CN101260906A - Six-bridge arm five-path output electromagnetic bearing switch power amplifier control method - Google Patents
Six-bridge arm five-path output electromagnetic bearing switch power amplifier control method Download PDFInfo
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- CN101260906A CN101260906A CNA2008100238885A CN200810023888A CN101260906A CN 101260906 A CN101260906 A CN 101260906A CN A2008100238885 A CNA2008100238885 A CN A2008100238885A CN 200810023888 A CN200810023888 A CN 200810023888A CN 101260906 A CN101260906 A CN 101260906A
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Abstract
The invention discloses a control method for a six-bridge leg and five-output electromagnetic bearing switch power amplifier which belongs to a switch power amplifier. The switch power amplifier comprises a signal conditioning circuit (1), a current controller (2), a drive circuit (3), a power conversion circuit (4) and a current detection circuit (5). One end of each of the five circuit loads (6) (windings of five freedoms of the electromagnetic bearing) is connected with a common bridge leg on the power change circuit (4), and the other ends of the five circuit loads are respectively connected to other five bridge legs. The power amplifier solely controls the common bridge leg, the duty ratio of the switch signal of the power amplifier is determined by the maximum and minimum of the current error of the five circuits; besides, the switch state of the five bridge legs are changed in real time according to the output current error of each circuit, so that the current in the circuit is increased, decreased or follows naturally. The control method of the power amplifier is simple, visualized and easy to realize, effectively solves the problem of the dissymmetry of the multiphase load output, reduces the number of power tubes and the loss of switches, and reduces the complexity degree of the power amplifier, and has comparatively large commercial and practical value.
Description
One, technical field
The controlling party of six-bridge arm five-path output electromagnetic bearing switch power amplifier of the present invention switch power amplifier owned by France.
Two, technical background
Switch power amplifier that magnetic bearing system uses mostly is half-bridge, improves half-bridge or full bridge structure at present, and every cover power amplifier all needs control circuit independently, and can only be used for driving a magnetic bearing coil.If realize the two ends and the axially suspension of five degree of freedom altogether of rotor, then need this power amplifier of five covers at least, such five overlap independently, and control circuit and circuit for power conversion will make the volume of power amplifier part become huger, the complexity height, reliability is low, and power tube is more, and loss is bigger.If adopt Fig. 2 six-bridge arm five-path export structure then realize suspending for simultaneously the coil power supply of five degrees of freedom, make power circuit and control circuit all obtain simplifying, reduce complexity and also improve reliability.
Three, summary of the invention
With respect to traditional electromagnetic bearing switch power amplifier, a kind of six-bridge arm five-path output electromagnetic bearing switch power amplifier of the present invention's development is that a kind of level of integration height, control are effective, power amplifier simple in structure, that reliability is high, loss is little, a power amplifier just can be controlled five degrees of freedom of electromagnetic bearing.
A kind of controlling method of electromagnetic bearing switch power amplifier of six-bridge arm five-path output, the electromagnetic bearing switch power amplifier of employed six-bridge arm five-path output, comprise the conditioning circuit that links to each other with given signal, current controller, drive circuit, six brachium pontis circuit for power conversion and current detection circuits.Wherein the conditioning circuit that links to each other with given signal is connected in the input of current controller, the output of current controller is connected in the input of six brachium pontis circuit for power conversion through drive circuit, the output of six brachium pontis circuit for power conversion links to each other with five tunnel loads through current detection circuit, and the output of current detection circuit links to each other with current controller.Described six brachium pontis circuit for power conversion comprise one tunnel public brachium pontis and five tunnel loads output brachium pontis, and each brachium pontis is composed in series by two switching tubes, and the anode of each brachium pontis is connected in dc power anode, and the negative terminal of each brachium pontis is connected in the negative pole of DC electrical source.Fast recovery diode of each switching tube reverse parallel connection, the series connection node of two switching tubes up and down of public brachium pontis is connected in the common port of five tunnel loads, and the series connection node of two switching tubes in every road of other five tunnel loads output brachium pontis is connected in the other end of a load respectively.Public brachium pontis and five tunnel loads output brachium pontis make a distinction independent control, two complementary conductings of tandem tap pipe up and down of public brachium pontis, and in a switch periods, the switching signal dutycycle D of two switching tubes of public brachium pontis is determined by following formula:
Dutycycle D is by error e (i) decision of five road load currents, e (i)=I in the formula
Ir-I
i, I
IrBe given electric current, I
iBe actual current, i=a, b, c, d, e, max (e (i)) and min (e (i)) are respectively the maximum value and the minimum value of five road current error signals, | max (e (i)) | and | min (e (i)) | be respectively the absolute value of maximum value and minimum value.
