CN103489357B - The control circuit of magnetic suspension experiment device - Google Patents
The control circuit of magnetic suspension experiment device Download PDFInfo
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- CN103489357B CN103489357B CN201310425899.7A CN201310425899A CN103489357B CN 103489357 B CN103489357 B CN 103489357B CN 201310425899 A CN201310425899 A CN 201310425899A CN 103489357 B CN103489357 B CN 103489357B
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Abstract
The invention provides a kind of control circuit of magnetic suspension experiment device.The control circuit of this magnetic suspension experiment device comprises: the first control panel that circuit structure is identical and the second control panel, and the first control panel and the second control panel comprise respectively: sensor interface, is connected with sensor element, for receiving measuring-signal; Proportion differential regulating circuit, is connected with sensor interface, for measuring-signal is carried out proportion differential adjustment; Signal modulation circuit, is connected with proportion differential regulating circuit, for being carried out superposing and modulating with the quiescent point voltage signal preset by the measuring-signal regulated through proportion differential, obtains modulator control signal; Driving circuit, is connected with signal modulation circuit, for according to electromagnet from modulator control signal to correspondence export exciting current.This control circuit utilizes mimic channel to build independently two pieces of control panels respectively, and circuit structure is simple, and without the need to gathering current signal, eliminate integral element, decrease the trouble spot that may occur, reliability is high.
Description
Technical field
The present invention relates to scientific experiment device field, in particular to a kind of control circuit of magnetic suspension experiment device.
Background technology
Magnetic levitation technology originates from Germany, just proposes electromagnetic suspension principle as far back as nineteen twenty-two Germany slip-stick artist Herman Ken Peier.Along with electronic technology, control engineering, signal transacting components and parts, electromagnetic theory and the development of novel Electromagnetic Material and the progress of rotor dynamics, magnetic levitation technology obtains significant progress.In recent years, magnetic levitation technology is widely used in a lot of field, as magnetic suspension train, ACTIVE CONTROL magnetic suspension bearing, magnetic suspention balance, magnetic levitation small-scale transfer transfer device, magnetic levitation surveying instrument, magnetic levitation robot wrist, magnetic levitation tutoring system etc.
Based on the broad prospect of application of above magnetic levitation technology, in China, existing research method is mainly studied theoretically, carries out emulation experiment on this basis, for magnetic levitation technology provides theoretical foundation.But in existing scientific research institution and big-and-middle universities and colleges, the blank stage is in the research and development of magnetic levitation technology experimental provision, more lacks the research of the control circuit for magnetic suspension experiment device, thus the requirement of magnetic suspension experiment cannot be met.
Summary of the invention
In view of the above problems, the present invention is proposed to provide a kind of control circuit of magnetic suspension experiment device overcoming the problems referred to above or solve the problem at least in part.
Magnetic suspension experiment device in the present invention comprises: fixed head, sensor element, first electromagnet of column and the second electromagnet, tested buoyant element, wherein, the first end of the first electromagnet and the second electromagnet is all fixed on fixed head, tested buoyant element is provided with the first magnetic suspension portion and the second magnetic suspension portion, the position of the first magnetic suspension portion is corresponding with the position of the first electromagnet second end, the position of the second magnetic suspension portion is corresponding with the position of the second electromagnet second end, sensor element and the opposing parallel setting of fixed head, for the hoverheight of the hoverheight and the second magnetic suspension parts of measuring the first magnetic suspension portion respectively, and the hoverheight of the hoverheight of the first magnetic suspension portion and the second magnetic suspension parts is converted to corresponding measuring-signal respectively.The control circuit of magnetic suspension experiment device provided by the invention comprises: the first control panel that circuit structure is identical and the second control panel, and the first control panel and the second control panel comprise respectively: sensor interface, is connected with sensor element, for receiving measuring-signal; Proportion differential regulating circuit, is connected with sensor interface, for measuring-signal is carried out proportion differential adjustment; Signal modulation circuit, is connected with proportion differential regulating circuit, for being carried out superposing and modulating with the quiescent point voltage signal preset by the measuring-signal regulated through proportion differential, obtains modulator control signal; Driving circuit, is connected with signal modulation circuit, for according to electromagnet from modulator control signal to correspondence export exciting current.
