CN105065452B - Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform - Google Patents
Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform Download PDFInfo
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Abstract
An integrated magnetic-bearing digital control system for a magnetic-suspension inertially-stabilized platform is used for actively controlling a magnetic bearing system of the magnetic-suspension inertially-stabilized platform and mainly comprises a DSP (Digital Signal Processor) module, a level conversion chip, an interface circuit and a communication chip. According to the system, a displacement signal of a magnetic-suspension azimuth rotor, a current of a magnetic bearing coil and azimuth signal data are acquired via the interface circuit and the communication chip, the DSP module generates a control variable according to a control algorithm which is realized in the DSP chip on the basis of hardware programming, the generated control variable is subjected to PWM (Pulse-Width Modulation) in combination with the current signal and then is output to the level conversion chip via an amplitude limiter, and the modulated control variable is subjected to level conversion and then is output to a power amplifier link to generate a control current for the magnetic bearing coil. Therefore, the full-active control of five-degree-of-freedom suspension of the azimuth rotor of the magnetic-suspension inertially-stabilized platform is realized.
Description
Technical field
The present invention relates to a kind of integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system, for magnetic suspension
The magnetic bearing system of the five-degree magnetic suspension of inertially stabilized platform orientation frame rotor carries out full active control it is adaptable to highly integrated
The application scenarios such as degree, high reliability and low-power consumption.
Background technology
Inertially stabilized platform is the basic components of conventional carrying camera in present generation aircraft.Magnetic suspension inertially stabilized platform with
Traditional mechanical inertially stabilized platform contrasts, have the advantages that contactless, no friction, in high precision, the long-life, thus in stable inertia
Have broad application prospects on platform.Magnetic suspension inertially stabilized platform is mainly supported by roll frame, pitching frame with by magnetic bearing
Orientation framework composition.As the key technology of magnetic suspension inertially stabilized platform, magnetic bearing not only can overcome orientation framework with
Moment of friction interference between outside framework, and substantially increase the modulated response speed of orientation framework.Simultaneously because inertia is steady
Fixed platform frame mode determines, magnetic bearing not only needs to provide the high-bearing capacity supporting load, simultaneously can also be to frame rotor
Carry out high-precision deflection adjustment.
Existing magnetic bearing controller mainly has two classes：Magnetic axis with C2000 the or C3000 series DSP of TI as core
Hold numerical control system and the magnetic bearing numerical control system of TMS320VC33 floating type DSP+FPGA processing core.The former compares
Relatively universal, it has the advantages that, and integrated level is high, small power consumption, but because its computing capability limited it is impossible to meet existing magnetic well
The requirement of bearing control system operations speed.The latter makes DSP be mainly used in computing, the FPGA then control as power model
Device, the advantage giving full play to each module, data-handling capacity is significantly improved.But the control algolithm master of this quasi-controller
To be realized by DSP in house software, the controlled quentity controlled variable that control algolithm generates also will be sent FPGA again back to and be carried out PWM, all DSP module
Must be by frequently data communication and FPGA module between, there is poor reliability for whole system in this, and due to
Employ dsp chip and fpga chip works simultaneously, therefore its integrated level is also poor compared with other digitial controllers, power consumption
Than higher.
Content of the invention
The technical problem to be solved in the invention is：Overcome existing two conventional class numerical control systems for magnetic suspension
The shortcomings of integrated level that inertially stabilized platform requires is poor, reliability is low and power consumption is higher, provides a kind of high integration, high reliability
A kind of novel integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system with low-power consumption.
The technical solution of the present invention is：A kind of digital control system of integrated magnetic suspension inertially stabilized platform magnetic bearing
System is it is characterised in that include：
DSP module：Connect with interface circuit, communication chip and electrical level transferring chip, to the electric current being inputted by interface circuit
Signal and displacement signal carry out the AD conversion of holding and analog quantity to digital quantity of sampling, and are derived from POS side to by communication chip transmission
Position measurement bearing signal carries out angle conversion, and current signal after to digitized, displacement signal and bearing signal are transported
Calculation is processed, and obtains the PWM output needed for magnetic bearing coil.
Electrical level transferring chip：Connect with DSP module and power amplifier, the PWM output of 0～3.3V that DSP module is exported turns
The level value of 0～5V being changed to, delivers to power amplifier, drives magnetic bearing coil.
