CN101270987B - Low-power consumption magnetic suspension control moment gyro high speed rotor control system - Google Patents
Low-power consumption magnetic suspension control moment gyro high speed rotor control system Download PDFInfo
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- CN101270987B CN101270987B CN2008101117267A CN200810111726A CN101270987B CN 101270987 B CN101270987 B CN 101270987B CN 2008101117267 A CN2008101117267 A CN 2008101117267A CN 200810111726 A CN200810111726 A CN 200810111726A CN 101270987 B CN101270987 B CN 101270987B
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Abstract
A high-speed rotor control system for low power Magnetic Suspended Control Moment Gyroscope mainly comprises a soft switch bridge, three phase inverter bridges, a small armature-inductance permanent magnet brushless dc motor, a current filtering and an A/D conversion circuit, and a digital controller. Based on the characteristics of the small armature-inductance permanent magnet brushless dc motor, the invention uses the soft switch bridge plus to three phase inverter bridges to form a driving circuit of a motor, improves the switching frequency of the driving circuit. The invention thoroughly solves the eddy current loss caused by high frequency variation of current in motor winding, increases the bandwidth of the control system, decreases the armature reaction and electromagnetic interference, and improves operation efficiency of Magnetic Suspended Control Moment Gyroscope high speed control system, which has very high application value for spacecraft paying attention to energy saving.
Description
Technical field
The present invention relates to a kind of low-power consumption magnetic suspension control moment gyro high speed rotor control system, be used for small armature electric induction permanent magnet brush-less DC motor low power consumption control, be specially adapted to the low power consumption control of the driver part of spacecraft attitude control executing mechanism such as satellite, space station.
Background technology
Spaceborne limited energy such as satellite, space station, thus need the driver part power consumption of its topworks low, so that save the energy.Control-moment gyro is an attitude control actuator important on Large Spacecraft and the space station, and magnetic suspension control torque gyroscope has broad application prospects with its output torque advantage big, low in energy consumption again.High-speed rotor system is the vitals of magnetic suspension control torque gyroscope, and the general rotating speed of the high speed rotor of magnetic suspension control torque gyroscope all reaches 20000rpm, so the power problems of high speed rotor motor is a difficult problem that needs solution.
What existing high-speed rotor system drive motor generally adopted is the small armature inductance permanent-magnet brushless DC electric machine, and the driving circuit of motor generally directly adds three phase inverter bridge by constant voltage dc source, adopts the pulse-width modulation PWM mode that motor is controlled.Because the motor windings inductance is very little, when adopting the very high PWM of frequency to modulate, also along with the variation of the frequency high frequency of PWM, therefore the eddy current loss that causes is very big for the electric current in the winding.Strengthen the inductance in the winding, reduce supply voltage and can reduce eddy current loss, but reduced the power factor of motor so again.In order to reduce high speed rotor control system eddy current loss, reducing the undulate quantity that electric current changes in the winding is best approach.Improve the PWM frequency, rely on the small inductor in the winding can make the level and smooth of electrorheological, still, rely on traditional driving circuit, therefore the switching loss of switching tube can increase in the inverter bridge, and when the PWM frequency reached a certain size, switching tube can burn out because having little time heat radiation.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, the power-consumption control system that is used for magnetic suspension control moment gyro high speed rotor control system that a kind of eddy current loss is little, control bandwidth is high is provided.
Technical solution of the present invention is: a kind of low-power consumption magnetic suspension control moment gyro high speed rotor control system, comprise constant voltage dc source, small armature electric induction permanent magnet brush-less DC motor, digitial controller, filtering circuit and A/D change-over circuit, three phase inverter bridge, its characteristics are: add soft switch bridge between constant voltage dc source and three phase inverter bridge, by the resonance effect of soft switch bridge, make the switching tube of three phase inverter bridge realize Zero Current Switch; Simultaneously between constant voltage dc source and soft switch bridge, seal in current sensor, the current signal of the small armature electric induction permanent magnet brush-less DC motor of current sensor collection enters digitial controller behind wave circuit and the A/D change-over circuit after filtration, as the value of feedback of electric current loop; Small armature electric induction permanent magnet brush-less DC motor has Hall element, and hall signal enters digitial controller after isolating through photoelectricity, and the benchmark of the electric current commutation moment and computation rate is provided; Digitial controller receives current signal and calculates the PWM dutycycle of control current of electric according to control algolithm, receives behind the hall signal output logic according to the given PWM of commutation logic, thus the switching tube in control three phase inverter bridge and the soft switch bridge.