The switching signal of two tandem tap pipes of other five tunnel loads output brachium pontis is according to the error polar signal selector switch state of output current, make electric current increase, reduce or afterflow, the on off state of each brachium pontis is determined by the switching signal IN2 of switching tube on the output current error polar signal IN1 of this coupled brachium pontis and the public brachium pontis.Beginning at each control cycle, be that clock signal clk signal rising edge comes temporarily, error signal directly is sent to the switching signal OUT1 end of switching tube on this brachium pontis, its inversion signal is delivered to the switching signal OUT2 of switching tube under this brachium pontis, saltus step takes place to the output current error polar signal IN1 of this brachium pontis in this state continuance, load current can reduce rapidly or increase under this on off state, and current error is reduced.Actual output current equates with given signal when saltus step takes place the output current error polar signal IN1 of this brachium pontis, the output current error of this brachium pontis is 0, after this output current does not need rapid change, as long as nature afterflow, so at this moment the on off state of this brachium pontis should be identical with the on off state of public brachium pontis, promptly the switching signal OUT1 of switching tube equals the switching signal IN2 of switching tube on the public brachium pontis on this brachium pontis, the switching signal OUT2 of switching tube is switching signal IN2 anti-phase of switching tube on the public brachium pontis under this brachium pontis, this state remains to next clock signal clk rising edge and arrives, and then repeats above-mentioned action.
Six-bridge arm five-path of the present invention is exported power amplifier of magnetic bearing switch compared with prior art, and employed switching tube number is few, the level of integration height, control effectively, switching loss is little, and efficient and reliability are higher, also have the control algorithm simple, intuitive simultaneously, be easy to advantages such as realization.
Four, description of drawings
Fig. 1 is the power amplifier of magnetic bearing switch theory diagram of six-bridge arm five-path output.
Designation among Fig. 1: I
Ar, I
Br, I
Cr, I
Dr, I
ErBe five given electric currents; PWM1, PWM2 ..., PWM12 is 12 path switching signals.
Fig. 2 is the circuit for power conversion of six brachium pontis close power amplifiers.
Designation among Fig. 2: U
DcBe DC bus-bar voltage; S
1~ S
12Be switching tube; D
1~ D
12Be anti-and fast recovery diode; N, a, b, c, d, e are respectively the node of each brachium pontis; A, B, C, D, E are the winding of five degrees of freedom of magnetic bearing.
Fig. 3 is that the switch control of other brachium pontis outside the public brachium pontis realizes schematic diagram.
Designation among Fig. 3: IN1 is the output current error polar signal of this brachium pontis; CLK is a CLK clock; IN2 is the switching signal of switching tube on the public brachium pontis; OUT1 is the switching signal of switching tube on this brachium pontis; OUT2 is the switching signal of switching tube under this brachium pontis;
Five, specific implementation method
Fig. 1 is a composition frame chart of the present invention, and the conditioning circuit of being made up of operational amplifier among the figure is to given signal I
Ar, I
Br, I
Cr, I
Dr, I
ErNurse one's health the signal that the controlled circuit of computing needs, conditioning signal later is sent to current control circuit.Current control circuit adopts the combination of digital signal processor DSP and CPLD, the switching pulse that the conducting of output power controlling switching tube is turn-offed, the switching tube drive circuit that this control signal is formed through special driving chip comes six brachium pontis circuit for power conversion are controlled.The test section is by comprising five current sensors and the signal deteching circuit that is made of amplifier and comparator, and load is the winding of 5 degrees of freedom of electromagnetic bearing.Circuit for power conversion as shown in Figure 2, employing be six bridge arm topologicals, a public brachium pontis is wherein arranged, connect an end of five tunnel loads, other brachium pontis connects the other end of five tunnel loads.