Interface circuit：Connect with current sensor, displacement transducer and DSP module, including current sensor interface circuit
With displacement transducer interface circuit, by the current signal being inputted by current sensor and the displacement signal being inputted by displacement transducer
It is converted into the analogue signal of 0～3V needed for DSP module.
Communication chip：With and POS azimuthal measurement connect, the bearing signal measured by POS system is real-time transmitted to DSP mould
Block.
DSP module includes hardware circuit part and the control algolithm part realized based on hardware programming in dsp chip；
Hardware circuit part includes configuring chip, crystal oscillator and dsp chip, and wherein dsp chip adopts a of the new release of a piece of TI company
Floating point number signal processor TMS320F28335 chip；The control algolithm part realized based on hardware programming, is adopted including AD
Sample conversion and control algorithm, Decentralized PID+torsion control algolithm and PWM algorithm, dsp chip passes through AD sample conversion and controls calculation
The current signal of method interface circuit input and displacement signal carry out the AD conversion of holding and analog quantity to digital quantity of sampling；Dispersion
PID+ reverses control algolithm and shift offset and torsion side-play amount is calculated, and obtains the controlled quentity controlled variable needed for PWM algorithm；
Electric current controlled quentity controlled variable and the AD sample conversion control algolithm of Decentralized PID+torsion control algolithm generation being obtained by PWM algorithm
Side-play amount carries out pwm signal modulation, and modulation generation result is carried out exporting electrical level transferring chip after limited amplitude protection, via work(
Put output and arrive magnetic bearing coil, complete the full active control of magnetic suspension inertially stabilized platform orientation rotor five-degree magnetic suspension.
Decentralized PID+torsion control algolithm is embodied as：Axially 4 road displacement signal ZA that displacement transducer is obtained, ZB, ZC,
ZD, obtains controlled quentity controlled variable output 4 tunnel axial direction control signal after the computing of Decentralized PID control algolithm, is used for realizing orientation framework
The stable suspersion of rotor axial；ZA and ZB, ZC and ZD respectively through the displacement obtaining two torsional freedoms after calculus of differences,
By the orientation torsional signals from POS azimuthal measurement gained, carry out the decomposition operation on two torsional freedoms, be weighted to respectively
Each on corresponding degree of freedom, Control PID algorithm is individually reversed according to the result after weighting, thus realizing two torsions
The control of degree of freedom.
The principle of the present invention is：Dsp chip is using the AD sample conversion control algolithm docking port realized based on hardware programming
The current signal of circuit input and displacement signal carry out the AD conversion of holding and analog quantity to digital quantity of sampling, and transformation result is stored in
In RAM in dsp chip.DSP reads the torsion skew that POS Orientation measuring signals are obtained by communication chip transmission simultaneously
Amount, is the shift offset of torsional freedom by reversing deviation angle by orthogonal projection transformation, is based on hardware in dsp chip real
Existing Decentralized PID+torsion control algolithm calculates to shift offset and torsion side-play amount, executes corresponding control algolithm,
Obtain the controlled quentity controlled variable needed for PWM algorithm；The controlled quentity controlled variable being generated according to algorithm, carries out PWM in conjunction with the current offset amount in RAM
Signal modulation, and modulation generation result is carried out exporting electrical level transferring chip after limited amplitude protection, export magnetic axis via power amplifier
Hold coil, complete the active control of magnetic suspension inertially stabilized platform magnetic bearing system.
Present invention advantage compared with prior art is：
(1) C2000 the or C3000 series DSP compared to existing TI is the magnetic bearing numerical control system of core, this
Magnetic bearing system used by magnetic suspension inertially stabilized platform for the invention is developed, due to the change of whole system frame mode
And the significantly improving of DSP data-handling capacity and communication speed, all more suitable for high-bearing capacity, parameter sensitivity to magnetcisuspension
The high accuracy control of the magnetic bearing system used by floating inertially stabilized platform.
(2) the magnetic bearing numerical control system of more traditional DSP+FPGA processing core, the present invention adopts monolithic high-performance
Dsp chip builds the execution core of magnetic suspension inertially stabilized platform control algolithm, not only achieves Decentralized PID based on hardware programming
+ reverse control algolithm, and using AD sample conversion control algolithm, analog quantity is completed for the AD sampling module carrying in piece and arrives
The conversion of digital quantity, and the PWM algorithm that PWM generation module in piece is realized, greatly reduce around related device
Quantity, decreases the link of software and hardware communication between device.Achieve the highly integrated of control system it will be apparent that improve system
Reliability, reduces the power consumption of controller simultaneously.
