CN103883621A - Magnetic bearing control circuit for magnetic suspension energy-storage flywheel and control method thereof - Google Patents
Magnetic bearing control circuit for magnetic suspension energy-storage flywheel and control method thereof Download PDFInfo
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Abstract
The invention discloses a magnetic bearing electronic control circuit for a magnetic suspension energy-storage flywheel and a controlled variable calculating method thereof. The electronic control circuit includes a five-way displacement sensor interface, a five-way current sensor interface, a signal conditioning circuit, a secondary filter circuit, a DSP control unit and a power amplifier drive circuit. Each way of the five-way displacement sensor interface is connected to ground by a resistor between each way of the five-way displacement sensor interface and the signal conditioning circuit; each way of the five-way connecting signal is connected to the ground by a resistor between the secondary filter circuit and an A/D interface of the DSP control unit; the signal of the five-way displacement sensor interfaces is calculated by a PID in the DSP control unit and then is processed by secondary digital low-pass filtering; and finally is processed by crossover calculating, is proportionally calculated and summed with the signal of the five current sensor interfaces. A PWM wave modulation signal is formed and is inputted to the power amplifier drive circuit for controlling the suspension of a rotor of the magnetic suspension energy-storage flywheel. According to the invention, the interference signal of the displacement sensor is effectively attenuated. The control is more stable and the noise pollution is reduced.
Description
Technical field
The present invention relates to a kind of magnetic bearings control circuit and controlling method thereof of magnetic levitation energy storage flywheel.
Background technique
Magnetic levitation energy storage flywheel is a kind of physics energy storage device of a new generation, there is high-power, high energy storage density, environmental protection, and there is very strong anti-interference and the quick advantage such as response, progressively be applied in the world, and will become the first-selected energy storage mode of the extensive energy storage device of a new generation of China.The magnetic bearings control of energy-storing flywheel system with magnetic suspension mainly depends on the rotor-position signal that position transducer collects at present.Because needs are axially controlled five simultaneously, so need five tunnel sensor signals.When five road signals enter magnetic bearings control plate, can bring undesired signal into control system.In flywheel boosting velocity procedure, the pulsation of magnetic bearing coil current causes fly wheel system vibration simultaneously, and sensor may produce the information substitution control system of vibration resonance and further amplify noise.General processing method is: on Conditioning Circuits of Sensor, add the secondary filter circuit of a 3kHz to guarantee to control stable and noise decrease.But it is still larger that the shortcoming of this scheme is exactly noise, the stability of controlling is also had a certain impact.
Summary of the invention
Based on above deficiency, the present invention relates to a kind of magnetic bearings control circuit and controlling method thereof of magnetic levitation energy storage flywheel, while being used for magnetic suspension energy accumulation flywheel magnetic bearing system to control, noise decrease pollutes, and is applicable to all kinds of magnetic suspension energy accumulation flywheel magnetic bearing control occasions.
Technical Solving of the present invention is: a kind of magnetic bearings control circuit of magnetic levitation energy storage flywheel, comprise No. five displacement transducer interfaces, No. five current sensor interfaces, signal conditioning circuit, secondary filter circuit, DSP control unit and power amplifier drive circuit, five road rotor displacement sensors are connected with signal conditioning circuit by No. five displacement transducer interfaces, No. five current sensors are connected with signal conditioning circuit by No. five current sensor interfaces, signal conditioning circuit is connected with secondary filter circuit, secondary filter circuit is connected with the A/D interface of DSP control unit, DSP control unit is connected with power amplifier drive circuit, between Mei road displacement transducer interface and signal conditioning circuit, every road displacement transducer interface is connected with the earth by resistance, between secondary filter circuit and the A/D interface of DSP control unit, every road connects signal and is connected with the earth by resistance simultaneously, in DSP control unit Dui Wu road rotor displacement sensor signal through PID computing, and then carry out two-stage digital lower pass-filter one time, finally by crossing after crossing operation, after the current sensor signal scale operation of Yu Wu road, sue for peace, form PWM ripple modulation signal, the rotor suspension of input power amplifier drive circuit control magnetic levitation energy storage flywheel.
