-2 and can reach the two just often identical effects of popping one's head in, carry out the computing of position algorithm then.In like manner, if lower end directions X kx
3Exceeded the scope that threshold value 3 is set, then handle, and switch state signal has been set to " 0010 " by above-mentioned same procedure; If lower end directions X kx
4Exceeded the scope that threshold value 3 is set, then handle, and switch state signal has been set to " 0001 " by above-mentioned same procedure.
The present invention compares with control system with sensor with existing magnetic bearing, and advantage is:
(1) employing directly to equidirectional two probe output samplings respectively, just often adopts the difference of equidirectional two sampled values to carry out the computing of position algorithm, has the character of differential signal, can improve the linearity and temperature stability; When having a job undesired in equidirectional two probes, only get the sampled value of normal probe and carry out the computing of position algorithm, make magnetic bearing sensor and control system have fault tolerance, improved the reliability of system greatly.
(2) adopt same direction that the pair of sensors probe only is set, by control system adopt switching algorithm failure judgement probe and and then realize fault tolerance, have the volume and the power consumption that have reduced sensing system, reduced the advantage that the resource of control system is used.
Description of drawings
Fig. 1 is existing Chinese patent notification number " CN101009879 " radial/axial six-position integrated electric eddy sensor synoptic diagram;
Fig. 2 realizes the sensor synoptic diagram of fault tolerance for existing United States Patent (USP) " US2006/0055259A1 " adopts hardware redundancy;
Fig. 3 is a displacement transducer installation site synoptic diagram in the magnetic suspension system;
Fig. 4 is a control system block diagram of the present invention;
Fig. 5 is a controller control synoptic diagram of the present invention;
Fig. 6 is that switch of the present invention is selected circuit and AD chip interface circuit figure;
Fig. 7 is an on off state algorithm flow chart of the present invention.
Embodiment
As shown in Figure 4, control system of the present invention comprises: controller 1, current vortex sensor 2, modulate circuit 3, switch are selected circuit 4, AD chip 5.Current vortex sensor 2 produces the rotor displacement signals, and this signal is delivered to modulate circuit 3, and modulate circuit 3 amplifies displacement signal and Filtering Processing, and is that the center changes with displacement signal conditioning to the reference voltage around AD chip 5.Controller 1 is finished the controlling of sampling of AD chip 5, finishes the whether normal judgement of two sampled values of each direction according to the on off state algorithm, and then generates the switch state signal of this direction, and generates pwm signal by the computing of position algorithm.
As shown in Figure 5, controller 1 of the present invention is made up of DSP11 and FPGA12.Wherein, DSP11 finishes the whether normal judgement of sampled value by the on off state algorithm, generate switch state signal and deliver to FPGA12, and according on off state, select the computing (position algorithm adopts pid algorithm in the present embodiment) of normal sampled value completing place algorithm for use, calculated result is delivered to FPGA12 be used to generate PWM; FPGA12 finishes the sampling time sequence control of AD chip 5, sampled value is delivered to DSP11, the operation result of sending here according to DSP11 is finished the modulation of PWM, the switch state signal driving switch that produces according to DSP11 is selected circuit 3 simultaneously, and selecting the output of circuit 3 with determine switch is sampled value or low level.
As shown in Figure 6, provided the interface circuit figure that switch of the present invention is selected circuit 4 and AD chip 5.AD chip 5 adopts AD7938 in the present embodiment, and its reference voltage is 2.5V, and the sampled value of reference voltage correspondence is 2047.Switch selects circuit 3 to adopt CD4053.Magnetic bearing rotor-support-foundation system upper end or lower end need respectively 6 road signals are sampled, and AD7938 can realize the sampling of 8 channel bit shifting signals, CD4053 can realize the selection of 3 tunnel analog switch amount, so need 2 AD7938 to sample and 4 CD4053 carry out switch and select for whole magnetic bearing rotor-support-foundation system (X of upper and lower end, Y, Z direction).The control signal end CAX+, CAX-, CAY+, CAY-, CAZ+ and the CAZ-that only with the upper end are example explanation principle of work: CD4053 below are connected to FPGA12, are determined the state of each control signal end and reach FPGA12 through the on off state algorithm by DSP.When above control signal end when low, the output of CD4053 is respectively the output valve of sensor signal after conditioning: PAX+, PAX-, PAY+, PAY-, PAZ+ and PAZ-, and insert AD chip 5 and wait for sampling.When wherein certain road signal was high, for example CAX+ was high, and this road signal that then inserts AD chip 5 is a low level.The control signal end and the data bit end of AD chip 5 are connected directly to FPGA12, carry out the control of AD chip sampling time sequence and reading of sampled value by FPGA12.