Described soft switch bridge is managed Q7, Q8, Q9, Q10, Q11, Q12 by MOSFET, inductance L 0, L1, L2 and capacitor C 0, C1, C2 form, wherein MOSFET pipe Q7, Q8, Q9 form the last brachium pontis of soft switch bridge, MOSFET pipe Q10, Q11, Q12 form the following brachium pontis of soft switch bridge, and the Q1 of L0, C0, Q7, Q10 and three phase inverter bridge, Q4 form A phase soft switch circuit; The Q3 of L1, C1, Q8, Q11 and three phase inverter bridge, Q6 form B phase soft switch circuit; The Q2 of L2, C2, Q9, Q12 and three phase inverter bridge, Q5 form C phase soft switch circuit.
Described digitial controller (6) is made up of floating type CPU, outer extension memory and CPLD, and wherein CPLD comprises digital I/O, PWM generation module, A/D interface module and digital filtering module; Floating-point CPU links to each other with outer extension memory with CPLD with address bus by data bus, realizes digital I/O, PWM generation module, A/D interface module and digital filtering module by the VHDL programming among the CPLD; The current sampling data amount that the data line of A/D interface module by CPLD obtains the A/D change-over circuit is adopted in the data buffer of CPLD, and sampled data output is averaged filtering by digital filtering module, will deposit back in the data buffer of CPLD through filtered data volume then and wait for that floating-point CUP reads.Floating type CPU visits CPLD by address bus, floating type CPU visits CPLD by address bus, by the data in the data bus acquisition CPLD data buffer, then through generating the PWM dutyfactor value after the control algolithm and it being deposited in the outer extension memory, floating-point CPU gives CPLD by data bus and address bus when receiving CPLD peek signal, combine with the phase change logic that produces by hall signal that in CPLD, generates simultaneously, in the PWM of CPLD generation module, generate the three phase inverter bridge of motor and the drive signal of soft switch bridge.
The present invention's advantage compared with prior art is:
(1) the present invention has adopted soft switch bridge, realize the conversion of the zero current of switching tube in the inverter bridge by the resonance effect of soft switch, reduce the switching loss of switching tube, improve the frequency of PWM, reduced the undulate quantity of electric current in the brushless, permanently excited direct current motor winding, make the eddy current loss of the motor that causes by the PWM modulation reduce greatly, saved the electric power resource of spacecraft.
(2) compare with existing digital control system, the present invention adopts floating-point CPU and outer extension memory, digital I/O, PWM generation module and digital filtering module to form digital control part, utilize floating-point CPU can improve arithmetic speed and precision in the control procedure, be specially adapted to the exigent field of control accuracy.
(3) compare with existing digital control system, hall signal of the present invention passes through the filtering link that enters digitial controller after photoelectricity is isolated, and has saved the analog filtering and the shaping circuit of hall signal, has reduced the power consumption of controller.
Description of drawings
Fig. 1 is a theory diagram of the present invention;
Fig. 2 is a digitial controller theory diagram of the present invention;
Fig. 3 is a motor drive module theory diagram of the present invention;
Fig. 4 is soft switch resonance principle figure of the present invention; A is a very first time section working state figure, b is the time period working state figure, c is the 3rd time period working state figure, d is the 4th time period working state figure, e is the 5th time period working state figure, f is the 6th time period working state figure, and g is the 7th time period working state figure, and h is the 8th time period working state figure.
Fig. 5 is a soft switch working state sequential chart of the present invention;
Fig. 6 is a digitial controller software flow pattern of the present invention.
Embodiment
As shown in Figure 1, the present invention includes constant voltage dc source 1, small armature electric induction permanent magnet brush-less DC motor 5, digitial controller 6 and three phase inverter bridge 4, between constant voltage dc source 1 and three phase inverter bridge 4, add soft switch bridge 3, resonance effect by soft switch bridge 3, make the switching tube of three phase inverter bridge 4 realize Zero Current Switch, between constant voltage dc source 1 and soft switch bridge 3, seal in current sensor 2, gather the motor DC bus current, the current signal of being gathered enters digitial controller 6 behind wave circuit and the A/D change-over circuit 7 after filtration, value of feedback as electric current loop, small armature electric induction permanent magnet brush-less DC motor 5 has Hall element 8, hall signal enters digital control system after isolating through photoelectricity, and the benchmark of electric current commutation opportunity and computation rate is provided.Digitial controller 6 receives current signal and calculates the PWM dutycycle of control current of electric according to control algolithm, receives behind the hall signal output logic according to the given PWM1-12 of commutation logic, thus the switching tube in control three phase inverter bridge 4 and the soft switch bridge 3.