The present invention also has following features:
1, the magnetic bearing electrical control circuit of a kind of magnetic levitation energy storage flywheel as above, is characterized in that, being calculated as follows of the concrete controlled quentity controlled variable of DSP control unit:
First form the upper and lower two ends of controlled quentity controlled variable rotor shaft and be defined as respectively side a and b, Sax, Say represent respectively the rotor radial displacement signal of A end movement sensors X, two orthogonal directions of Y; Sbx, Sby represent respectively the rotor radial displacement signal of B end movement sensors X, two orthogonal directions of Y; Sz represents the axial displacement signal of axial sensor output; Iax, Iay represent respectively the magnetic bearing coil current signal of A end current sensor X, Y-direction; Ibx, Iby represent respectively the magnetic bearing coil current signal of B end current sensor X, Y-direction; I z represents the axial magnetic bearing coil current signal of axial current sensor output, being calculated as follows of Ze Mei road controlled quentity controlled variable:
OUTax(k)＝PIDSax(k)+(Say(k)-Sby(k))*Kc
OUTbx(k)＝PIDSbx(k)-(Say(k)-Sby(k))Kc
OUTay(k)＝PIDSay(k)+(Sax(k)-Sbx(k))Kc
OUTby(k)＝PIDSby(k)-(Sax(k)-Sbx(k))Kc
OUTz(k)＝PIDSz(k)
In above formula: k represents the k time sampling,
PIDSax (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sax sampling,
PIDSbx (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sbx sampling,
PIDSay (k) represents the result of carrying out PID calculating after the k time radial displacement signal Say sampling,
PIDSby (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sby sampling,
PIDSz (k) represents the result of carrying out PID calculating after the k time axial shifting signal Sz sampling,
Kc represents calculated crosswise coefficient, equals 0.01-0.05 rotating speed doubly,
OUTax (k) represents to calculate the controlled quentity controlled variable that forms A end directions X after the k time sampling,
OUTbx (k) represents to calculate the controlled quentity controlled variable that forms B end directions X after the k time sampling,
OUTay (k) represents to calculate the controlled quentity controlled variable that forms A end Y-direction after the k time sampling,
OUTby (k) represents to calculate the controlled quentity controlled variable that forms B end Y-direction after the k time sampling,
OUTz (k) represents to calculate the axial controlled quentity controlled variable of formation after the k time sampling,
To this wherein radially four tunnel controlled quentity controlled variable: OUTax (k), OUTbx (k), OUTay (k) and OUTby (k) carry out respectively a secondary low-pass digital filter, the differential accounting equation of wave filter is as follows:
HOUTax(k)＝1.85×HOUTax(k-1)-0.86×HOUTax(k-2)+0.096×
OUTax(k)-0.179×OUTax(k-1)+0.96×OUTax(k-2)；
HOUTay(k)＝1.85×HOUTay(k-1)-0.86×HOUTay(k-2)+0.096×
OUTay(k)-0.179×OUTay(k-1)+0.96×OUTay(k-2)；
HOUTbx(k)＝1.85×HOUTbx(k-1)-0.86×HOUTbx(k-2)+0.096×
OUTbx(k)-0.179×OUTbx(k-1)+0.96×OUTbx(k-2)；
HOUTby(k)＝1.85×HOUTby(k-1)-0.86×HOUTby(k-2)+0.096×
OUTby(k)-0.179×OUTby(k-1)+0.96×OUTby(k-2)；
In above formula, k represents the calculated value after sampling the k time, and k-1 represents the calculated value of the k-1 time sampling,
K-2 represents the calculated value of the k-2 time sampling;
Formation control amount HOUTax (k), HOUTbx (k), HOUTay (k) and HOUTby (k) after filtering, meanwhile, the signal of No. five current sensors formation control amount: PIax (k), PIbx (k), PIay (k), PIby (k) and PIz (k) after DSP control unit carries out scale operation.
Carry out the modulation of PWM ripple with controlled quentity controlled variable HOUTax (k), HOUTbx (k), HOUTay (k), HOUTby (k) and OUTz (k) after digital filtering and calculate the rear following pwm control signal that forms:
PWMax(k)＝HOUTax(k)+PIax(k)
PWMay(k)＝HOUTay(k)+PIay(k)
PWMbx(k)＝HOUTbx(k)+PIbx(k)
PWMby(k)＝HOUTby(k)+PIby(k)
PWMz(k)＝OUTz(k)+PIz(k)。
The present invention's advantage is compared with prior art: this patent is processed two aspects by hardware handles and software and solved the larger problem of noise in magnetic levitation energy storage flywheel running, has following characteristics compared with existing magnetic suspension energy accumulation flywheel magnetic bearing controlling method:
(1) compared with existing magnetic suspension energy accumulation flywheel magnetic bearing control system, between position sensor interface and signal conditioning circuit, Dui Wu road position sensor signal grounding, not only effectively by the undesired signal decay of displacement transducer, and makes to control more stable.