Further, also voltage follower is provided with between sensor interface and proportion differential regulating circuit.
Further, the scaling circuit built by the first operational amplifier in proportion differential regulating circuit and the differential amplifier circuit built by the second operational amplifier form.
Further, first control panel and the second control panel also comprise respectively: quiescent point arranges circuit, this quiescent point arranges the quiescent point voltage signal of circuit for stable output, the output terminal that this quiescent point arranges circuit is connected with the output terminal of proportion differential regulating circuit, the measuring-signal regulated is superposed with the quiescent point voltage signal preset through proportion differential.
Further, signal modulation circuit comprises: triangular wave generating circuit and PWM circuit, PWM circuit comprises the 3rd amplifier, the positive input of the 3rd amplifier connects the output terminal of proportion differential regulating circuit, the reverse input end of the 3rd amplifier connects the output terminal of triangular wave generating circuit, and the output terminal of the 3rd amplifier connects driving circuit.
Further, four-operational amplifier is connected with between the positive input of the 3rd amplifier and the output terminal of proportion differential regulating circuit, wherein, the reverse input end of four-operational amplifier connects the output terminal of proportion differential regulating circuit, the positive input ground connection of four-operational amplifier, the output terminal of four-operational amplifier connects the positive input of the 3rd amplifier, is provided with resistance between the output terminal of four-operational amplifier and positive input.
Further, triangular wave generating circuit comprises: the 5th operational amplifier and the 6th operational amplifier, wherein, the reverse input end of the 5th operational amplifier and the positive input of the 6th operational amplifier are all connected to ground, the positive input of the 5th operational amplifier connects the output terminal of the 5th operational amplifier by the first resistance, the positive input of the 5th operational amplifier connects the output terminal of the 6th operational amplifier by the second resistance, the output terminal of the 5th operational amplifier connects the reverse input end of the 6th operational amplifier by the 3rd resistance, the first electric capacity is connected with between the reverse input end of the 6th operational amplifier and the output terminal of the 6th operational amplifier, the output terminal of the 6th operational amplifier is as the output circuit of triangular wave generating circuit.
Further, driving circuit comprises: the first optocoupler, the second optocoupler and current amplification circuit, wherein, the first input end of the first optocoupler connects positive supply, second input end of the first optocoupler is connected with the first input end of the second optocoupler, second input end of the second optocoupler connects the output terminal of the 3rd amplifier, and the output terminal of the first optocoupler exports the first drive singal, output terminal second drive singal of the second optocoupler; Current amplification circuit, is connected respectively with the output terminal of the first optocoupler and the output terminal of the second optocoupler, for exporting exciting current according to the first drive singal and the second drive singal.
Further, the first control panel and the second control panel are all arranged in the cabinet base of magnetic suspension experiment device.
Further, the electric wire that the first control panel is connected with the first electromagnet, and the electric wire that the second control panel is connected with the second electromagnet all passes from stay pipe, the bracing frame that stay pipe is formed is for supporting fixed head.
The control circuit that application technical solution of the present invention provides, the hoverheight of the tested buoyant element 2 that receiving sensor parts are measured is as feedback signal, carry out proportion differential FEEDBACK CONTROL, exciting current is provided to electromagnet, thus control the electromagnetic force of two electromagnet respectively, attract the magnetic part of tested buoyant element, make tested buoyant element overcome gravity, in space, maintain suspended state.Thus the elevating control that not only can complete for tested buoyant element, can also carry out luffing angle control, complete the experiment of multiple suspension attitude, levitation gap range of adjustment is large, fully meets the requirement of magnetic suspension experiment.
In addition, the control circuit that technical solution of the present invention provides, mimic channel is utilized to build independently two pieces of control panel realization controls to experimental provision, circuit structure is simple, do not need in control procedure to gather current signal, and the integral element eliminated in traditional PID control, decrease the trouble spot that may occur, reliability is high.
According to hereafter by reference to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present invention more.