(1) all switching tubes, diode, inductance, electric capacity are ideal element;
(2) in the time of inverse switch pipe conversion, the output current of brachium pontis, i.e. the variation of electric current on the output inductor is very little, so the filter inductance electric current is constant current source ILO in the hypothesis inverse switch pipe change-over period;
(3) reference direction of the voltage U C of the electric current I L on the resonant inductance L0, resonant capacitance C0 and motor windings electric current I O;
(4) state during initial time t0 is: supply voltage Udc, and IO＞0, IL=0, UC=UC0＞0, VS1, VS7, VS10 turn-off, and VS4 is open-minded, and electric current I O is through the VD4 afterflow.
The course of work can be divided into following 8 states: as shown in Figure 4:
A. state 1[t0, t2]
VS1, VS4, VS7 turn-off at this moment, and VS10 is open-minded.Current of electric IO is by VS10, L0, and C0, the resonant network that VD4 forms provides, and this process is by PWM10 control VS10 zero current turning-on, zero-current switching.
B. state 2[t2, t3]
VS1, VS4, VS7, VS10 turn-off at this moment.Current of electric IO is by VD10, L0, and the resonant network that C0 forms provides.
C. state 3[t3, t4]
VS4, VS7, VS10 turn-off at this moment, and VS1 is open-minded by PWM1 control.Current of electric IO is determined jointly that by VD10, L0, C0 network and VS1, Udc network t3 is the VS1 zero current turning-on constantly.
D. state 4[t4, t5]
VS4, VS7, VS10 turn-off at this moment, and VS1 is open-minded.Motor enters normal mode of operation, and current of electric IO is provided by VS1.
E. state 5[t5, t7]
This moment, VS4, VS10 turn-offed, and VS1, VS7 are open-minded.Current of electric IO is provided jointly by the network that VS1, Udc network and VS7, L0, C0 form, by PWM7 control VS7 zero current turning-on.
F. state 6[t7, t8]
VS1, VS4, VS10 turn-off at this moment, and VS7 is open-minded.Current of electric IO is provided by the network that Udc, VS7, L0, C0 form, by PWM1 control VS1 zero-current switching.
G. state 7[t8, t10]
VS1, VS4, VS10 turn-off at this moment, and VS7 is open-minded.T8 ~ t9 constantly, network that current of electric IO is made up of Udc, VS7, L0, C0 and the loop network of VD4 provide jointly; T9 ~ t10 the network is made up of Udc, VD7, L0, C0 of current of electric IO and the loop network of VD4 constantly provides jointly, controls the VS7 zero-current switching by PWM7.
H. state 8[t10 ,～]
VS1, VS4, VS7, VS10 turn-off at this moment.Current of electric IO is provided by the loop network of VD4, and circuit is got back to original state.
As shown in Figure 2, described digitial controller 6 is made up of floating type CPU (TMS320VC33), outer extension memory and CPLD, and wherein CPLD comprises digital I/O, PWM generation module, A/D interface module and digital filtering module composition.Floating-point CPU links to each other with outer extension memory with CPLD with address bus by data bus.Realize digital I/O, PWM generation module, A/D interface module and digital filtering module by the VHDL programming among the CPLD.The PWM generation module is relatively to realize by clock counter and the PWM dutyfactor value realized with VHDL, when count value during less than the PWM dutyfactor value PWM output module be low, when count value during greater than the PWM dutyfactor value PWM output module be height; The A/D interface module is the storage space of the data of opening up in CPLD; Digital filtering module is the average filter of realizing with VHDL language.The current sampling data amount that the data line of A/D interface module by CPLD obtains the A/D change-over circuit is adopted in the data buffer of CPLD, and sampled data output is averaged filtering by digital filtering module, will deposit back in the data buffer of CPLD through filtered data volume then and wait for that floating-point CUP reads.Floating type CPU visits CPLD by address bus, by the data in the data bus acquisition CPLD data buffer, then through generating the PWM dutyfactor value after the control algolithm and it being deposited in the outer extension memory, floating-point CPU gives CPLD by data bus and address bus when receiving CPLD peek signal, combine with the phase change logic that produces by hall signal that in CPLD, generates simultaneously, in the PWM of CPLD generation module, generate the three phase inverter bridge of motor and the drive signal of soft switch bridge.