(2) more existing magnetic suspension energy accumulation flywheel magnetic bearing control system is compared, and in DSP, a kind of digital low-pass filtering is carried out on the result every road of five road position sensor signals after PID calculates again, and the high-frequency interferencing signal that produces noise is significantly decayed.The elimination of this interference, making to suspend, it is more stable to control.
Brief description of the drawings
Fig. 1 is the hardware configuration composition frame chart of this circuit;
Fig. 2 is the controlling method theory diagram of this patent;
Fig. 3 is that pwm control signal forms schematic diagram.
Embodiment
As shown in Figure 1, this circuit hardware structure comprises No. five current sensor interfaces 1, No. five displacement transducer interfaces 2, signal conditioning circuit 3, secondary filter circuit 4, A/D interface 5, DSP control unit 6 and power amplifier drive circuit 7, and wherein DSP control unit 6 adopts TMS320F28335 chip 8 or TMS320F28346 chip 8.5 road rotor displacement sensor signals: four radial passage AX, AY, BX, BY.Axial passage Z and current sensor signal are through interface input signal conditioning circuit 3, through amplifying, after level deviation, match (0V～3.3V) with A/D input range, then after secondary low-pass filter circuit (cutoff frequency can regulate according to taked sample frequency), send into the A/D interface 5 that DSP control unit 6 carries.The noise interference of bringing in order to eliminate position transducer measurement, between position sensor interface 2 and signal conditioning circuit 3, five each road of road position sensor signal, all by the resistance of 1K, switch on the ground node of circuit board.Between secondary filter circuit 4 and A/D interface 5, the resistance of 1k Ω is all passed through on each road of five tunnels connection signal paths simultaneously, switches on the ground node of circuit board, disturbs thereby realize the effectively signal of elimination position transducer.
As shown in Figure 2, be the magnetic bearings control theory diagram of this patent.The rotor displacement signal that position transducer records is after the processing of circuit shown in Fig. 1, A/D interface by DSP control unit enters DSP, in DSP control unit Dui Wu road rotor displacement sensor signal through PID computing, and then carry out two-stage digital lower pass-filter one time, finally by crossing after crossing operation, after the current sensor signal scale operation of Yu Wu road, sue for peace, form PWM ripple modulation signal, the rotor suspension of input power amplifier drive circuit control magnetic levitation energy storage flywheel.
Concrete controlling method is as follows: first form the upper and lower two ends of controlled quentity controlled variable rotor shaft and be defined as respectively side a and b, Sax, Say represent respectively the rotor radial displacement signal of A end movement sensors X, two orthogonal directions of Y; Sbx, Sby represent respectively the rotor radial displacement signal of B end movement sensors X, two orthogonal directions of Y; Sz represents the axial displacement signal of axial sensor output; Iax, Iay represent respectively the magnetic bearing coil current signal of A end current sensor X, Y-direction; Ibx, Iby represent respectively the magnetic bearing coil current signal of B end current sensor X, Y-direction; Iz represents the axial magnetic bearing coil current signal of axial current sensor output, being calculated as follows of Ze Mei road controlled quentity controlled variable:
OUTax(k)＝PIDSax(k)+(Say(k)-Sby(k))*Kc
OUTbx(k)＝PIDSbx(k)-(Say(k)-Sby(k))Kc
OUTay(k)＝PIDSay(k)+(Sax(k)-Sbx(k))Kc
OUTby(k)＝PIDSby(k)-(Sax(k)-Sbx(k))Kc
OUTz(k)＝PIDSz(k)
In above formula: k represents the k time sampling,
PIDSax (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sax sampling,
PIDSbx (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sbx sampling,
PIDSay (k) represents the result of carrying out PID calculating after the k time radial displacement signal Say sampling,
PIDSby (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sby sampling,
PIDSz (k) represents the result of carrying out PID calculating after the k time axial displacement signal Sz sampling,
Kc represents calculated crosswise coefficient, equals 0.01-0.05 rotating speed doubly,
OUTax (k) represents to calculate the controlled quentity controlled variable that forms A end directions X after the k time sampling,