Control to six brachium pontis circuit for power conversion can be divided into two parts: the control of the control of public brachium pontis and other five brachium pontis.Two complementary conductings of switching tube up and down of public brachium pontis are promptly gone up pipe and are opened down the pipe shutoff, and last pipe is closed down the pipe conducting.Within a switch periods, the switching signal dutycycle D of pipe can be determined by following formula on the public brachium pontis:
Dutycycle D is by error e (i) decision of five road load currents, e (i)=I in the formula
Ir-I
i, I
IrBe given electric current, I
iBe actual current, i=a, b, c, d, e, max (e (i)) and min (e (i)) are respectively the maximum value and the minimum value of five road current error signals, | max (e (i)) | and | min (e (i)) | be respectively the absolute value of maximum value and minimum value.
Switching tube switching signal dutycycle D changes in that [0,1] is interval on the public brachium pontis that is obtained by following formula: when the load current error of five brachium pontis was all positive number, dutycycle D was 1, and when error was negative entirely, dutycycle D was 0.Then between 0 and 1, negative current error absolute value is big more for other state D, and D approaches 0 more, and on the contrary, positive current error absolute value is big more, and D approaches 1 more.The variation of D can be adjusted the current potential of public brachium pontis node in good time, can export the needed voltage of variation of five road electric currents, again DC bus-bar voltage is used well.
Fig. 3 is the generation schematic diagram of two switching tube switching signals about other brachium pontis except that public brachium pontis, and the on off state of this brachium pontis is determined by the switching signal IN2 of switching tube on the output current error polar signal IN1 of this coupled brachium pontis and the public brachium pontis.Beginning at each control cycle, be that clock signal clk signal rising edge comes temporarily, error signal directly is sent to the switching signal OUT1 end of switching tube on this brachium pontis, its inversion signal is delivered to the switching signal OUT2 of switching tube under this brachium pontis, saltus step takes place to the output current error polar signal IN1 of this brachium pontis in this state continuance, load current can reduce rapidly or increase under this on off state, and current error is reduced.Actual output current equates with given signal when saltus step takes place the output current error polar signal IN1 of this brachium pontis, the output current error of this brachium pontis is 0, after this output current does not need rapid change, as long as nature afterflow, so at this moment the on off state of this brachium pontis should be identical with the on off state of public brachium pontis, promptly the switching signal OUT1 of switching tube equals the switching signal IN2 of switching tube on the public brachium pontis on this brachium pontis, the switching signal OUT2 of switching tube is switching signal IN2 anti-phase of switching tube on the public brachium pontis under this brachium pontis, this state remains to next clock signal clk rising edge and arrives, and then repeats above-mentioned action.
As known from the above, the working state of each brachium pontis of six-bridge arm five-path output switch power amplifier all has increase, reduce and three kinds of states of afterflow, and be a kind of three level sampling maintenance switch power amplifiers of realizing the many outputs of many brachium pontis.The same with traditional three-state (three level) power amplifier, six-bridge arm five-path output power amplifier can reduce the ripple of output current greatly.
Among the present invention,, can effectively solve the asymmetry problem of multiphase load output because this power amplifier has public brachium pontis.The number of the switching tube that power amplifier uses will greatly reduce, and correspondingly also reduce switching loss, and the efficient of power amplifier improves greatly.For the magnetic bearing switch power amplifier of five full bridge structures, the total number of main switch pipe has reduced 40%; Under the identical situation of switching frequency, total switching loss can reduce to some extent, and volume also reduces a lot.