As Fig. 3, Fig. 4 and shown in Figure 5, soft switch bridge of the present invention and three phase inverter bridge because each mutually soft switch independence resonance of full-bridge does not disturb mutually, are that example is analyzed its principle of work with a phase brachium pontis therefore.Q1, Q4 are the MOSFET pipe in the motor inverter bridge, and Q7, Q10 are the MOSFET pipe in the soft switch bridge, U
CBe the voltage at resonant capacitance C0 two ends, U
C0Be resonant capacitance C0 two ends initial voltage, I
LBe the electric current on the resonant inductance, I
OBe the electric current of motor windings, VSx is a switching tube, and VDx is a diode, and each Qx comprises a VSx and a VDx, now carries out following 4 hypothesis.
(1) all switching tubes, diode, inductance, electric capacity are ideal element;
(2) in the time of inverse switch pipe conversion, the output current of brachium pontis, i.e. the variation of electric current on the output inductor is very little, so the filter inductance electric current is constant current source I in the hypothesis inverse switch pipe change-over period
L0
(3) electric current I on the resonant inductance L0
L, resonant capacitance C0 voltage U
CWith the motor windings electric current I
OReference direction;
(4) state during initial time t0 is: supply voltage U
Dc, I
O＞0, I
L=0, U
C=U
C0＞0, VS1, VS7, VS10 turn-off, and VS4 is open-minded, electric current I
OThrough the VD4 afterflow.
The course of work can be divided into following 8 states: as shown in Figure 4:
A. state 1[t0, t2]
VS1, VS4, VS7 turn-off at this moment, and VS10 is open-minded.Current of electric I
OBy VS10, L0, C0, the resonant network that VD4 forms provides, and this process is by PWM10 control VS10 zero current turning-on, zero-current switching.
B. state 2[t2, t3]
VS1, VS4, VS7, VS10 turn-off at this moment.Current of electric I
OBy VD10, L0, the resonant network that C0 forms provides.
C. state 3[t3, t4]
VS4, VS7, VS10 turn-off at this moment, and VS1 is open-minded by PWM1 control.Current of electric I
OBy VD10, L0, C0 network and VS1, U
DcNetwork determines that jointly t3 is the VS1 zero current turning-on constantly.
D. state 4[t4, t5]
VS4, VS7, VS10 turn-off at this moment, and VS1 is open-minded.Motor enters normal mode of operation, current of electric I
OProvide by VS1.
E. state 5[t5, t7]
This moment, VS4, VS10 turn-offed, and VS1, VS7 are open-minded.Current of electric I
OBy VS1, U
DcThe network that network and VS7, L0, C0 form provides jointly, by PWM7 control VS7 zero current turning-on.
F. state 6[t7, t8]
VS1, VS4, VS10 turn-off at this moment, and VS7 is open-minded.Current of electric I
OBy U
Dc, the network formed of VS7, L0, C0 provides, by PWM1 control VS1 zero-current switching.
G. state 7[t8, t10]
VS1, VS4, VS10 turn-off at this moment, and VS7 is open-minded.T8 ~ t9 moment, current of electric I
OBy U
Dc, the network formed of VS7, L0, C0 and the loop network of VD4 provide jointly; T9 ~ t10 is current of electric I constantly
OBy U
Dc, the network formed of VD7, L0, C0 provides jointly with the loop network of VD4, controls the VS7 zero-current switching by PWM7.
H. state 8[t10 ,～]
VS1, VS4, VS7, VS10 turn-off at this moment.Current of electric I
OLoop network by VD4 provides, and circuit is got back to original state.
Be illustrated in figure 6 as the realization flow figure of digitial controller 6 of the present invention, after the system start-up, at first carry out initialization operation, judge whether interruption is arranged then, enter idle loop when not interrupting and wait for.When interrupting, at first carry out the judgement of interrupt type.Have two type of interrupt, electric current loop regularly interrupts regularly interrupting with speed ring.The speed reference value of the calculating output of speed ring is delivered to the inlet of electric current loop, and electric current loop calculates the size that output PWM dutycycle is adjusted electric current at last.