OUTbx (k) represents to calculate the controlled quentity controlled variable that forms B end directions X after the k time sampling,
OUTay (k) represents to calculate the controlled quentity controlled variable that forms A end Y-direction after the k time sampling,
OUTby (k) represents to calculate the controlled quentity controlled variable that forms B end Y-direction after the k time sampling,
OUTz (k) represents to calculate the axial controlled quentity controlled variable of formation after the k time sampling,
To this wherein radially four tunnel controlled quentity controlled variable: OUTax (k), OUTbx (k), OUTay (k) and OUTby (k) carry out respectively a secondary low-pass digital filter, the differential accounting equation of wave filter is as follows:
HOUTax(k)＝1.85×HOUTax(k-1)-0.86×HOUTax(k-2)+0.096×
OUTax(k)-0.179×OUTax(k-1)+0.96×OUTax(k-2)；
HOUTay(k)＝1.85×HOUTay(k-1)-0.86×HOUTay(k-2)+0.096×
OUTay(k)-0.179×OUTay(k-1)+0.96×OUTay(k-2)；
HOUTbx(k)＝1.85×HOUTbx(k-1)-O.86×HOUTbx(k-2)+0.096×
OUTbx(k)-0.179×OUTbx(k-1)+0.96×OUTbx(k-2)；
HOUTby(k)＝1.85×HOUTby(k-1)-0.86×HOUTby(k-2)+0.096×
OUTby(k)-0.179×OUTby(k-1)+0.96×OUTby(k-2)；
In above formula, k represents the calculated value after sampling the k time, and k-1 represents the calculated value of the k-1 time sampling, and k-2 represents the calculated value of the k-2 time sampling;
Formation control amount HOUTax (k), HOUTbx (k), HOUTay (k) and HOUTby (k) after filtering, meanwhile, the signal of No. five current sensors formation control amount: PIax (k), PIbx (k), PIay (k), PIby (k) and PIz (k) after DSP control unit carries out scale operation.
Carry out the modulation of PWM ripple with controlled quentity controlled variable HOUTax (k), HOUTbx (k), HOUTay (k), HOUTby (k) and OUTz (k) after digital filtering and calculate the rear following pwm control signal that forms:
PWMax(k)＝HOUTax(k)+PIax(k)
PWMay(k)＝HOUTay(k)+PIay(k)
PWMbx(k)＝HOUTbx(k)+PIbx(k)
PWMby(k)＝HOUTby(k)+PIby(k)
PWMz(k)＝OUTz(k)+PIz(k)。
This pwm control signal is passed to power amplifier by output to be driven.After the method is processed, in accumulated energy flywheel magnetic suspension process, noise is suppressed, and suspending, it is more stable to control.
Noise is 76dB (A) adopting before the present invention, exceed GB GBJ87-1985 " industrial enterprise's place Noise Control Design specification " about office, laboratory, design office's noise level and GB3096-1993 " standard of environmental noise of urban area " under workshop about the noise level of industrial region.Noise is reduced to 40dB (A) after employing the present invention, meets the requirement of above-mentioned standard.
The present invention can be applied to other magnetic levitation energy storage flywheel magnetic suspension control.Application person can pass through amendment earth resistance according to its special needs, and realizes its function according to sample frequency amendment transfer function.
Claims (2)
1. the magnetic bearings control circuit of a magnetic levitation energy storage flywheel, comprise No. five displacement transducer interfaces, No. five current sensor interfaces, signal conditioning circuit, secondary filter circuit, DSP control unit and power amplifier drive circuit, it is characterized in that: five road rotor displacement sensors are connected with signal conditioning circuit by No. five displacement transducer interfaces, No. five current sensors are connected with signal conditioning circuit by No. five current sensor interfaces, signal conditioning circuit is connected with secondary filter circuit, secondary filter circuit is connected with the A/D interface of DSP control unit, DSP control unit is connected with power amplifier drive circuit, between Mei road displacement transducer interface and signal conditioning circuit, every road displacement transducer interface is connected with the earth by resistance, between secondary filter circuit and the A/D interface of DSP control unit, every road connects signal and is connected with the earth by resistance simultaneously, in DSP control unit Dui Wu road rotor displacement sensor signal through PID computing, and then carry out two-stage digital lower pass-filter one time, finally by crossing after crossing operation, after the current sensor signal scale operation of Yu Wu road, sue for peace, form PWM ripple modulation signal, the rotor suspension of input power amplifier drive circuit control magnetic levitation energy storage flywheel.