Brief description
Fig. 1 is the structure composition block diagram of the present invention；
Fig. 2 is the control principle block diagram of the present invention；
Fig. 3 is the control algolithm block diagram realized based on hardware programming in the dsp chip of the present invention；
Fig. 4 is the circuit theory diagrams of the current sensor interface circuit of the present invention；
Fig. 5 is the circuit theory diagrams of the displacement transducer interface circuit of the present invention；
Fig. 6 is the circuit diagram of communication chip between the POS azimuthal measurement of the present invention and DSP module；
Fig. 7 is the circuit diagram of electrical level transferring chip between the DSP module of the present invention and power amplifier module；
Fig. 8 is the circuit diagram that is connected with other device signal of dsp chip of the present invention；
The AD conversion control algolithm flow chart that Fig. 9 adopts for the present invention；
The Decentralized PID that Figure 10 adopts for the present invention+torsion control algolithm flow chart；
Figure 11 adopts the theory diagram of PWM algorithm for the present invention.
Specific embodiment
As shown in figure 1, the integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system of the present invention is mainly by DSP
Module 4, interface circuit 12, communication chip 8 and electrical level transferring chip 5 form, and wherein DSP module 4 includes configuring chip 1, crystal oscillator 2
With dsp chip 3, interface circuit 12 includes current sensor interface circuit 13 and displacement transducer interface circuit 14.Current sense
The simulation of 0～3V being converted into by the current signal that current sensor 10 inputs needed for DSP module 4 is believed by device interface circuit 13
Number；Displacement transducer interface circuit 14 by by the displacement signal that displacement transducer 11 inputs be converted into needed for DSP module 4 0～
The analogue signal of 3V；Bearing signal measured by POS system is real-time transmitted to DSP module 4 by communication chip 8；DSP module 4 is right
The current signal being inputted by interface circuit 12 and displacement signal carry out sampling keep and analog quantity to digital quantity AD conversion, to by
Communication chip 8 transmission carries out angle conversion from POS azimuthal measurement 9 bearing signal, the current signal after to digitized, position
Shifting signal and bearing signal carry out calculation process, obtain the PWM output needed for magnetic bearing coil 7；Electrical level transferring chip 5 will
The level value of 0～5V that the PWM output of 0～3.3V of DSP module 4 output is converted to, delivers to power amplifier 6, drives magnetic bearing line
Circle 7, completes the active control of magnetic suspension inertially stabilized platform magnetic bearing system.
As shown in Fig. 2 giving the control principle of the present invention, DSP module 4 is believed to the electric current of the current sensor 10 being derived from
Number and from displacement transducer 11 displacement signal carry out AD sampling transformation after, in conjunction with POS azimuthal measurement 9 send bearing signal
Carry out PWM.Pwm signal, after electrical level transferring chip 5 carries out level conversion, exports magnetic bearing coil 7 via power amplifier 6
It is converted into corresponding control electric current, complete the five-degree magnetic suspension of magnetic suspension inertially stabilized platform orientation rotor.
As shown in figure 3, AD sample conversion control algolithm is included based on the control algolithm that hardware programming is realized in dsp chip 3
17th, Decentralized PID+torsion control algolithm 16 and PWM algorithm 18.Dsp chip 3 is docked by AD sample conversion control algolithm 17
The current signal of mouth circuit 12 input and displacement signal carry out the AD conversion of holding and analog quantity to digital quantity of sampling；Decentralized PID+
Reverse control algolithm 16 to shift offset and to transmit, by communication chip 8, the torsion side-play amount that POS azimuthal measurement 9 obtains and count
Calculate, obtain the controlled quentity controlled variable needed for PWM algorithm 18；By PWM algorithm 18, Decentralized PID+torsion control algolithm 16 is generated
Controlled quentity controlled variable and the current offset amount that obtains of AD sample conversion control algolithm 17 carry out pwm signal modulation, and modulation is generated knot
Fruit exports electrical level transferring chip 5 after carrying out limited amplitude protection, exports magnetic bearing coil 7 via power amplifier 6, completes magnetic suspension inertia
The full active control of stabilized platform orientation rotor five-degree magnetic suspension.