As shown in Figure 7, provided on off state algorithm flow chart of the present invention.Response is interrupted after DSP11 receives the sampling end interrupt application that FPGA12 sends.In interrupt routine: at first read sampled value and on off state value, and ask for the absolute value of rate of change: k according to the sampled value of upper and lower end directions X (or Y direction or Z direction)
X1, k
X2, k
X3And k
X4, and then operate accordingly according to different state values.The two-way sampled value of above end sensor directions X is that example describes: (1), after the interruption application that DSP11 response FPGA12 sends, if when this two-way state value be " 00 ", then two sampled values are sued for peace.If the sampled value sum in the scope of threshold value 1 decision, thinks then that this two-way sensor probe output is normal, DSP11 carries out the PID computing after the two-way sampled value is done difference; If the continuous scope that has exceeded threshold value 1 decision 10 times of two sampled value sums, then thinking has an output undesired in two sensors of directions X.If the rate of change of first via sampled value is in the scope of threshold value 2 decisions, and the second road continuous scope that exceeds threshold value 2 10 times thinks that then the output of the second road sensor probe is undesired, and DSP11 returns after then the on off state value of this two-way being changed to " 01 ".If the rate of change of the second tunnel sampled value is in the scope of threshold value 2 decisions, and the continuous scope that exceeds threshold value 2 10 times of the first via thinks that then the output of first via sensor probe is undesired, and DSP11 returns after then the on off state value of this two-way being changed to " 01 ".(2), after the DSP11 response FPGA12 interruption application of sending,, multiply by 2 after then the DSP11 sampled value that reads the upper end X direction first via deducts 2047, carry out the PID computing then if the state value of this two-way is " 01 ".(3), after the DSP11 response FPGA12 interruption application of sending,, multiply by-2 after the sampled value that DSP11 gets directions X the second tunnel deducts 2047, carry out the PID computing then if the state value of this two-way is " 10 ".
The present invention relates to a kind of magnetic bearing sensor controlling system, when a probe output of sensor upper end or lower end direction is undesired, still can guarantee system's operate as normal with fault tolerance.Provide in the synoptic diagram of the present invention be rotor in the outside, be used for the fault-tolerant control of magnetic bearing sensor of outer-rotor type, this invention is equally applicable to the fault-tolerant control of magnetic bearing sensor of inner-rotor type.
Claims (3)
1, a kind of magnetic bearing sensor controlling system with fault tolerance is characterized in that: comprising: controller (1), current vortex sensor (2), modulate circuit (3), switch are selected circuit (4), AD chip (5), wherein:
Controller (1): the sampled result to AD chip (5) is carried out control and treatment, exports switch state signal to switch then and selects circuit (4), and output pwm signal is to close power amplifier;
Current vortex sensor (2): be used to detect the position of magnetic bearing rotor, export corresponding displacement signal to modulate circuit (3) according to rotor-position;
Modulate circuit (3): be used for the magnetic bearing rotor displacement signal of input is carried out delivering to switch selection circuit (4) after filtering and the processing and amplifying;
Switch is selected circuit (4): the switch state signal according to controller (1) output is selected the signal after nursing one's health: if switch state signal is for high, export the displacement signal after this conditioning and deliver to AD chip (5) and wait for sampling, if switch state signal is low, be output as low level;
AD chip (5):, select the signal of circuit (4) output to sample to switch, and sampled result is delivered to controller (1) according to the mode of operation of controller (1) decision;
The control and treatment process of described controller (1) is: for directions X, it is low that whole switch state signals at first is set, read the sampled value of AD chip (5), then by judging whether two corresponding sampled values of probe of X forward or X negative sense have exceeded the scope of setting, if do not exceed setting range, then controller (1) is done the computing that differs from laggard line position algorithm to two sampled values of this direction, and output pwm signal; If exceeded the scope of setting, then controller (1) is exported corresponding switch state signal, make the corresponding sampling channel of undesired probe insert low level and be used to protect AD chip (5), and when computing, only get the handle accordingly computing of laggard line position algorithm of the corresponding sampled value of normal probe; Also handle for Y direction and Z direction by above-mentioned processing procedure.
2, according to right 1 described a kind of magnetic bearing sensor controlling system with fault tolerance, it is characterized in that: described current vortex sensor (2) adopts equidirectional two probes to be 180 degree and places, each probe is according to the direct carry-out bit shifting signal of rotor-position, this displacement signal is in modulate circuit (3) transfers to the permission voltage range of AD chip (5), the reference voltage value of the magnitude of voltage corresponding A D chip (5) of sensor carry-out bit shifting signal when making stable suspersion is about to the displacement signal conditioning to the reference voltage being the center variation.
3, according to right 1 described a kind of magnetic bearing sensor controlling system with fault tolerance, it is characterized in that: described controller (1) is made up of DSP (11) and FPGA (12), wherein: FPGA (12) finishes the controlling of sampling of AD chip (5) to the magnetic bearing displacement signal, and sampled result delivered to DSP (11), DSP (11) handles accordingly sampled value and judges, and export corresponding switch state signal to switch by FPGA (12) and select circuit (4), DSP (11) only adopts normal sampled value to handle accordingly simultaneously, run location algorithm and operation result delivered to FPGA (12) then, by FPGA (12) output pwm signal to close power amplifier.
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| CNB2007101767190A CN100516768C (en) | 2007-11-01 | 2007-11-01 | Magnetic bearing sensor controlling system with fault tolerance function |
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| CNB2007101767190A CN100516768C (en) | 2007-11-01 | 2007-11-01 | Magnetic bearing sensor controlling system with fault tolerance function |
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| CN100516768C true CN100516768C (en) | 2009-07-22 |
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| CN108151637B (en) * | 2017-10-24 | 2020-04-14 | 珠海格力节能环保制冷技术研究中心有限公司 | Displacement detection device, magnetic suspension bearing and displacement detection method thereof |
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| CN113719539B (en) * | 2021-08-25 | 2023-02-03 | 中国人民解放军海军工程大学 | Fault-tolerant control system and control method for displacement sensor of magnetic bearing |
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