Accompanying drawing explanation
Hereinafter describe specific embodiments more of the present invention with reference to the accompanying drawings by way of example, and not by way of limitation in detail.Reference numeral identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not be drawn in proportion.In accompanying drawing:
Fig. 1 is the structural drawing of the magnetic suspension experiment device according to the embodiment of the present invention;
Fig. 2 is the control block diagram of the magnetic suspension experiment device according to the embodiment of the present invention;
Fig. 3 is the circuit structure block diagram of the first control panel in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention;
Fig. 4 is the circuit theory diagrams of proportion differential regulating circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention;
Fig. 5 is the circuit theory diagrams of signal modulation circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention; And
Fig. 6 is the circuit theory diagrams of driving circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
First the application control method of the embodiment of the present invention and the magnetic suspension experiment device of control device are described, this magnetic suspension experiment device, magnetic force is produced by two electromagnet, to ensure that the buoyant element with certain length suspends in space, and the position detecting tested buoyant element is as feedback signal, changed the suspension attitude of tested buoyant element by the magnetic force of regulating magnet, complete magnetic suspension experiment process.
Fig. 1 is the structural drawing of the magnetic suspension experiment device according to the embodiment of the present invention, this magnetic suspension experiment device comprises: the first electromagnet 31 and the second electromagnet 32, control assembly 41, tested buoyant element 51 of fixed head 11, sensor element 21, column, wherein, the first electromagnet 31 is consistent with the length of the second electromagnet 32.Sensor element 21 and the opposing parallel setting of fixed head 11, the first end of the first electromagnet 31 and the second electromagnet 32 is all fixed on fixed head 11, and the first electromagnet 31 and the second electromagnet 32 are arranged between sensor element 21 and fixed head 11, second end of the first electromagnet 31 and the second end of the second electromagnet 32 are arranged downwards, tested buoyant element 51 is provided with the first magnetic suspension portion 511 and the second magnetic suspension portion 512, the position of the first magnetic suspension portion 511 is corresponding with the position of the first electromagnet 31 second end, the position of the second magnetic suspension portion 512 is corresponding with the position of the second electromagnet 32 second end, sensor element 21 can obtain the gap of the first magnetic suspension portion 511 to sensor element 21 and the gap of the second magnetic suspension portion 512 to sensor element 21 by measuring, and obtains the suspension attitude of tested buoyant element 51.
The size of electromagnet magnetic force is directly related with the size of exciting current, without the need to measuring exciting current in magnetic suspension experiment device of the present invention, and the position signalling directly utilizing sensor element to measure is as the feedback signal of magnetic force, the error effect avoiding current measurement controls result.
Tested buoyant element 51 preferably uses cylinder-like structure, first magnetic suspension portion 511 and the second magnetic suspension portion 512 are respectively ferrimagnet annulus, assembling mode can be multiple, such as directly be set in cylinder periphery, in the groove of direct embedding cylinder correspondence position, or directly as one section of cylinder.Magnetic part generally selects the color different from cylindrical shell, like this can also as position mark.
Measurement component in sensor element 21 can select various gap sensor, such as optical sensor, eddy current sensor, laser range sensor etc.Gap sensor measures the hoverheight of the first magnetic suspension portion 511 and the second magnetic suspension portion 512 by non-contacting mode.
Under the applied environment of the present embodiment, measurement component in sensor element 21 preferably uses eddy current sensor, specifically comprise the first eddy current sensor and the second eddy current sensor, wherein, first eddy current sensor is for measuring the distance of the first magnetic suspension portion 511 to the first eddy current sensor and being converted to the first corresponding measuring-signal, second eddy current sensor is for measuring the distance of the second magnetic suspension portion 512 to the second eddy current sensor and being converted to the second corresponding measuring-signal, above first eddy current sensor and the second eddy current sensor can centralized arrangement in the shell of sensor element 21, wherein, carrying out under the state of testing, the position of the position of the probe of the first eddy current sensor and the second eddy current sensor probe is corresponding with the first magnetic suspension portion 511 and the second magnetic suspension portion 512.When above eddy current sensor utilizes the distance between tested metal and probe to change, the flux value of probe coil also changes, the change of flux value causes the change of oscillating voltage amplitude, and this oscillating voltage with distance change changes into electric signal through detection, filtering, linear compensation, amplification normalization, mechanical clearance converts corresponding electric signal to the most at last.The movement posture such as the luffing angle of tested buoyant element 51 and the distance of distance electromagnet directly can be calculated according to the data of two vortex sensor measurings.And the antijamming capability of eddy current sensor is strong, compared with the general displacement transducer such as optical sensor, the interference of thermal source, light source, radio-frequency radiation can not be subject to, adds the reliability of experimental provision.