As shown in figure 4, the orientation magnetic bearing coil current signal that current sensor 10 obtains, by voltage follow and ratio
After conversion, level translation, it is transformed to the 0～3V voltage signal needed for the built-in AD conversion chip of dsp chip 3, be then passed through anti-mixed
Folded second-order low-pass filter delivers to dsp chip 3 after removing high-frequency noise.
As shown in figure 5, the displacement signal of orientation frame rotor that displacement transducer 11 obtains, by voltage follow, ratio
After conversion, bias-adjusted and level translation, it is transformed to the 0～3V voltage signal needed for the built-in AD conversion chip of dsp chip 3, so
Remove through anti-aliasing second-order low-pass filter afterwards and deliver to dsp chip 3 after high-frequency noise.
As shown in fig. 6, communication chip adopts MAX3232 chip between the POS azimuthal measurement of the present invention and DSP module.For
Transmission between bearing signal obtained by guarantee POS azimuthal measurement 9 and dsp chip 3, using the RW-232 agreement passed through, should
Chip has No. 2 accepters and 2 tunnel drivers, improves the reliability of system, and provides shutdown mode, effectively reduces work(
Consumption.
As shown in fig. 7, electrical level transferring chip adopts 74ALV164245 between the DSP module of the present invention and power amplifier module.By
The TMS320F28335 being TI company in the dsp chip 3 that the present invention adopts, PWM output voltage is 0～3.3V, is turned by level
Change chip 5 and be converted to 0～5V voltage needed for power amplifier 6.
As shown in figure 8, dsp chip of the present invention is a floating point number signal processing that TI company newly releases
Device TMS320F28335 chip.This chip adopts the crystal oscillator 2 of 30M as clock, and dominant frequency is up to 150MHz it is ensured that control algolithm
High speed execution；Core voltage is 1.9V, and I/O pin voltage is 3.3V, reduces control system power consumption；Carry 12 A/D to turn
Parallel operation, has 16 conversion passages：The fast conversion times of 80ns, the multichannel input selector of 16 passages and 2 samplings keep
Device, can support 18 road PWM outputs simultaneously, decrease the quantity of peripheral devices, improve the reliability of system.
As shown in figure 9, the AD conversion control algolithm flow chart adopting for the present invention.Because dsp chip 3 carries AD conversion mould
Block, initializes ADC depositor after upper electricity, clock produces ADC trigger first, waits analogue signal input, after conversion starts,
Conversion SEQ_CNTR position (AD conversion complement mark position) subtracts 1 automatically every time；After currently converting, numeric results store
In ADCRESULT (AD conversion result) depositor, whether it is 0 by recognizing SEQ_CNTR position, judges whether all converting.
As shown in Figure 10, it is Decentralized PID+torsion control algolithm flow chart that the present invention adopts.Obtained by displacement transducer 11
To ZA, ZB, ZC, ZD (axially 4 road displacement signals) (what representing respectively, provide explanation).Wherein ZA, ZB, ZC, ZD tetra- tunnel position
After shifting signal is respectively through voltage follow and transformation of scale, level translation, it is transformed to needed for the built-in AD conversion chip of dsp chip 3
0～3V voltage signal, be then passed through delivering to dsp chip 3 after anti-aliasing second-order low-pass filter removes high-frequency noise and pass through dispersion
PID control output 4 tunnel axial direction control signal, for realizing the stable suspersion of orientation frame rotor axial direction.ZA and ZB, ZC and ZD
(axially 4 road displacement signals), simultaneously will be from POS orientation respectively through the displacement obtaining two torsional freedoms after circuit difference
The orientation torsional signals that measurement 9 is obtained, carry out the decomposition on two torsional freedoms, are weighted to corresponding degree of freedom respectively
On, Control PID algorithm is individually reversed according to the result after weighting, is obtained the PWM controlled quentity controlled variable on corresponding degree of freedom direction,
Export corresponding drive circuit, thus realizing the control of two torsional freedoms.
As shown in figure 11, it is the theory diagram that the present invention adopts PWM algorithm.Controlled by Decentralized PID algorithm and torsion
Produced controlled quentity controlled variable after algorithm weights, with current signal ranking operation again, obtains the modulation voltage needing to carry out PWM,
Then the currency of modulation voltage and carrier signal enumerator is compared by comparator, then is by limited amplitude protection output
The pwm signal modulating.