Claims (1)
1, a kind of controlling method of electromagnetic bearing switch power amplifier of six-bridge arm five-path output, the electromagnetic bearing switch power amplifier of employed six-bridge arm five-path output, comprise the conditioning circuit (1) that links to each other with given signal, current controller (2), drive circuit (3), six brachium pontis circuit for power conversion (4) and current detection circuit (5), the conditioning circuit (1) that wherein links to each other with given signal is connected in the input of current controller (2), the output of current controller (2) is connected in the input of six brachium pontis circuit for power conversion (4) through drive circuit (3), the output of six brachium pontis circuit for power conversion (4) links to each other with five tunnel loads (6) through current detection circuit (5), the output of current detection circuit links to each other with current controller (2), described six brachium pontis circuit for power conversion (4) comprise one tunnel public brachium pontis and five tunnel loads output brachium pontis, each brachium pontis is composed in series by two switching tubes, the anode of each brachium pontis is connected in dc power anode, the negative terminal of each brachium pontis is connected in the negative pole of DC electrical source, fast recovery diode of each switching tube reverse parallel connection, two switching tube (S1 up and down of public brachium pontis, S2) series connection node is connected in the common port of five tunnel loads, the series connection node of two switching tubes in every road of other five tunnel loads output brachium pontis is connected in the other end of a load respectively, it is characterized in that public brachium pontis and five tunnel loads output brachium pontis are made a distinction independent control, two tandem tap pipe (S1 up and down of public brachium pontis, S2) complementary conducting, in a switch periods, the switching signal dutycycle D of two switching tubes of public brachium pontis is determined by following formula:
Dutycycle D is by error e (i) decision of five road load currents, e (i)=I in the formula
Ir-I
i, I
IrBe given electric current, I
iBe actual current, i=a, b, c, d, e, max (e (i)) and min (e (i)) are respectively the maximum value and the minimum value of five road current error signals, | max (e (i)) | and | min (e (i)) | be respectively the absolute value of maximum value and minimum value
The switching signal of two tandem tap pipes of other five tunnel loads output brachium pontis is according to the error polar signal selector switch state of output current, electric current is increased, reduce or afterflow, the on off state of each brachium pontis is determined by the switching signal IN2 of switching tube on the output current error polar signal IN1 of this coupled brachium pontis and the public brachium pontis, beginning at each control cycle, be that clock signal clk signal rising edge comes temporarily, error signal directly is sent to the switching signal OUT1 end of switching tube on this brachium pontis, its inversion signal is delivered to the switching signal OUT2 of switching tube under this brachium pontis, saltus step takes place to the output current error polar signal IN1 of this brachium pontis in this state continuance, load current can reduce rapidly or increase under this on off state, current error is reduced, actual output current equates with given signal when saltus step takes place the output current error polar signal IN1 of this brachium pontis, the output current error of this brachium pontis is 0, after this output current does not need rapid change, as long as nature afterflow, at this moment the on off state of this brachium pontis should be identical with the on off state of public brachium pontis, promptly the switching signal OUT1 of switching tube equals the switching signal IN2 of switching tube on the public brachium pontis on this brachium pontis, the switching signal OUT2 of switching tube is switching signal IN2 anti-phase of switching tube on the public brachium pontis under this brachium pontis, this state remains to next clock signal clk rising edge and arrives, and then repeats above-mentioned action.
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| CNB2008100238885A CN100533938C (en) | 2008-04-21 | 2008-04-21 | Six-bridge arm five-path output electromagnetic bearing switch power amplifier control method |
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|---|---|---|---|
| CNB2008100238885A CN100533938C (en) | 2008-04-21 | 2008-04-21 | Six-bridge arm five-path output electromagnetic bearing switch power amplifier control method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102508433A (en) * | 2011-11-06 | 2012-06-20 | 北京航空航天大学 | Method for compensating digital control delay of magnetic bearing switch power amplifier |
| CN102801353A (en) * | 2012-08-10 | 2012-11-28 | 北京海斯德电机技术有限公司 | Space vector-based switching power amplifier for purely-electromagnetic magnetic bearing system |