The first end of the first electromagnet 31 and the first end of the second electromagnet 32 can adopt the mode of screw to be directly fixed on fixed head 11, when testing, can ensure that the magnetic polarity of the first electromagnet 31 is contrary with the magnetic polarity of the second electromagnet 32 by the direction changing working current, effectively can improve the utilization factor of electromagnet magnetic flux, the maximum weight of the tested buoyant element 51 that raising can carry, in order to reduce leakage field further, the first end of the first electromagnet 31 is connected by square steel on fixed head 11 with the first end of the second electromagnet 32, square steel is that magnetic field provides flux path, greatly reduce leakage field.
In addition, the first magnetic suspension portion 511 and the second magnetic suspension portion 512 also can utilize ferromagnetic material to couple together in the inside of tested buoyant element 51, can provide path equally, improve the utilization factor in magnetic field, raise the efficiency further for magnetic field.
The position that fixed head 11 can adopt suspension, the mode of bracing frame is arranged in certain altitude, second end of the first electromagnet 31 and the second electromagnet 32 vertically downward, sensor element 21 is arranged on immediately below the first electromagnet 31 and the second electromagnet 32, and the space between sensor element 21 and electromagnet belongs to the suspension test space of tested buoyant element 51.When testing, provide exciting current respectively to the first electromagnet 31 and the second electromagnet 32, the position measured value measured is fed back to control assembly 41 by sensor element 21.
The present embodiment can also be provided with base cabinet 61 and support 71, in this structure, the bottom of magnetic suspension experiment device is also provided with base cabinet 61, base cabinet 61 upper surface is provided with support 71, fixed head 11 is fixed on above base cabinet 61 by support 71, sensor element 21 is arranged on the upper surface of base cabinet 61, the height of support 71 is greater than length, the height of sensor element 21, the tested buoyant element 51 diameter three sum of electromagnet, thus remains the Serpentine Gallery Pavilion of tested buoyant element 51.The side of base cabinet 61 can arrange various man-machine interface and electric interfaces as required.
Can be built by the stay pipe that many length is consistent with upper bracket 71.Fixed head 11 shown in Fig. 1 is square, four stay pipes support the situation of fixed head 11 4 corners respectively, in fact the shape of fixed head 11 can adopt arbitrary shape, and as circle, triangle, polygon etc., the quantity of stay pipe can be arranged as required.
The bottom of whole magnetic suspension experiment device, namely multiple wheel is fixed in the bottom of base cabinet 61, improves the travelling performance of equipment.
Embodiments provide a kind of control circuit being applied to the magnetic suspension experiment device of above introduction, it is inner that this control device can be arranged on base cabinet 61, with sensor element 21, first electromagnet 31, second electromagnet 32 is electrically connected respectively, for the measuring-signal that receiving sensor parts 21 are changed, and using this measuring-signal as feedback signal, by regulating the exciting current of the first electromagnet 31 and the second electromagnet 32 respectively, FEEDBACK CONTROL is carried out to the electromagnetic force of the first electromagnet 31 and the second electromagnet 32, thus experimentally scheme, regulate hoverheight and the luffing angle of tested buoyant element 51.Above control circuit comprises: the first control panel 41 and the second control panel 42 that circuit structure is identical, wherein the first control panel 41 is for receiving the first measuring-signal of the first eddy current sensor conversion, FEEDBACK CONTROL is carried out to the electromagnetic force of the first electromagnet 31, second control panel 42, for receiving the second measuring-signal of the second eddy current sensor conversion, carries out FEEDBACK CONTROL to the electromagnetic force of the second electromagnet 32.