Though the present invention is magnetic suspension inertially stabilized platform magnetic bearing numerical control system but it is also possible to as a kind of general
, as other magnetic bearing controllers, application person can be according to its application difference by repairing for magnetic bearings control inertially stabilized platform
Change DSP core program and carry out flexible design and complete required function.
Claims (3)
1. a kind of integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system is it is characterised in that include DSP module
(4), electrical level transferring chip (5), interface circuit (12) and communication chip (8)：
DSP module (4)：Connect with interface circuit (12), communication chip (8) and electrical level transferring chip (5), to by interface circuit
(12) current signal inputting and displacement signal carry out the AD conversion of holding and analog quantity to digital quantity of sampling, to by communication chip
(8) transmission carries out angle conversion from POS azimuthal measurement (9) bearing signal, and the current signal after to digitized, displacement are believed
Number and bearing signal carry out calculation process, obtain the PWM output needed for magnetic bearing coil (7)；
Electrical level transferring chip (5)：Connect with DSP module (4) and power amplifier (6), power amplifier (6) output is connected with magnetic bearing coil (7)
Connect, the level value of 0～5V that the PWM output of 0～3.3V that DSP module (4) is exported is converted to, deliver to power amplifier (6) and drive
Magnetic bearing coil (7)；
Interface circuit (12)：Connect with current sensor (10), displacement transducer (11) and DSP module (4), including current sense
Device interface circuit (13) and displacement transducer interface circuit (14), the current signal that will be inputted by current sensor (10) and by position
The displacement signal that displacement sensor (11) inputs is converted into the analogue signal of 0～3V needed for DSP module (4)；
Communication chip (8)：With and POS azimuthal measurement (9) connect, the bearing signal measured by POS system is real-time transmitted to DSP
Module (4).
2. integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system according to claim 1, its feature exists
In：
Described DSP module (4) includes hardware circuit part and the control algolithm realized based on hardware programming in dsp chip
Part；Hardware circuit part includes configuring chip (1), crystal oscillator (2) and dsp chip (3), and wherein dsp chip (3) adopts a piece of TI
A floating point number signal processor TMS320F28335 chip of company；The control algolithm portion being realized based on hardware programming
Point, including AD sample conversion control algolithm (17), Decentralized PID+torsion control algolithm (16) and PWM algorithm (18), DSP core
Piece (3) by AD sample conversion control algolithm (17) interface circuit (12), sampled by the current signal inputting and displacement signal
Keep the AD conversion to digital quantity with analog quantity；Decentralized PID+torsion control algolithm (16) to shift offset and reverses side-play amount
Calculated, obtained the controlled quentity controlled variable needed for PWM algorithm (18)；By PWM algorithm (18), Decentralized PID+torsion is controlled
Controlled quentity controlled variable that algorithm (16) generates and the current offset amount that AD sample conversion control algolithm (17) obtains carry out pwm signal modulation,
And carry out after limited amplitude protection, exporting electrical level transferring chip (5) by modulation generation result, export magnetic bearing line via power amplifier (6)
Circle (7), completes the full active control of magnetic suspension inertially stabilized platform orientation rotor five-degree magnetic suspension.
3. integrated magnetic suspension inertially stabilized platform magnetic bearing numerical control system according to claim 2, its feature exists
In：Described Decentralized PID+torsion control algolithm (16) is embodied as：The axially 4 road displacement signals that displacement transducer (11) is obtained
ZA, ZB, ZC, ZD, obtain controlled quentity controlled variable output 4 tunnel axial direction control signal, for realizing after the computing of Decentralized PID control algolithm
The stable suspersion of orientation frame rotor axial direction；ZA and ZB, ZC and ZD are respectively through obtaining two torsional freedoms after calculus of differences
Displacement, will from the orientation torsional signals of POS azimuthal measurement (9) gained, carry out on two torsional freedoms decomposition fortune
Calculate, be weighted to respectively on each corresponding degree of freedom, control algolithm is individually reversed according to the result after weighting, thus real
The control of existing two torsional freedoms.
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| CN111272175B (en) * | 2020-03-05 | 2022-05-20 | 北京航空航天大学 | Micro-mechanical gyroscope POS data acquisition and processing system |
| CN113280042B (en) * | 2021-05-21 | 2022-05-10 | 珠海格力电器股份有限公司 | Control device and method of magnetic suspension bearing and magnetic suspension system |
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