| CN103825480A (en) * | 2014-02-25 | 2014-05-28 | 南京航空航天大学 | Digital single-cycle control method for multiplexed-output magnetic bearing switch power amplifier |
| CN104421335A (en) * | 2013-09-05 | 2015-03-18 | 佛山格尼斯磁悬浮技术有限公司 | Magnetic bearing control device and control method for improving rotation accuracy |
| CN106301036A (en) * | 2015-05-27 | 2017-01-04 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension bearing switch power amplifier and control method thereof |
| CN106763185A (en) * | 2017-03-07 | 2017-05-31 | 华中科技大学 | A kind of power electronic controller for multiaxis magnetic suspension bearing |
| CN107448476A (en) * | 2017-09-18 | 2017-12-08 | 华中科技大学 | A kind of opposite power electronic controller of electric current for multiaxis magnetic suspension bearing |
| CN111295528A (en) * | 2017-11-22 | 2020-06-16 | 埃地沃兹日本有限公司 | Magnetic bearing control device and vacuum pump |
| CN112815006A (en) * | 2021-01-20 | 2021-05-18 | 华中科技大学 | Magnetic suspension bearing series winding control device and method for optimizing bridge arm current stress |
| CN112833097A (en) * | 2020-11-27 | 2021-05-25 | 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 |
| CN114110022A (en) * | 2021-11-16 | 2022-03-01 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control device and method and magnetic suspension bearing system |
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| JP3882579B2 (en) * | 2001-10-31 | 2007-02-21 | ソニー株式会社 | Switching amplifier device and protection circuit control method for switching amplifier |
| CN100459404C (en) * | 2005-06-01 | 2009-02-04 | 南京航空航天大学 | Power amplifier of magnetic bearing switch possessing multiple routes of output, and control method |
| CN1291545C (en) * | 2005-07-08 | 2006-12-20 | 北京航空航天大学 | Low-ripple switch power amplifier for permanent magnet biased electromagnetic-bearing |
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- 2008-04-21 CN CNB2008100238885A patent/CN100533938C/en not_active Expired - Fee Related
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| CN102508433A (en) * | 2011-11-06 | 2012-06-20 | 北京航空航天大学 | Method for compensating digital control delay of magnetic bearing switch power amplifier |
| CN102801353A (en) * | 2012-08-10 | 2012-11-28 | 北京海斯德电机技术有限公司 | Space vector-based switching power amplifier for purely-electromagnetic magnetic bearing system |
| CN102801353B (en) * | 2012-08-10 | 2014-10-15 | 北京海斯德电机技术有限公司 | Space vector-based switching power amplifier for purely-electromagnetic magnetic bearing system |
| CN104421335A (en) * | 2013-09-05 | 2015-03-18 | 佛山格尼斯磁悬浮技术有限公司 | Magnetic bearing control device and control method for improving rotation accuracy |
| CN103825480A (en) * | 2014-02-25 | 2014-05-28 | 南京航空航天大学 | Digital single-cycle control method for multiplexed-output magnetic bearing switch power amplifier |
| CN103825480B (en) * | 2014-02-25 | 2016-08-17 | 南京航空航天大学 | A kind of magnetic bearing switch power amplifier digital monocyclic phase control method of multiple-channel output |
| CN106301036B (en) * | 2015-05-27 | 2019-01-01 | 珠海格力电器股份有限公司 | Magnetic suspension bearing switch power amplifier and its control method |
| CN106301036A (en) * | 2015-05-27 | 2017-01-04 | 珠海格力节能环保制冷技术研究中心有限公司 | Magnetic suspension bearing switch power amplifier and control method thereof |
| CN106763185A (en) * | 2017-03-07 | 2017-05-31 | 华中科技大学 | A kind of power electronic controller for multiaxis magnetic suspension bearing |
| CN106763185B (en) * | 2017-03-07 | 2018-09-25 | 华中科技大学 | A kind of power electronic controller for multiaxis magnetic suspension bearing |
| CN107448476A (en) * | 2017-09-18 | 2017-12-08 | 华中科技大学 | A kind of opposite power electronic controller of electric current for multiaxis magnetic suspension bearing |
| CN107448476B (en) * | 2017-09-18 | 2018-12-28 | 华中科技大学 | A kind of opposite power electronic controller of electric current for multiaxis magnetic suspension bearing |
| CN111295528A (en) * | 2017-11-22 | 2020-06-16 | 埃地沃兹日本有限公司 | Magnetic bearing control device and vacuum pump |
| CN111295528B (en) * | 2017-11-22 | 2022-01-14 | 埃地沃兹日本有限公司 | Magnetic bearing control device and vacuum pump |
| US11767851B2 (en) | 2017-11-22 | 2023-09-26 | Edwards Japan Limited | Magnetic bearing control apparatus and vacuum pump |
| CN112833097A (en) * | 2020-11-27 | 2021-05-25 | 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 |
| CN112815006A (en) * | 2021-01-20 | 2021-05-18 | 华中科技大学 | Magnetic suspension bearing series winding control device and method for optimizing bridge arm current stress |
| CN114110022A (en) * | 2021-11-16 | 2022-03-01 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control device and method and magnetic suspension bearing system |
| CN115441706A (en) * | 2022-09-26 | 2022-12-06 | 上海铼钠克数控科技有限公司 | PWM generation method and circuit, control method of driver, motor and system |
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