Fig. 2 is the control block diagram of the magnetic suspension experiment device according to the embodiment of the present invention, as shown in the figure, power module 43 is powered to the first control panel 41 and the second control panel 42 respectively by direct supply bus 44, power module 43 provides the mode of direct supply AC power can be carried out rectification, also directly can use direct supply.First control panel 41 receives the hoverheight desired value of the first magnetic suspension portion 511 and the first measuring-signal of the first eddy current sensor 211, first measuring-signal is carried out proportion-plus-derivative control as the feedback signal of the first magnetic suspension portion 511 hoverheight, change the exciting current of the first electromagnet 31, thus make the first magnetic suspension portion 511 of tested buoyant element 51 keep object height, second control panel 42 receives the hoverheight desired value of the second magnetic suspension portion 512 and the second measuring-signal of the second eddy current sensor 212, second measuring-signal is carried out proportion-plus-derivative control as the feedback signal of the hoverheight of the second magnetic suspension portion 512, change the exciting current of the second electromagnet 32, thus make the second magnetic suspension portion 512 of tested buoyant element 51 keep object height.By the control to the first magnetic suspension portion 511 and the second magnetic suspension portion 512 two, realize the tested luffing angle of buoyant element 51 and the adjustment of hoverheight, achieve the translation in two-dimensional space and rotate control.
The electric wire that first control panel 41 is connected with the first electromagnet 31, and the electric wire that the second control panel 42 is connected with the second electromagnet 32 all passes from the stay pipe forming support 71, makes whole experimental provision more attractive in appearance.
First control panel 41 connects the first eddy current sensor 211, provides exciting current to the first electromagnet 31, and the second control panel 42 connects the second eddy current sensor 211, provides exciting current to the second electromagnet 32.Because above first control panel 41 is identical with the circuit structure of the second control panel 42, below for the circuit structure of more than first control panel 41 introduction the first control panel 41 and the second control panel 42.
Fig. 3 is the circuit structure block diagram of the first control panel in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention, and as shown in the figure, the first control panel comprises: sensor interface 411, is connected with sensor element 21, for receiving measuring-signal; Proportion differential regulating circuit 412, is connected with sensor interface 411, for measuring-signal is carried out proportion differential adjustment; Signal modulation circuit 413, is connected with proportion differential regulating circuit 412, for being carried out superposing and modulating with the quiescent point voltage signal preset by the measuring-signal regulated through proportion differential, obtains modulator control signal; Driving circuit 414, is connected with signal modulation circuit 413, for according to electromagnet from modulator control signal to correspondence export exciting current.
Fig. 4 is the circuit theory diagrams of proportion differential regulating circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention, also voltage follower is provided with between sensor interface 21 and proportion differential regulating circuit 412, this voltage follower is built by operational amplifier U7, isolates.In proportion differential regulating circuit 412, scaling circuit is built by the first operational amplifier U1 and feedback resistance R6, in proportion differential regulating circuit 412, differential amplifier circuit is built by the second operational amplifier U2 and feedback capacity C12, and measuring-signal is exported by resistance R36 after proportion differential process.Compared with controlling with traditional PID, eliminate integration control link, simplify circuit, reduce trouble spot, through test, when removing integral element, this circuit still can meet suspend control requirement.
Fig. 5 is the circuit theory diagrams of signal modulation circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention, first control panel 41 is provided with quiescent point and arranges circuit, this quiescent point arranges circuit and is built by potentiometer IO, electric capacity C7, resistance R47, this quiescent point arranges the quiescent point voltage signal of circuit for stable output, the output terminal that quiescent point arranges circuit is connected with the output terminal of proportion differential regulating circuit 412, to be superposed with the quiescent point voltage signal preset by the measuring-signal regulated through proportion differential.