2. the magnetic bearing electrical control circuit of a kind of magnetic levitation energy storage flywheel according to claim 1, is characterized in that, the concrete controlling method of DSP control unit is as follows:
First form the upper and lower two ends of controlled quentity controlled variable rotor shaft and be defined as respectively side a and b, Sax, Say represent respectively the rotor radial displacement signal of A end movement sensors X, two orthogonal directions of Y; Sbx, Sby represent respectively the rotor radial displacement signal of B end movement sensors X, two orthogonal directions of Y; Sz represents the axial displacement signal of axial sensor output; Iax, Iay represent respectively the magnetic bearing coil current signal of A end current sensor X, Y-direction; Ibx, Iby represent respectively the magnetic bearing coil current signal of B end current sensor X, Y-direction; Iz represents the axial magnetic bearing coil current signal of axial current sensor output, being calculated as follows of Ze Mei road controlled quentity controlled variable:
OUTax(k)＝PIDSax(k)+(Say(k)-Sby(k))*Kc
OUTbx(k)＝PIDSbx(k)-(Say(k)-Sby(k))Kc
OUTay(k)＝PIDSay(k)+(Sax(k)-Sbx(k))Kc
OUTby(k)＝PIDSby(k)-(Sax(k)-Sbx(k))Kc
OUTz(k)＝PIDSz(k)
In above formula: k represents the k time sampling,
PIDSax (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sax sampling,
PIDSbx (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sbx sampling,
PIDSay (k) represents the result of carrying out PID calculating after the k time radial displacement signal Say sampling,
PIDSby (k) represents the result of carrying out PID calculating after the k time radial displacement signal Sby sampling,
PIDSz (k) represents the result of carrying out PID calculating after the k time axial displacement signal Sz sampling,
Kc represents calculated crosswise coefficient, equals 0.01-0.05 rotating speed doubly,
OUTax (k) represents to calculate the controlled quentity controlled variable that forms A end directions X after the k time sampling,
OUTbx (k) represents to calculate the controlled quentity controlled variable that forms B end directions X after the k time sampling,
OUTay (k) represents to calculate the controlled quentity controlled variable that forms A end Y-direction after the k time sampling,
OUTby (k) represents to calculate the controlled quentity controlled variable that forms B end Y-direction after the k time sampling,
OUTz (k) represents to calculate the axial controlled quentity controlled variable of formation after the k time sampling,
To this wherein radially four tunnel controlled quentity controlled variable: OUTax (k), OUTbx (k), OUTay (k) and OUTby (k) carry out respectively a secondary low-pass digital filter, the differential accounting equation of wave filter is as follows:
HOUTax(k)＝1.85×HOUTax(k-1)-0.86×HOUTax(k-2)+0.096×OUTax(k)-0.179
×OUTax(k-1)+0.96×OUTax(k-2)；
HOUTay(k)＝1.85×HOUTay(k-1)-0.86×HOUTay(k-2)+0.096×
OUTay(k)-0.179×OUTay(k-1)+0.96×OUTay(k-2)；
HOUTbx(k)＝1.85×HOUTbx(k-1)-0.86×HOUTbx(k-2)+0.096×
OUTbx(k)-0.179×OUTbx(k-1)+0.96×OUTbx(k-2)；
HOUTby(k)＝1.85×HOUTby(k-1)-0.86×HOUTby(k-2)+0.096×
OUTby(k)-0.179×OUTby(k-1)+0.96×OUTby(k-2)；
In above formula, k represents the calculated value after sampling the k time, and k-1 represents the calculated value of the k-1 time sampling,
K-2 represents the calculated value of the k-2 time sampling;
Formation control amount HOUTax (k), HOUTbx (k), HOUTay (k) and HOUTby (k) after filtering, meanwhile, the signal of No. five current sensors formation control amount: PIax (k), PIbx (k), PIay (k), PIby (k) and PIz (k) after DSP control unit carries out scale operation.
Carry out the modulation of PWM ripple with controlled quentity controlled variable HOUTax (k), HOUTbx (k), HOUTay (k), HOUTby (k) and OUTz (k) after digital filtering and calculate the rear following pwm control signal that forms:
PWMax(k)＝HOUTax(k)+PIax(k)
PWMay(k)＝HOUTay(k)+PIay(k)
PWMbx(k)＝HOUTbx(k)+PIbx(k)
PWMby(k)＝HOUTby(k)+PIby(k)
PWMz(k)＝OUTz(k)+PIz(k)。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109185338A (en) * | 2018-11-07 | 2019-01-11 | 珠海格力电器股份有限公司 | Magnetic suspension control equipment |
| CN111094775A (en) * | 2017-09-29 | 2020-05-01 | 大金工业株式会社 | Method for correcting gap sensor |
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