Claims (3)
1. low-power consumption magnetic suspension control moment gyro high speed rotor control system, comprise constant voltage dc source (1), small armature electric induction permanent magnet brush-less DC motor (5), digitial controller (6), filtering circuit and A/D change-over circuit (7), three phase inverter bridge (4), it is characterized in that: between constant voltage dc source (1) and three phase inverter bridge (4), add soft switch bridge (3), by the resonance effect of soft switch bridge (3), make the switching tube of three phase inverter bridge (4) realize Zero Current Switch; Simultaneously between constant voltage dc source (1) and soft switch bridge (3), seal in current sensor (2), the current signal of the small armature electric induction permanent magnet brush-less DC motor (5) that current sensor (2) is gathered enters digitial controller (6) behind wave circuit and the A/D change-over circuit (7) after filtration, as the value of feedback of electric current loop; Small armature electric induction permanent magnet brush-less DC motor (5) has Hall element (8), hall signal enters digitial controller (6) after isolating through photoelectricity, the benchmark of the electric current commutation moment and computation rate is provided, digitial controller (6) receives current signal calculates the control current of electric according to control algolithm PWM dutycycle, receive behind the hall signal output logic according to the given PWM of commutation logic, thus the switching tube in control three phase inverter bridge (4) and the soft switch bridge (3);
Described soft switch bridge (3) is by MOSFET pipe Q7, Q8, Q9, Q10, Q11, Q12, inductance L 0, L1, L2 and capacitor C 0, C1, C2 form, wherein MOSFET pipe Q7, Q8, Q9 form the last brachium pontis of soft switch bridge, MOSFET pipe Q10, Q11, Q12 form the following brachium pontis of soft switch bridge, and the Q1 of L0, C0, Q7, Q10 and three phase inverter bridge, Q4 form A phase soft switch circuit; The Q3 of L1, C1, Q8, Q11 and three phase inverter bridge, Q6 form B phase soft switch circuit; The Q2 of L2, C2, Q9, Q12 and three phase inverter bridge, Q5 form C phase soft switch circuit.
2. a kind of low-power consumption magnetic suspension control moment gyro high speed rotor control system according to claim 1, it is characterized in that: described digitial controller (6) is made up of floating type CPU, outer extension memory and CPLD, and wherein CPLD comprises digital I/O, PWM generation module, A/D interface module and digital filtering module; Floating type CPU links to each other with outer extension memory with CPLD with address bus by data bus, realizes digital I/O, PWM generation module, A/D interface module and digital filtering module by the VHDL programming among the CPLD; The current sampling data amount that the data bus of A/D interface module by CPLD obtains the A/D change-over circuit is adopted in the data buffer of CPLD, and sampled data output is averaged filtering by digital filtering module, will deposit back in the data buffer of CPLD through filtered data volume then and wait for that floating-point CUP reads; Floating type CPU visits CPLD by address bus, by the data in the data bus acquisition CPLD data buffer, then through generating the PWM dutyfactor value after the control algolithm and it being deposited in the outer extension memory, floating type CPU gives CPLD by data bus and address bus when receiving CPLD peek signal, combine with the phase change logic that produces by hall signal that in CPLD, generates simultaneously, in the PWM of CPLD generation module, generate the three phase inverter bridge of motor and the drive signal of soft switch bridge.
3. a kind of low-power consumption magnetic suspension control moment gyro high speed rotor control system according to claim 1, it is characterized in that: described small armature electric induction permanent magnet brush-less DC motor (5) drives by soft switch bridge (3) and three phase inverter bridge (4) and realizes, L0, the C0 of series connection, L1, C1, L2, C2 are resonant element, make the switching tube in the three phase inverter bridge (4) realize the zero current conversion by their resonance effect.
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| CN2008101117267A CN101270987B (en) | 2008-05-15 | 2008-05-15 | Low-power consumption magnetic suspension control moment gyro high speed rotor control system |
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| CN2008101117267A CN101270987B (en) | 2008-05-15 | 2008-05-15 | Low-power consumption magnetic suspension control moment gyro high speed rotor control system |
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| CN101270987B true CN101270987B (en) | 2010-09-01 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101592970B (en) * | 2009-06-18 | 2012-08-08 | 深圳市盛弘电气有限公司 | AC voltage stabilizer circuit and three-phase AC voltage stabilizer |
| TWI454038B (en) * | 2010-06-11 | 2014-09-21 | Univ Nat Taiwan | Three-phase power conversion circuit and soft-switching circuit thereof |
| CN102506840A (en) * | 2011-09-26 | 2012-06-20 | 中国船舶重工集团公司第七0七研究所 | Dynamically tuned gyroscope of high-precision hemispherical dynamic pressure motor |
| CN104135216B (en) * | 2014-08-22 | 2016-08-17 | 北京航空航天大学 | A kind of magnetic suspension control moment gyro high speed rotor inverter tolerant system |
| CN109039131B (en) * | 2018-07-23 | 2023-09-19 | 惠州市天宝创能科技有限公司 | Control circuit of single-stage inverter |
| CN111193427A (en) * | 2020-01-15 | 2020-05-22 | 北京天岳京成电子科技有限公司 | Inverter control method and inverter |
| CN111337007B (en) * | 2020-04-09 | 2021-08-10 | 北京控制工程研究所 | Control moment gyro frame zero position stable positioning system and method |
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