Signal modulation circuit 413 comprises: triangular wave generating circuit and PWM circuit, PWM circuit comprises the 3rd amplifier U3, the positive input of the 3rd amplifier U3 connects the output terminal of proportion differential regulating circuit 213, the reverse input end of the 3rd amplifier U3 connects the output terminal of triangular wave generating circuit, and the output terminal of the 3rd amplifier U3 connects driving circuit by triode Q1.
Four-operational amplifier U4 is connected with between the positive input of the 3rd amplifier U3 and the output terminal of proportion differential regulating circuit 213, wherein, the reverse input end of four-operational amplifier U4 connects the output terminal of proportion differential regulating circuit 213, the positive input ground connection of four-operational amplifier U4, the output terminal of four-operational amplifier U4 connects the positive input of the 3rd amplifier U3, is provided with resistance between the output terminal of four-operational amplifier U4 and positive input.
Triangular wave generating circuit is built by the 5th operational amplifier U5 and the 6th operational amplifier U6, wherein, the reverse input end of the 5th operational amplifier U5 and the positive input of the 6th operational amplifier U6 are all connected to ground, the positive input of the 5th operational amplifier U5 connects the output terminal of the 5th operational amplifier U5 by the first resistance R1, the positive input of the 5th operational amplifier U5 connects the output terminal of the 6th operational amplifier U6 by the second resistance R2, the output terminal of the 5th operational amplifier U5 connects the reverse input end of the 6th operational amplifier U6 by the 3rd resistance R3, the first electric capacity C1 is connected with between the reverse input end of the 6th operational amplifier U6 and the output terminal of the 6th operational amplifier U6, the output terminal of the 6th operational amplifier U6 is as the output circuit of triangular wave generating circuit.
Fig. 6 is the circuit theory diagrams of driving circuit in the control circuit according to the magnetic suspension experiment device of the embodiment of the present invention, driving circuit 414 comprises: the first optocoupler OP1, second optocoupler OP2, and current amplification circuit, wherein, the first input end of the first optocoupler OP1 connects positive supply, second input end of the first optocoupler OP1 is connected with the first input end of the second optocoupler OP2, second input end of the second optocoupler OP2 connects the output terminal of the 3rd amplifier U3 by triode Q1, the output terminal of the first optocoupler OP1 exports the first drive singal UG, the output terminal second drive singal UE of the second optocoupler OP1, current amplification circuit, is connected respectively with the output terminal of the first optocoupler OP1 and the output terminal of the second optocoupler OP2, for exporting exciting current according to the first drive singal UG and the second drive singal DG.Wherein current amplification circuit can use triode current amplification circuit, not shown in the drawings.
First control panel 41 and the second control panel 42 are powered by providing the DC power supplier of positive-negative polarity.DC power supplier can select interchange or direct current input, exports the direct supply of positive and negative 15V.
The cabinet base 61 that first control panel 41 and the second control panel 42 are all arranged in magnetic suspension experiment device is inner, be connected with the various interfaces that the cabinet base 61 of magnetic suspension experiment device is arranged respectively, the electric wire of the first control panel 41 to the first electromagnet 31, the electric wire of the second control panel 42 to the second electromagnet 32 all can pass from stay pipe.
The hoverheight desired value of the first magnetic suspension portion 511 and the hoverheight desired value of the second magnetic suspension portion 512 can be transferred to the first control panel 41 and the second control panel 42 by various modes, such as, manual mode, automatic mode, remote mode, wherein manual mode is the operation utilizing two adjusting knobs to receive user, and determines the echo signal of two hoverheights according to rotation gear; Remote mode receives the electric signal of remote transmission respectively as echo signal by two signaling interfaces; Automatic mode utilizes the default signal of control panel inside as echo signal.
The control circuit that application technical solution of the present invention provides, the echo signal of hoverheight is obtained by any one in above Three models, the hoverheight of the tested buoyant element 2 that receiving sensor parts are measured is as feedback signal, carry out proportion differential FEEDBACK CONTROL, there is provided exciting current to electromagnet, thus control the electromagnetic force of two electromagnet respectively, attract tested buoyant element, thus make tested buoyant element overcome gravity, in space, maintain suspended state.Thus the elevating control that not only can complete for tested buoyant element, can also carry out luffing angle control, complete the experiment of multiple suspension attitude, levitation gap range of adjustment is large, fully meets the requirement of magnetic suspension experiment.
In addition, the control circuit that the present embodiment provides utilizes mimic channel to build independently two pieces of control panels respectively, and circuit structure is simple, do not need in control procedure to gather current signal, and the integral element eliminated in traditional PID control, decrease the trouble spot that may occur, reliability is high.
In instructions provided herein, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.And first, second use above-mentioned does not represent any order.Can be the differentiation of like by these word explanations.
Similarly, be to be understood that, in order to simplify the disclosure and to help to understand in each inventive aspect one or more, in the description above to exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or the description to it sometimes.But, the method for the disclosure should be construed to the following intention of reflection: namely the present invention for required protection requires feature more more than the feature clearly recorded in each claim.Or rather, as claims below reflect, all features of disclosed single embodiment before inventive aspect is to be less than.Therefore, the claims following embodiment are incorporated to this embodiment thus clearly, and wherein each claim itself is as independent embodiment of the present invention.
In addition, those skilled in the art can understand, although embodiments more described herein to comprise in other embodiment some included feature instead of further feature, the combination of the feature of different embodiment means and to be within scope of the present invention and to form different embodiments.Such as, in the following claims, the one of any of embodiment required for protection can use with arbitrary array mode.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present invention is illustrate and described herein detailed, but, without departing from the spirit and scope of the present invention, still can directly determine or derive other modification many or amendment of meeting the principle of the invention according to content disclosed by the invention.Therefore, scope of the present invention should be understood and regard as and cover all these other modification or amendments.
Claims (8)
1. the control circuit of a magnetic suspension experiment device, this magnetic suspension experiment device comprises: fixed head, sensor element, first electromagnet of column and the second electromagnet, tested buoyant element, wherein, the first end of described first electromagnet and described second electromagnet is all fixed on fixed head, described tested buoyant element is provided with the first magnetic suspension portion and the second magnetic suspension portion, the position of described first magnetic suspension portion is corresponding with the position of described first electromagnet second end, the position of described second magnetic suspension portion is corresponding with the position of described second electromagnet second end, described sensor element and the opposing parallel setting of described fixed head, for the hoverheight of the hoverheight and described second magnetic suspension parts of measuring described first magnetic suspension portion, and the hoverheight of the hoverheight of described first magnetic suspension portion and described second magnetic suspension parts is converted to corresponding measuring-signal respectively, and described first electromagnet and described second electromagnet are arranged between described sensor element and described fixed head, second end of described first electromagnet and described second electromagnet is arranged downwards, described tested buoyant element is cylinder-like structure, described first magnetic suspension portion and described second magnetic suspension portion are respectively ferrimagnet annulus,
Described sensor element comprises the first eddy current sensor and the second eddy current sensor, described first eddy current sensor is converted to the first corresponding measuring-signal for measuring the first magnetic suspension portion to the distance of described first eddy current sensor, described second eddy current sensor is converted to the second corresponding measuring-signal for measuring described second magnetic suspension portion to the distance of described second eddy current sensor, the control circuit of described magnetic suspension experiment device comprises: the first control panel that circuit structure is identical and the second control panel, described first control panel connects described first eddy current sensor, and described first measuring-signal is carried out proportion-plus-derivative control as the feedback signal of described first magnetic suspension portion hoverheight, exciting current is provided to described first electromagnet, described second control panel connects described second eddy current sensor, and described second measuring-signal is carried out proportion-plus-derivative control as the feedback signal of described second magnetic suspension portion hoverheight, exciting current is provided to described second electromagnet, and described first control panel and described second control panel comprise respectively:
Sensor interface, is connected with described sensor element, for receiving described measuring-signal;
Proportion differential regulating circuit, is connected with described sensor interface, for described measuring-signal is carried out proportion differential adjustment;
Signal modulation circuit, is connected with described proportion differential regulating circuit, for being carried out superposing and modulating with the quiescent point voltage signal preset by the measuring-signal regulated through proportion differential, obtains modulator control signal;
Driving circuit, is connected with described signal modulation circuit, for according to electromagnet from described modulator control signal to correspondence export exciting current; And
The scaling circuit that described proportion differential regulating circuit is built by the first operational amplifier and the differential amplifier circuit built by the second operational amplifier form;
Described first control panel and described second control panel also comprise respectively: quiescent point arranges circuit, described quiescent point arranges the quiescent point voltage signal of circuit for stable output, the output terminal that this quiescent point arranges circuit is connected with the output terminal of described proportion differential regulating circuit, the measuring-signal regulated is superposed with the quiescent point voltage signal preset through proportion differential.
2. control circuit according to claim 1, wherein, is also provided with voltage follower between described sensor interface and described proportion differential regulating circuit.
3. control circuit according to claim 1, wherein, described signal modulation circuit comprises: triangular wave generating circuit and PWM circuit, described PWM circuit comprises the 3rd amplifier, the positive input of described 3rd amplifier connects the output terminal of described proportion differential regulating circuit, the reverse input end of described 3rd amplifier connects the output terminal of described triangular wave generating circuit, and the output terminal of described 3rd amplifier connects described driving circuit.
4. control circuit according to claim 3, wherein, four-operational amplifier is connected with between the positive input of described 3rd amplifier and the output terminal of described proportion differential regulating circuit, wherein, the reverse input end of described four-operational amplifier connects the output terminal of described proportion differential regulating circuit, the positive input ground connection of described four-operational amplifier, the output terminal of described four-operational amplifier connects the positive input of described 3rd amplifier, is provided with resistance between the output terminal of described four-operational amplifier and described positive input.
5. control circuit according to claim 3, wherein, described triangular wave generating circuit comprises: the 5th operational amplifier and the 6th operational amplifier, the reverse input end of described 5th operational amplifier and the positive input of described 6th operational amplifier are all connected to ground, the positive input of described 5th operational amplifier connects the output terminal of described 5th operational amplifier by the first resistance, the positive input of described 5th operational amplifier connects the output terminal of described 6th operational amplifier by the second resistance, the output terminal of described 5th operational amplifier connects the reverse input end of described 6th operational amplifier by the 3rd resistance, the first electric capacity is connected with between the reverse input end of described 6th operational amplifier and the output terminal of described 6th operational amplifier, the output terminal of described 6th operational amplifier is as the output circuit of described triangular wave generating circuit.
6. the control circuit according to any one of claim 3 to 5, wherein, described driving circuit comprises: the first optocoupler, the second optocoupler and current amplification circuit,
The first input end of described first optocoupler connects positive supply, second input end of described first optocoupler is connected with the first input end of described second optocoupler, second input end of described second optocoupler connects the output terminal of described 3rd amplifier, the output terminal of described first optocoupler exports the first drive singal, output terminal second drive singal of described second optocoupler;
Described current amplification circuit, is connected respectively with the output terminal of described first optocoupler and the output terminal of described second optocoupler, for exporting exciting current according to described first drive singal and described second drive singal.
7. control circuit according to any one of claim 1 to 5, wherein, described first control panel and described second control panel are all arranged in the cabinet base of described magnetic suspension experiment device.
8. control circuit according to claim 7, wherein, the electric wire that described first control panel is connected with described first electromagnet, and the electric wire that described second control panel is connected with described second electromagnet all passes from stay pipe, the bracing frame that described stay pipe is formed is for supporting described fixed head.
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| CN104867393B (en) * | 2015-05-21 | 2017-05-24 | 浙江大学 | Magnetic suspension balance beam experiment device |
| CN110716163B (en) * | 2019-10-28 | 2021-08-10 | 四川世纪中科光电技术有限公司 | Method and system for researching relation among electromagnetic force, exciting current and suspension gap |
| CN113340187B (en) * | 2021-06-01 | 2022-09-02 | 青岛汉泰电子有限公司 | Thickness gauge, control circuit and magnetic and eddy current dual-mode measuring method |
| CN113620129A (en) * | 2021-07-13 | 2021-11-09 | 美迪斯智能装备有限公司 | Magnetic suspension application system of elevator |
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